CN106093928B - A kind of more waves detection and imaging system - Google Patents
A kind of more waves detection and imaging system Download PDFInfo
- Publication number
- CN106093928B CN106093928B CN201610580622.5A CN201610580622A CN106093928B CN 106093928 B CN106093928 B CN 106093928B CN 201610580622 A CN201610580622 A CN 201610580622A CN 106093928 B CN106093928 B CN 106093928B
- Authority
- CN
- China
- Prior art keywords
- ontology
- sub
- sensor
- connection structure
- noumenon
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Toys (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of more wave detections and imaging systems, belong to image detection technical field, and more wave detections include with imaging system：Support (10), the first noumenon (11) and the second ontology (12) being rotatably connected with support (10)；The first sensor component (110) and second sensor component (120) being separately positioned on the first noumenon (11) and the second ontology (12), include the sensor for detecting multiple waveforms signal.The system further includes：Controller (15) and signal processing unit (16)；Controller (15) is used for the angle according to detection demand, between control adjustment the first noumenon (11) and the second ontology (12), while controlling an at least working sensor, to detect to measurand, and obtains detection data；Signal processing unit (16) is for handling the detection data, to obtain image data.The system supports a variety of image detection forms, and flexible structure is adjustable.
Description
Technical field
The present invention relates to image detection technical field more particularly to a kind of more wave detections and imaging systems.
Background technique
With the development of science and technology the vehicles (such as vehicle, aircraft nothing in the fields such as Modern Traffic transport, logistics, military affairs
It is man-machine), it is intended to be changed into machine automatic Pilot by artificially driving, also known as " unmanned ".Unmanned is exactly not have
In the case that the mankind participate in, by computer system, by equipping intelligence software and a variety of to vehicles such as vehicle or aircrafts
Sensing apparatus, including sensor, radar, GPS and camera etc. to perceive unmanned plane ambient enviroment, and are obtained according to perception
Path, position and the obstacle information obtained, judgement of reacting immediately, control traveling turns to and speed, to make unmanned function
Enough travelings reliably and securely completed from starting point to destination.
Wherein, detection imaging function is the core of " unmanned ", how ambient enviroment is identified and is imaged in real time,
Further how to improve the precision for identifying and being imaged in real time is the research emphasis for guaranteeing unmanned plane safety automation and driving.Currently, existing
There is detecting and imaging device to generally use infrared camera or natural light video camera head progress image detection, it can be good in ambient light
Under conditions of meet unmanned demand.But in rainy day or greasy weather, the photographic effect of existing detecting and imaging device is often
It is unsatisfactory；And existing detecting and imaging device is to the image detection limited angle of measurand (as being only front or side
Face), the multi-faceted image data of measurand can not be obtained.
Summary of the invention
For the present invention for existing in the prior art, the image detection mode of detecting and imaging device is single, can not be in nature
Light is fuzzy or there is technical issues that carry out measurand under the bad scenarios of obstruction, and it is more to provide one kind
Wave detection and imaging system, support a variety of image detection forms, and system structure is flexibly adjustable, can it is fuzzy in available light or
There are carrying out image detection to mobile measurand under the bad scenarios of obstruction, and image detection works well, and can satisfy
Unpiloted real time environment identification and imaging demand.
The present invention provides a kind of more wave detections and imaging systems, including：
Support；
About the symmetrically arranged the first noumenon of the support and the second ontology；The first noumenon and second ontology point
It is not rotatably connected by the first connection structure and the second connection structure with the support；
It is separately positioned on the first noumenon and second ontology and about the symmetrical first sensor of the support
Component and second sensor component；The first sensor component and the second sensor component include a variety of for detecting
The sensor of waveform signal；
More waves, which are detected with imaging system, further includes：With the first sensor component, the second sensor component,
The controller that the first noumenon is connected with second ontology, with the controller, the first sensor component and second
The signal processing unit of sensor module connection；
The controller is used to control the first noumenon and second ontology relative to the branch according to detection demand
Seat rotation, to adjust the angle between the first noumenon and second ontology, while controlling the first sensor component
An at least working sensor in the second sensor component, to detect to measurand, and obtains detection data；
The signal processing unit is for handling the detection data, to obtain image data, and by the figure
It is shown as data are exported to display device.
Optionally, the first sensor component and the second sensor component include at least：Optical sensor unit,
Electromagnetic sensor unit and acoustic transducer element.
Optionally, the first noumenon includes：First sub- ontology, the second sub- ontology and third connection structure；
The first sub- ontology is connect by first connection structure with the support, and the second sub- ontology passes through institute
Third connection structure is stated to be rotatably connected with the described first sub- ontology.
Optionally, second ontology includes：The sub- ontology of third, the 4th sub- ontology and the 4th connection structure；
The sub- ontology of third is connect by second connection structure with the support, and the 4th sub- ontology passes through institute
The 4th connection structure is stated to be rotatably connected with the sub- ontology of the third.
Optionally, rotation model of the described second sub- ontology by the third connection structure relative to the described first sub- ontology
Enclosing is 0 °~360 °, slewing area of the 4th sub- ontology by the 4th connection structure relative to the sub- ontology of the third
It is 0 °~360 °.
Optionally, the first noumenon by first connection structure relative to the support slewing area be 0 °~
180 °, second ontology is 0 °~180 ° relative to the slewing area of the support by second connection structure.
Optionally, the first noumenon further includes：At least one the 5th connection structure and at least one the 5th sub- ontology；
At least one described the 5th sub- ontology pass through at least one described the 5th connection structure and the described first sub- ontology or
The second sub- ontology is rotatably connected.
Optionally, second ontology further includes：At least one the 6th connection structure and at least one the 6th sub- ontology；
At least one described the 6th sub- ontology pass through at least one described the 6th connection structure and the sub- ontology of the third or
The 4th sub- ontology is rotatably connected.
Optionally, the first sensor component and the second sensor component respectively include a variety of microwave remote sensor lists
Member, and it includes a variety of quarter-wave antennas that a variety of microwave remote sensor units, which correspond,.
One or more technical solution provided in the present invention, has at least the following technical effects or advantages：
Since in the present invention, more waves detect and imaging system, including：Support；About the support symmetrically arranged
One ontology and the second ontology；The first noumenon and second ontology pass through the first connection structure and the second connection structure respectively
It is rotatably connected with the support；It is separately positioned on the first noumenon and second ontology and about the support pair
The first sensor component and second sensor component of title；The first sensor component and the second sensor component wrap
Include the sensor for detecting multiple waveforms signal；More waves, which are detected with imaging system, further includes：Controller and signal processing
Unit；The controller is used to control the first noumenon and second ontology relative to the support according to detection demand
Rotation, to adjust the angle between the first noumenon and second ontology, while control the first sensor component and
An at least working sensor in the second sensor component, to detect to measurand, and obtains detection data；Institute
Signal processing unit is stated for handling the detection data, to obtain image data, and described image data are exported
It is shown to display device.That is, Ben Duobo detection and imaging system, support a variety of image detection forms, and system
Flexible structure is adjustable, can be fuzzy in available light or the bad scenarios there are obstruction under image is carried out to mobile measurand
Detection, and image detection works well, and can satisfy unpiloted real time environment identification and imaging demand.It efficiently solves
The image detection mode of detecting and imaging device is single in the prior art, can not obscure in available light or there are the severe of obstruction
The technical issues of image detection is carried out to measurand under situation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Figure 1A is the first more wave detection provided in an embodiment of the present invention and imaging system structural schematic diagram；
Figure 1B is wave provided in an embodiment of the present invention more than second detection and imaging system structural schematic diagram；
Fig. 1 C is the top view of more wave detections and imaging system shown in figure 1A；
Fig. 2A is that more wave detections shown in figure 1A and the second ontology of imaging system are illustrated relative to the first position of support
Figure；
Fig. 2 B is that more wave detections shown in figure 1A and the second ontology of imaging system are illustrated relative to the second position of support
Figure；
Fig. 2 C is that more wave detections shown in figure 1A and the second ontology of imaging system are illustrated relative to the third place of support
Figure；
Fig. 2 D is that more wave detections shown in figure 1A and the second ontology of imaging system are illustrated relative to the 4th position of support
Figure；
Fig. 2 E is that more wave detections shown in figure 1A and the second ontology of imaging system are illustrated relative to the 5th position of support
Figure；
Fig. 2 F is that more waves shown in figure 1A detect one relative to support with the first noumenon and the second ontology of imaging system
Kind position view；
Fig. 2 G is that a kind of more wave detections provided in an embodiment of the present invention and imaging system carry out elevation carrection to measurand
Schematic diagram；
Fig. 3 A is the third more wave detection provided in an embodiment of the present invention and imaging system structural schematic diagram；
Fig. 3 B is the top view of more wave detections and imaging system shown in Fig. 3 A；
Fig. 4 is that more wave detections and the multi-angle of imaging system shown in Fig. 3 A detect schematic diagram；
Fig. 5 is wave provided in an embodiment of the present invention more than the 4th kind detection and imaging system structural schematic diagram.
Specific embodiment
The embodiment of the present invention solves existing in the prior art by providing a kind of more waves detection and imaging system, visits
The image detection mode for surveying imaging device is single, can not be fuzzy in available light or the bad scenarios there are obstruction under to tested
Object carries out the technical issues of image detection, supports a variety of image detection forms, and system structure is flexibly adjustable, can be certainly
Right light is fuzzy or there are carrying out image detection to mobile measurand under the bad scenarios of obstruction, and image detection effect is good
It is good, it can satisfy unpiloted real time environment identification and imaging demand.
The technical solution of the embodiment of the present invention is in order to solve the above technical problems, general thought is as follows：
The embodiment of the invention provides a kind of more wave detections and imaging systems, including：Support；It is symmetrically set about the support
The first noumenon and the second ontology set；The first noumenon and second ontology pass through the first connection structure and second respectively and connect
Binding structure is rotatably connected with the support；It is separately positioned on the first noumenon and second ontology and about described
The symmetrical first sensor component of support and second sensor component；The first sensor component and the second sensor group
Part includes the sensor for detecting multiple waveforms signal；More waves, which are detected with imaging system, further includes：With described first
The controller that sensor module, the second sensor component, the first noumenon are connected with second ontology, with the control
The signal processing unit that device processed, the first sensor component are connected with second sensor component；The controller is used for basis
Detection demand, controls the first noumenon and second ontology is rotated relative to the support, to adjust the first noumenon
With the angle between second ontology, while controlling in the first sensor component and the second sensor component extremely
A few working sensor, to detect to measurand, and obtains detection data；The signal processing unit is used for described
Detection data is handled, and to obtain image data, and described image data is exported to display device and are shown.
As it can be seen that the first noumenon and the second ontology are rotatably connected with support in the present invention program, and in the first noumenon and
The setting of second ontology is provided with sensor module (including the sensor for detecting multiple waveforms signal).In this structure basis
On, controller controls the first noumenon and second ontology is rotated relative to the support according to detection demand, with adjustment
Angle between the first noumenon and second ontology, while at least working sensor in sensor module is controlled,
To carry out image detection to measurand, and obtain detection data so that signal processing unit to the detection data at
Reason, to obtain image data, and described image data is exported to display device and are shown.The more wave detections of this programme and imaging
System supports multiple waveforms image detection form, and system structure is flexibly adjustable, can be fuzzy in available light or in the presence of obstruction
Image detection is carried out to mobile measurand under the bad scenarios of object, and image detection works well, and can satisfy unmanned
Real time environment identification and imaging demand.Efficiently solve the image detection mode list of detecting and imaging device in the prior art
One, can not be fuzzy in available light or the bad scenarios there are obstruction under the technology of image detection is carried out to mobile measurand
Problem.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
It states technical solution to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application
The detailed description of technical solution, rather than the restriction to technical scheme, in the absence of conflict, the present invention are implemented
Technical characteristic in example and embodiment can be combined with each other.
Embodiment one
Figure 1A is please referred to, the embodiment of the invention provides a kind of more wave detections and imaging systems, can be applied to vehicle-mounted pick-up
Need to carry out the field of image detection Deng other, more wave detections include with imaging system：
Support 10；
About the symmetrically arranged the first noumenon 11 of support 10 and the second ontology 12；The first noumenon 11 and the second ontology 12 difference
It is rotatably connected by the first connection structure 13 and the second connection structure 14 with support 10；Wherein, the first connection structure 13, second
Hinge can be used in connection structure 14 and following connection structures involved in this programme；
It is separately positioned on the first noumenon 11 and the second ontology 12 and about the symmetrical first sensor component of support 10
110 and second sensor component 120；First sensor component 110 and second sensor component 120 include a variety of for detecting
The sensor (sensor_1~sensor_N) of waveform signal；
More waves, which are detected with imaging system, further includes：With first sensor component 110, second sensor component 120,
The controller 15 of one ontology 11 and the connection of the second ontology 12, with controller 15, first sensor component 110 and second sensor group
The signal processing unit 16 that part 120 connects；
Controller 15 is used to control the first noumenon 11 and the second ontology 12 according to detection demand and rotate relative to support 10,
To adjust the angle between the first noumenon 11 and the second ontology 12, while controlling first sensor component 110 and second sensor
An at least working sensor in component 120, to detect to measurand, and obtains detection data；
Signal processing unit 16 is for handling the detection data, to obtain image data, and by described image
Data are exported to display device and are shown.
In the specific implementation process, Figure 1B is please referred to, in order to detect multiple waveforms signal, first sensor component
110 and second sensor component 120 include at least：Optical sensor unit (light_sensor), the electromagnetic wave of array arrangement
Sensor unit (electromagnetic_wave_sensor) and acoustic transducer element (acoustic_wave_
sensor).Optical sensor unit includes nature optical sensor unit and infrared sensor unit, and electromagnetic sensor unit includes
Microwave remote sensor unit, acoustic transducer element include ultrasonic sensor units.
Wherein, the main member of the natural optical sensor unit is nature optical sensor, anti-for receiving measurand
The available light penetrated, and photoelectric conversion is carried out to it, to obtain electric signal, further by the electric signal transmission to signal processing list
Member 16 is handled.In general, the nature optical sensor unit when daytime, available light was good for working.
The main member of the infrared sensor unit is infrared sensor, utilizes infra-red radiation and matter interaction
The physical effect detection infra-red radiation showed is imitated using the showed electricity of this interaction in most cases
It answers.Sensors with auxiliary electrode can be divided into photon sensor and thermo-responsive sensor two major classes type, issue or send out for receiving measurand
The infrared ray penetrated, and it is converted into the signal that signal processing unit 16 can identify, so that signal processing unit 16 is based on being somebody's turn to do
Signal is calculated or is converted the signal into thermal-induced imagery data to the distance of measurand.
The infrared sensor unit can be not only used for ranging, and can be used for being imaged.When the infrared sensor unit is used for
When ranging, there is the infrared sensor unit a pair of of infrared signal transmitting and reception diode, transmitting tube to emit specific frequency
Infrared signal, reception pipe receives the infrared signal of this frequency, when infrared detection direction encounters (i.e. tested pair of barrier
As) when, infrared signal, which reflects, is received pipe reception, and the intensity according to the different reflections for encountering obstacle distance is also different
Principle carries out the detection of barrier distance.When the infrared sensor unit is for when being imaged, the infrared sensor unit to be also
Including optical system；The optical system is used to receive the infrared ray of measurand sending and focuses on infrared sensor, institute
It states infrared sensor induction and penetrates the infrared ray of optical system, and send a signal to signal processing unit 16；Signal processing list
Member 16 will be converted to thermal-induced imagery from the signal of infrared sensor, and it is aobvious to be sent in display device progress thermal-induced imagery
Show.
Further, infrared sensor unit is divided into common infrared sensor unit and dot matrix infrared sensor unit, point
Battle array infrared sensor unit is got well than common, and irradiation distance is remote, and image quality is fine and smooth clear, and service life is more infrared than common
It is long.User can need to select suitable infrared sensor unit form according to actual use.
The main member of the microwave remote sensor unit is microwave remote sensor.Its course of work is specially：By transmitting antenna
Microwave is issued, will be absorbed or reflected when the microwave of sending encounters measurand, power is made to change；If using day is received
Line receives by measurand or by the reflected microwave of measurand, and is converted into electric signal, then by measuring circuit
Measurement and instruction, are achieved that microwave detection process.According to above-mentioned principle, microwave detection sensor can be divided into reflective and blocking
Two kinds of formula：1) reflection sensor carrys out table by the reflected microwave power of detection measurand or elapsed time interval
The parameters such as position, thickness up to measurand；2) interruptible sensor is big by detecting the microwave power that receiving antenna receives
It is small to judge the parameters such as the position of measurand and water content between transmitting antenna and receiving antenna.
Specifically, first sensor component 110 and second sensor component 120 respectively include a variety of microwave remote sensor lists
Member, and it includes a variety of quarter-wave antennas that a variety of microwave remote sensor units, which correspond,.It can be according to measurand
Distance apart from this system, to select control that there is the microwave remote sensor unit work of different quarter-wave antennas
Make, to carry out tracking detection, this microwave remote sensor side to measurand in the optimal situation of microwave remote sensor antenna gain
The case where case is fast moved suitable for measurand.
The main member of the ultrasonic sensor units is ultrasonic sensor, detects hair again for issuing ultrasonic wave
Ultrasonic wave out, while calculating according to the velocity of sound distance of object.
In the specific implementation process, first sensor is both provided in the front and back sides of the first noumenon 11 and the second ontology 12
Component 110 or second sensor 120, and the sensor module on the first noumenon 11 and the second ontology 12 and the first noumenon 11
It is symmetrical about support 10 with the sensor module on the second ontology 12.Further, Fig. 1 C is please referred to, in 10 section of support
Centered on the heart point O point make two it is orthogonal refer to straight line L1, L2, the first noumenon 11 is located at the left area, simultaneously of straight line L2
It can be 0 °~180 ° (the angle models as shown in curve arrow a relative to the slewing area of support 10 by the first connection structure 13
It encloses)；Likewise, the second ontology 12 also can be 0 °~180 ° relative to the slewing area of support 10 by the second connection structure 14.
Further, Fig. 2A-Fig. 2 E is please referred to, by taking position of second ontology 12 relative to support 10 as an example, the second ontology 12
Can be at the direction (as shown in Fig. 2A, Fig. 2 E) and reference straight line L1 vertical with straight line L1 is referred to, there are the directions of certain acute angle
(as shown in Fig. 2 B, Fig. 2 D), with the sensor sending with reference to the identical direction (as shown in Figure 2 C) of straight line L1, on the second ontology 12
Probing wave Wt, and probing wave Wr of the probing wave Wt after measurand X reflection is received, probing wave Wt, Wr are sent and received
Time difference or power between the two carry out calculation processing, with determine measurand X range sensor distance, relative to
Direction, material composition of sensor etc..
In the specific implementation process, Fig. 2 F is please referred to, as the probing wave Wt issued due to the sensor on the first noumenon 11
The problem of launch angle, and can not by the sensor on the first noumenon 11 receive when, can adjust the second ontology 12 relative to first
The angle of ontology 11, so that the sensor on the second ontology 12 can receive spy of the probing wave Wt after measurand X reflection
Survey wave Wr.
It in the specific implementation process, as shown in Figure 2 G, can also be by multiple on the first noumenon 11 and/or the second ontology 12
Sensor correspond simultaneously to measurand X emission detection wave Wti~Wtj, while by multiple sensors correspond come
Receive probing wave Wri~Wrj of the probing wave Wti~Wtj after measurand X reflection；Further, it is based on emission detection wave Wti
The setting location information and emission detection wave Wti~Wtj of multiple sensors of~Wtj, the hair for receiving probing wave Wri~Wrj
It send and obtains the height of measurand X with the data informations such as receiving time difference and power between the two, calculating.Fig. 2 G only shows one
The mode of kind measurement measurand X height can be detected and be imaged relative to Ben Duobo according to measurand X in practical operation
The orientation of system carrys out the angle of flexible setting the first noumenon 11 and the second ontology 12, and then measures the height of measurand.
Embodiment two
In the structure basis of the scheme shown in embodiment one, Fig. 3 A is please referred to, the first noumenon 11 includes：First sub- ontology
111, the second sub- ontology 112 and third connection structure 113；First sub- ontology 111 is connected by the first connection structure 13 with support 10
It connects, the second sub- ontology 112 is rotatably connected by third connection structure 113 with the first sub- ontology 111.
Further, referring still to Fig. 3 A, the second ontology 12 includes：The sub- ontology 121 of third, the 4th sub- ontology 122 and the 4th
Connection structure 123；The sub- ontology 121 of third is connect by the second connection structure 14 with support 10, and the 4th sub- ontology 122 passes through the 4th
Connection structure 123 is rotatably connected with the sub- ontology 121 of third.
In the specific implementation process, in the first sub- ontology 111, the second sub- ontology 112, the sub- ontology 121 of third and the 4th son
The front and back sides of ontology 122 are both provided with sensor unit.Sensor unit type includes optical sensor unit, electromagnetic wave sensing
At least one in device unit and acoustic transducer element.As shown in Figure 3A, it is set on the first sub- ontology 111 and the sub- ontology 121 of third
It is equipped with sensor sensor_1~sensor_M, is provided with sensor on the second sub- ontology 112 and the 4th sub- ontology 122
Sensor_M+1~sensor_N, wherein M and N indicates the number of sensor, and N is greater than M.
Then, Fig. 3 B is please referred to, two, point work is orthogonal centered on the central point O in 10 section of support refers to straight line
L1, L2, the first sub- ontology 111 and the second sub- ontology 112 are located at the left area of straight line L2, and the first sub- ontology 111 passes through first
Connection structure 13 is 0 °~180 ° (angular range as shown in curve arrow a1) relative to the slewing area of support 10, the second son
Ontology 112 is 0 °~360 ° (such as curve arrows relative to the slewing area of the first sub- ontology 111 by third connection structure 113
Angular range shown in b1)；Likewise, the sub- ontology 121 of third can rotation by the second connection structure 14 relative to support 10
Range is 0 °~180 ° (angular range as shown in curve arrow a2), and the 4th sub- ontology 122 can pass through the 4th connection structure 123
Slewing area relative to the sub- ontology 121 of third is 0 °~360 ° (angular range as shown in curve arrow b2).
In the specific implementation process, the sub- ontology 121 of the first sub- ontology 111, the second sub- ontology 112, third and the 4th son sheet
Body 122 can any angle changing, when detecting measurand, can by the sensor emission probing wave on a certain sub- ontology, and
The probing wave of reflection is received by the sensor on another sub- ontology.Specifically, as shown in figure 4, biography on the second sub- ontology 112
The probing wave Wt1 of sensor transmitting, the probing wave Wr1 reflected through measurand Y1 are received by the sensor on the first sub- ontology 111；
The probing wave Wt2 of sensor emission on first sub- ontology 111, the probing wave Wr2 reflected through measurand Y2 are sub originally by third
Sensor on body 121 receives；The probing wave Wt3 of sensor emission on the sub- ontology 121 of third, reflects through measurand Y3
Probing wave Wr3 is received by the sensor on the 4th sub- ontology 122.If three measurands Y1, Y2, Y3 in Fig. 4 are seen as
Three different faces of same measurand are then known：It, can be to same measurand by system structure shown in Fig. 3 A
Different faces are detected, to obtain the stereo-picture (i.e. the shape of measurand) of measurand, to obtain more accurate
Detection image effect.
Embodiment three
In example 2 on the basis of the system structure of scheme shown in Fig. 3 A, referring to FIG. 5, the first noumenon 11 further includes：
At least one the 5th connection structure 114 and at least one the 5th sub- ontology 115；At least one the 5th sub- ontology 115 is by least
One the 5th connection structure 114 is rotatably connected with the first sub- ontology 112 of sub- ontology 111 or the second.
Further, referring still to Fig. 5, the second ontology 12 further includes：At least one the 6th connection structure 124 and at least one
6th sub- ontology 125；At least one the 6th sub- ontology 125 passes through at least one the 6th connection structure 124 and the sub- ontology 121 of third
Or the 4th sub- ontology 122 be rotatably connected.
Specifically, in Fig. 5, the 5th connection structure 114, the 5th sub- ontology 115, the 6th connection structure 124 and the 6th son
Ontology 125 is 2 respectively.First sub- ontology 111 is 0 ° relative to the slewing area of support 10 by the first connection structure 13
~180 °, direction of rotation can also be the reverse direction in the direction a1 referring to the direction a1 in Fig. 3 B；Second sub- ontology 112 passes through third
Connection structure 113 is 0 °~360 ° relative to the slewing area of the first sub- ontology 111, and direction of rotation is referring to the side b1 in Fig. 3 B
To, can also be the direction b1 reverse direction；One the 5th sub- ontology 115 passes through the 5th connection structure 114 and the first sub- ontology
111 are rotatably connected, slewing area be 0 °~360 °, specially in the page to outside the page or in the page extroversion page, to
First sub- ontology 111 folds rotation；Another the 5th sub- ontology 115 passes through another the 5th connection structure 114 and the previous 5th
Sub- ontology 115 is rotatably connected, and slewing area is 0 °~360 °, and direction of rotation can also be the side b1 referring to the direction b1 in Fig. 3 B
To reverse direction；Another the 5th sub- ontology 115 can be revolved by another the 5th connection structure 114 and the second sub- ontology 112
Turn connection, slewing area is 0 °~360 °, specially in the page to outside the page or in the page extroversion page, to the second son originally
Body 112 folds rotation.
The sub- ontology 121 of third is 0 °~180 ° relative to the slewing area of support 10 by the second connection structure 14, rotation
Direction can also be the reverse direction in the direction a2 referring to the direction a2 in Fig. 3 B；4th sub- ontology 122 passes through the 4th connection structure 123
Slewing area relative to the sub- ontology 121 of third is 0 °~360 °, and direction of rotation can also be the side b2 referring to the direction b2 in Fig. 3 B
To reverse direction；One the 6th sub- ontology 125 is rotatably connected by the 6th connection structure 124 with the 4th sub- ontology 122,
Slewing area is 0 °~360 °, specially in the page to outside the page or in the page extroversion page, to the 4th sub- 122 folding of ontology
Folded rotation；Another the 6th sub- ontology 125 is rotatable by another the 6th connection structure 124 and the previous 6th sub- ontology 125
Connection, slewing area are 0 °~360 °, and direction of rotation can also be the reverse direction in the direction b2 referring to the direction b2 in Fig. 3 B；It is another
A 6th sub- ontology 125 is rotatably connected, slewing area by another the 6th connection structure 124 and the sub- ontology 121 of third
It is 0 °~360 °, slewing area is 0 °~360 °, specially in the page to outside the page or in the page extroversion page, to third
Sub- ontology 121 folds rotation.
Above-mentioned first sub- ontology 111, the second sub- ontology 112, the sub- ontology 121 of third, the 4th sub- ontology 122, at least one
5th sub- ontology 115 and at least one the 6th sub- ontology 125, in the actual operation process can foundations there are also other connection types
Depending on concrete condition, it is not especially limited here.
Further, referring still to Fig. 5, on the first sub- ontology 111, second 112, two the 5th sub- ontologies 115 of sub- ontology point
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), likewise, the second sub- ontology 121, the
Also be respectively arranged on three 122, two the 6th sub- ontologies 125 of sub- ontology different types of sensor unit sensor_A,
sensor_B、sensor_C、sensor_D。
In the specific implementation process, adjustment the first sub- ontology 111, the second sub- ontology 112, third are controlled by controller 15
Each height in sub- ontology 121, the 4th sub- ontology 122, at least one the 5th sub- ontology 115 and at least one the 6th sub- ontology 125
Orientation and angle of the ontology relative to measurand carry out comprehensive, multi-angle to measurand and detect.
It is imitated in conclusion at least having following technology with imaging system by using more waves detection in the embodiment of the present application
Fruit：
1) the more wave detections of this programme and imaging system, sensor unit include optical sensor unit, electromagnetic sensor list
Member and acoustic transducer element etc., the i.e. detection of support multiple waveforms and imaging, system structure is flexibly adjustable, can be in available light
It obscures or there are image detection is carried out to mobile measurand under the bad scenarios of obstruction, obtains the direction number of measurand
According to, range data, altitude information, material composition data and shape data etc., image detection works well, and can satisfy nobody
The real time environment of driving identifies and imaging demand.
2) the more wave detections of this programme use infrared sensor unit with imaging system, can be not only used for ranging, and can be used for
Carry out image detection at night or in the case where dark.When infrared sensor uses latticed form, detectivity is higher.
3) the more wave detections of this programme use the microwave remote sensor of a variety of quarter-wave aerials with imaging system, can basis
Distance of the measurand apart from this system, to select control that there is the microwave remote sensor list of different quarter-wave aerials
Member work, to carry out tracking detection to measurand in the optimal situation of microwave remote sensor antenna gain, can be applicable in quilt
The case where object fast moves is surveyed, resolution ratio is higher, and imaging effect is more preferable.
4) the detection of this programme more waves in imaging system, the ontology for sensor unit to be arranged be it is multiple, and each
It is connected between body by rotatable connection structure, different measurement angles can be converted, realized from different perspectives to same quilt
It surveys object to be detected, to detect its stereo-picture.And the more wave detections of this programme and imaging system are symmetrical structure, are conducive to drop
The computation complexity of low signal processing unit.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (7)
1. a kind of more wave detections and imaging system, which is characterized in that including：
Support (10)；
About the support (10) symmetrically arranged the first noumenon (11) and the second ontology (12)；The first noumenon (11) and institute
State the second ontology (12) can be rotated by the first connection structure (13) and the second connection structure (14) and the support (10) respectively
Connection；
It is separately positioned on the first noumenon (11) and second ontology (12) and about the support (10) symmetrical
One sensor module (110) and second sensor component (120)；The first sensor component (110) and second sensing
Device assembly (120) includes the sensor for detecting multiple waveforms signal；The first sensor component (110) and described
Two sensor modules (120) include at least：Optical sensor unit and acoustic transducer element；The first sensor component
(110) and the second sensor component (120) respectively further comprises a variety of microwave remote sensor units, and a variety of microwave sensings
It includes a variety of quarter-wave antennas that device unit, which corresponds,；
More waves, which are detected with imaging system, further includes：With the first sensor component (110), the second sensor component
(120), the controller (15) of the first noumenon (11) and second ontology (12) connection, with the controller (15), institute
State the signal processing unit (16) of first sensor component (110) and second sensor component (120) connection；
The controller (15) is used to control the first noumenon (11) according to detection demand and second ontology (12) is opposite
It is rotated in the support (10), to adjust the angle between the first noumenon (11) and second ontology (12), same to time control
At least working sensor in the first sensor component (110) and the second sensor component (120) is made, to quilt
It surveys object to be detected, and obtains detection data；
The signal processing unit (16) is for handling the detection data, to obtain image data, and by the figure
It is shown as data are exported to display device.
2. more waves detections as described in claim 1 and imaging system, which is characterized in that the first noumenon (11) includes：The
One sub- ontology (111), the second sub- ontology (112) and third connection structure (113)；
The first sub- ontology (111) is connect by first connection structure (13) with the support (10), second son
Ontology (112) is rotatably connected by the third connection structure (113) and the described first sub- ontology (111).
3. more waves detections as claimed in claim 2 and imaging system, which is characterized in that second ontology (12) includes：The
Three sub- ontologies (121), the 4th sub- ontology (122) and the 4th connection structure (123)；
The sub- ontology of third (121) is connect by second connection structure (14) with the support (10), the 4th son
Ontology (122) is rotatably connected by the 4th connection structure (123) with the sub- ontology of the third (121).
4. more wave detections as claimed in claim 3 and imaging system, which is characterized in that the second sub- ontology (112) passes through
The third connection structure (113) is 0 °~360 ° relative to the slewing area of the described first sub- ontology (111), the 4th son
Ontology (122) by the 4th connection structure (123) relative to the sub- ontology of the third (121) slewing area be 0 °~
360°。
5. more wave detections as described in claim 1 and imaging system, which is characterized in that the first noumenon (11) passes through described
First connection structure (13) is 0 °~180 ° relative to the slewing area of the support (10), and second ontology (12) passes through institute
It is 0 °~180 ° that the second connection structure (14), which is stated, relative to the slewing area of the support (10).
6. more waves detections as claimed in claim 2 and imaging system, which is characterized in that the first noumenon (11) further includes：
At least one the 5th connection structure (114) and at least one the 5th sub- ontology (115)；
At least one described the 5th sub- ontology (115) passes through at least one described the 5th connection structure (114) and first son
Ontology (111) or the second sub- ontology (112) are rotatably connected.
7. more waves detections as claimed in claim 6 and imaging system, which is characterized in that second ontology (12) further includes：
At least one the 6th connection structure (124) and at least one the 6th sub- ontology (125)；
At least one described the 6th sub- ontology (125) passes through at least one described the 6th connection structure (124) and the sub- ontology of third
(121) or the 4th sub- ontology (122) is rotatably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610580622.5A CN106093928B (en) | 2016-07-21 | 2016-07-21 | A kind of more waves detection and imaging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610580622.5A CN106093928B (en) | 2016-07-21 | 2016-07-21 | A kind of more waves detection and imaging system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106093928A CN106093928A (en) | 2016-11-09 |
| CN106093928B true CN106093928B (en) | 2018-11-20 |
Family
ID=57448849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610580622.5A Active CN106093928B (en) | 2016-07-21 | 2016-07-21 | A kind of more waves detection and imaging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106093928B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018014305A1 (en) * | 2016-07-21 | 2018-01-25 | 武汉芯泰科技有限公司 | Multi-wave detection and imaging system |
-
2016
- 2016-07-21 CN CN201610580622.5A patent/CN106093928B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106093928A (en) | 2016-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109737981B (en) | Unmanned vehicle target searching device and method based on multiple sensors | |
| CN108196549A (en) | One kind is used for submersible AGV laser infrared obstacle avoidance systems | |
| JP2021524598A (en) | Systems and methods for discovering objects | |
| CN107650908A (en) | Unmanned vehicle context aware systems | |
| CN105700550A (en) | Unmanned plane and flight control method and system therefor | |
| CN103170980A (en) | Positioning system and positioning method for household service robot | |
| CN106338993A (en) | Unmanned delivery vehicle, and unmanned delivery vehicle control method and apparatus | |
| CA2905887C (en) | Deployable airborne sensor array system and method of use | |
| US11921213B2 (en) | Non-line-of-sight correction for target detection and identification in point clouds | |
| CN106598039A (en) | Substation patrol robot obstacle avoidance method based on laser radar | |
| CN104590573A (en) | Barrier avoiding system and method for helicopter | |
| CN111736153A (en) | Environment detection system, method, apparatus, and medium for unmanned vehicle | |
| CN108469817A (en) | The unmanned boat obstruction-avoiding control system merged based on FPGA and information | |
| CN110386073A (en) | Pilotless automobile roof sensor integrating device and pilotless automobile | |
| CN110389360A (en) | A kind of 360 ° for small drone look around imaging and laser warning device | |
| CN105372664A (en) | Distributed ultrasonic obstacle avoidance system and obstacle avoidance method thereof | |
| CN107463174A (en) | Applied to the infrared distance measurement bootstrap technique on follow-up trolley | |
| CN208126205U (en) | A kind of unmanned flight's device of automatic obstacle-avoiding | |
| CN106093928B (en) | A kind of more waves detection and imaging system | |
| CN115267825A (en) | Obstacle avoidance and navigation method and device of sweeper based on TOF sensor and storage medium | |
| CN104007441A (en) | Vehicle-mounted panoramic radar monitoring method and system | |
| CN105738905A (en) | Indoor positioning system and method for reducing blind areas | |
| CN206038901U (en) | Many ripples are surveyed and imaging system | |
| CN208937705U (en) | A kind of device of multi-source heterogeneous sensor characteristics depth integration | |
| CN106199618A (en) | A kind of electronic equipment and localization method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |