CN111474557A

CN111474557A - Composite detection device and vehicle

Info

Publication number: CN111474557A
Application number: CN202010365245.XA
Authority: CN
Inventors: 戈斌; 张韬; 朱明华; 郭田忠
Original assignee: HASCO Vision Technology Co Ltd
Current assignee: HASCO Vision Technology Co Ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-07-31

Abstract

The invention relates to a composite detection device and a vehicle. The composite detection device includes: fixing a bracket; the light-emitting component is arranged on the fixed support and used for simultaneously emitting visible light and invisible light; the signal receiving and processing module is arranged on the fixed support and used for receiving the visible light and the invisible light reflected by the external object and generating image data, and the signal receiving and processing module can process the received invisible light to obtain the distance information of the object. The embodiment simultaneously realizes illumination, distance detection and image data acquisition by using light rays emitted by the same light source, and invisible light can be used for distance detection and gray level image data generation and integrates multiple functions; the arrangement is compact, a plurality of sensors or detection components do not need to be arranged at different positions on the vehicle, only one device needs to be arranged, and the operation is simpler, more convenient and faster; costs are reduced compared to purchasing multiple sensors.

Description

Composite detection device and vehicle

Technical Field

The invention relates to the field of vehicle auxiliary driving, in particular to a composite detection device and a vehicle.

Background

Whether a vehicle driven by a driver, a vehicle with an automatic parking function or an unmanned vehicle needs to be backed, enough environmental data support is required to ensure the driving safety when the vehicle is backed. The function of observing road conditions and environment behind the vehicle is achieved from the earliest reflector, the reversing ultrasonic radar, the rearview mirror for reversing, the rearview image and the streaming media rearview mirror; in addition, in an autonomous vehicle, a laser radar for rear view is also provided.

Meanwhile, in order to alert pedestrians to notice a reversing vehicle, the rear of the vehicle must also be equipped with a reversing light to attract the attention of the pedestrians, thereby avoiding the occurrence of danger.

In a traditional reversing program, in order to obtain enough environment data support to complete a reversing action, a plurality of sensors are required to be installed on a vehicle, the sensors are dispersedly arranged at the tail of the vehicle, the integration level is very low, the functions of the sensors are relatively single, the installation operation is complex, and the component cost is very high. In addition, after all the parts are arranged at the tail of the vehicle, the appearance of the vehicle is influenced by the circuit arrangement, and if the ultrasonic sensor needs to open a hole in a rear bumper, the laser radar protrudes out of the tail of the vehicle to influence the overall shape; the camera, the ultrasonic wave and the laser radar are distributed dispersedly, and the wiring is complex.

Disclosure of Invention

Therefore, it is necessary to provide a composite detecting device and a vehicle for solving the problems of complex installation and high cost of the conventional auxiliary reversing component.

A composite detection device comprising:

fixing a bracket;

the light-emitting component is arranged on the fixed support and used for simultaneously emitting visible light and invisible light;

the signal receiving and processing module is arranged on the fixed support and used for receiving visible light and invisible light reflected by an external object and generating image data, and the signal receiving and processing module can process the distance information of the external object and the depth information of different parts on the external object based on the received invisible light.

The composite detection device at least has the following beneficial technical effects:

the present embodiment is capable of simultaneously generating color, grayscale image data, and distance, 3D depth image data information. The generated color and gray image data can be output to a display to be visually displayed, can also be input to an algorithm module to be identified, and finally, the identified result is output to a control system of the automatic driving vehicle to be used for daytime and nighttime auxiliary driving; the obtained distance information and the 3D depth image data information are simultaneously input to a control system of the autonomous vehicle for driving assistance. Therefore, enough environmental data can be obtained based on the embodiment, so that all-around data support is provided for automatic parking and backing, driving safety during backing is guaranteed, and the method and the device can be suitable for various vehicles and vehicles with respective automatic driving levels. In addition, the emitted visible light has the functions of assisting in backing a car and prompting pedestrians to pay attention during backing a car.

In this embodiment, the light emitted by the same light source is used for realizing illumination, image data acquisition and distance depth detection at the same time, and the invisible light can be used for generating gray image data, 3D depth information and distance detection, and integrates multiple functions. The fixed support is used as a carrier, the light-emitting assembly and the signal receiving and processing module are integrated on the fixed support together, the arrangement is compact, a plurality of sensors or detection components do not need to be installed at different positions on a vehicle, only one device needs to be installed, and the operation is simpler, more convenient and faster; costs are reduced compared to purchasing multiple sensors.

The automobile tail part connecting device is integrated with only one device, the connecting line can be hidden in the automobile body, the connecting line can not obviously protrude out of multiple parts of the tail part of the automobile, extra wiring and rear bumper opening holes do not need to be added, and therefore the overall sense and the attractiveness of the appearance of the automobile are guaranteed.

In one embodiment, the signal receiving and processing module includes:

a lens unit for collecting visible light and invisible light reflected by an external object;

the processing unit is used for receiving the visible light and the invisible light which are reflected by the external object and collected by the lens unit, and then generating image data, and the signal receiving and processing module can process the visible light to obtain the distance of the external object and the depth information of different parts on the external object based on the received invisible light.

In one embodiment, the processing unit comprises a combination of an RGBCMOS/CCD chip and a ToFCMOS/CCD chip; or, the signal receiving and processing module comprises an RGDCMOS/CCD chip.

In one embodiment, the composite detection device further includes a main control board disposed on the back of the fixing support, the main control board is in communication connection with the light emitting assembly and is configured to control the light emitting assembly to emit visible light and invisible light, and the main control board is in communication connection with the signal receiving and processing module and is configured to receive and transmit image data, distance and depth information generated by the signal receiving and processing module to the outside.

In one embodiment, the light emitting assembly comprises:

the dual-wavelength light source is used for simultaneously emitting visible light and infrared laser;

and the dodging lens is arranged in front of the light emitting direction of the dual-wavelength light source and used for allowing the visible light and the infrared laser to pass through and homogenizing the visible light and the infrared laser to form a specific light spot.

In one embodiment, the infrared laser emitted by the dual-wavelength light source is a spaced light pulse or a continuous wave.

In one embodiment, the wavelength of the infrared laser emitted by the dual-wavelength light source is 905nm, 940nm or 1550 nm.

In one embodiment, the composite detection device further includes a protective cover covering the surface of the fixed support, and the protective cover is provided with a through hole for the visible light and the invisible light to pass through.

In one embodiment, the compound detection device further comprises a heat dissipation fan unit arranged at the rear part of the fixed bracket and used for driving air to flow so as to provide heat dissipation.

A vehicle comprises a vehicle body and the composite detection device, wherein the composite detection device is arranged in the middle of the rear part of the vehicle body.

Drawings

FIG. 1 is a schematic structural diagram of a composite detection apparatus according to an embodiment of the present invention;

FIG. 2 is an exploded view of the composite detection device of FIG. 1;

fig. 3 is a perspective view illustrating the composite detecting device of fig. 1 mounted on a vehicle body.

In the figure, 1, a vehicle body;

10. a composite detection device;

100. fixing a bracket; 110. a heat sink;

200. a light emitting assembly; 210. a dual wavelength light source; 220. a light uniformizing lens;

300. a signal receiving and processing module; 310. a lens unit; 320. a processing unit;

400. a main control board;

500. a protective cover; 510. a through hole;

600. a heat radiation fan unit; 610. an electrical connection wire; 620. and (4) bolts.

Detailed Description

The invention will be further explained with reference to the drawings.

To facilitate an understanding of the invention, various embodiments of the invention defined by the claims are described more fully below with reference to the accompanying drawings. While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, and described in detail to facilitate this understanding, such details are to be regarded as illustrative only. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Accordingly, those of ordinary skill in the art will recognize that changes and modifications of the various embodiments described herein can be made without departing from the scope of the invention, which is defined by the appended claims. Moreover, descriptions of well-known functions and constructions may be omitted for clarity and conciseness.

It will be apparent to those skilled in the art that the following descriptions of the various embodiments of the present invention are provided for illustration only and not for the purpose of limiting the invention as defined by the appended claims.

Throughout the description and claims of this specification, the words "comprise" and variations of the words, for example "comprising" and "comprises", mean "including but not limited to", and are not intended to (and do not) exclude other components, integers or steps. Features, integers or characteristics described in conjunction with a particular aspect, embodiment or example of the invention are to be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith.

It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. The expression "comprising" and/or "may comprise" as used in the present invention is intended to indicate the presence of corresponding functions, operations or elements, and is not intended to limit the presence of one or more functions, operations and/or elements. Furthermore, in the present invention, the terms "comprises" and/or "comprising" are intended to indicate the presence of the features, amounts, operations, elements, and components disclosed in the specification, or combinations thereof. Thus, the terms "comprising" and/or "having" should be understood as presenting additional possibilities for one or more other features, quantities, operations, elements, and components, or combinations thereof.

In the present invention, the expression "or" comprises any and all combinations of the words listed together. For example, "a or B" may comprise a or B, or may comprise both a and B.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present; when an element is referred to as being "connected" or "coupled" to another element, it can be directly or indirectly coupled to the other element or intervening elements may also be present.

References herein to "upper", "lower", "left", "right", etc. are merely intended to indicate relative positional relationships, which may change accordingly when the absolute position of the object being described changes.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present specification and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and 2, in an embodiment of the present invention, a composite detecting device 10 is provided, which includes a fixing bracket 100, a light emitting assembly 200, and a signal receiving and processing module 300. The light emitting assembly 200 is disposed on the fixing bracket 100 and is configured to emit visible light and invisible light simultaneously. The signal receiving and processing module 300 is disposed on the fixing bracket 100, and is configured to receive the visible light and the invisible light reflected by the external object and generate image data, and the signal receiving and processing module 300 can process the received invisible light to obtain distance information of the external object and depth information of different portions on the external object.

Specifically, the signal receiving and processing module 300 can generate color image data after receiving visible light, and can generate gray image data for night vision after receiving invisible light.

Meanwhile, after the signal receiving and processing module 300 receives the invisible light reflected by the external object, the distance information of the external object can be calculated according to the time difference between the receiving of the invisible light and the emitting of the invisible light; the distance between each part of the surface of the external object and the signal receiving and processing module 300 can be obtained, and 3D depth image data information is generated, so that 3D point cloud identification and depth information detection are realized.

Based on the principle, the generated color and gray image data can be output to a display for visual display or can be input to an algorithm module for recognition, the recognition result is finally output to a control system of the automatic driving vehicle for daytime and night auxiliary driving, the obtained distance information and 3D depth image data information are simultaneously output to the control system of the automatic driving vehicle for auxiliary driving, and the obtained 3D depth image data can be processed by S L AM (instant positioning and map construction) to form environment 3D data for backing or automatic parking for precise operation of the vehicle.

In this embodiment, the light emitted by the same light source is used for realizing illumination, image data acquisition and distance depth detection at the same time, and the invisible light can be used for generating gray image data, 3D depth information and distance detection, and integrates multiple functions. The fixed support 100 is used as a carrier, the light-emitting assembly 200 and the signal receiving and processing module 300 are jointly integrated on the fixed support 100, the arrangement is compact, a plurality of sensors or detection components do not need to be installed at different positions on a vehicle, only one device needs to be installed, and the operation is simpler, more convenient and faster; costs are reduced compared to purchasing multiple sensors.

The embodiment only needs to integrate and set up a device, and the connecting wire can be hidden in automobile body 1, can not obviously stick out in a plurality of positions of vehicle afterbody, also need not to increase extra line and rear bumper trompil of walking to vehicle appearance molding's associative perception and aesthetic property have been guaranteed.

Referring to fig. 2, in some embodiments, the signal reception processing module 300 includes:

a lens unit 310 for collecting visible light and invisible light reflected by an external object;

the processing unit 320 is disposed behind the dodging lens 220 and configured to receive the visible light and the invisible light reflected by the external object and collected by the lens unit 310, and then generate image data, and the signal receiving and processing module 300 can process the received invisible light to obtain distance information of the external object and depth information of different portions of the external object.

When visible light and invisible light reflected by an external object pass through the lens unit 310, the lens unit 310 may adjust the light to be received and processed by the processing unit 320 at a specific angle.

Referring to fig. 2, in some embodiments, the processing unit 320 includes a combination of an RGB CMOS/CCD chip and a ToF CMOS/CCD chip; alternatively, the signal receiving and processing module 300 includes an RGBD CMOS/CCD chip.

Specifically, for example, when the signal receiving and processing module 300 adopts a conventional RGB CMOS/CCD chip + ToF CMOS/CCD chip scheme, the RGB CMOS (Complementary Metal Oxide Semiconductor) or CCD (charged coupled device) chip may be used to generate a color image, the ToF CMOS or ToF CCD chip may receive the infrared light and generate a depth and grayscale image, the color image may be fused with grayscale image data by checking pixels, and the ToF or ToF CCD chip may receive the infrared light and process to obtain distance information. ToF (time of Flight) principle: the invisible light pulses are continuously sent to a target object, then the sensor is used for receiving light returned from the object, the distance of the target object is obtained by detecting the flight round trip time of the emitted and received light pulses, the distance between each part of the surface of the object and the signal receiving and processing module 300 can be obtained by detecting light rays reflected by each part of the object, and depth images representing the distances of different parts can be obtained, so that 3D point cloud identification and depth information detection are realized.

When the signal receiving and processing module 300 adopts the RGBD CMOS or RGBD CCD chip, it responds to both visible light and infrared light, so that it is possible to simultaneously output a color, depth (grayscale) image, distance information, and also a color video image through the chip.

Referring to fig. 2, in some embodiments, the composite detecting device 10 further includes a main control board 400 disposed on the back of the fixing support 100, the main control board 400 is in communication connection with the light emitting assembly 200 and configured to control the light emitting assembly 200 to emit visible light and invisible light, and the main control board 400 is in communication connection with the signal receiving and processing module 300 and configured to receive the image data, the distance, and the depth information generated by the signal receiving and processing module 300 and transmit the image data, the distance, and the depth information to the outside. Specifically, after the control signal is input to the main control board 400, the main control board 400 can control the light emitting assembly 200 to emit visible light and invisible light, and the light is reflected after contacting with an external object; the signal receiving and processing module 300 receives visible light and invisible light reflected by an external object, obtains image data and distance and depth image data information, and transmits the image data and distance and depth image data information to the main control board 400; the main control panel 400 outputs the image data to the display for visual display, or inputs the image data to the algorithm module for recognition, and finally outputs the recognition result to the control system of the automatic driving vehicle for daytime and nighttime auxiliary driving, and the main control panel 400 simultaneously outputs the distance information and the depth information to the control system of the automatic driving vehicle for auxiliary driving.

Referring to fig. 2, in some embodiments, the light emitting assembly 200 includes:

a dual-wavelength light source 210 for emitting visible light and infrared laser light simultaneously;

a dodging lens 220, disposed in front of the light emitting direction of the dual-wavelength light source 210, for allowing the visible light and the infrared laser to pass through and homogenizing the visible light and the infrared laser to form a light spot so as to achieve a required light spot, light intensity and divergence uniformity;

specifically, the dual-wavelength light source 210 may be disposed on the surface of the fixed bracket 100 through a fixing plate, and the main control board 400 may drive the dual-wavelength light source 210 to emit light through a driver, after the infrared laser light emitted from the dual-wavelength light source 210 is received by the signal receiving processing module 300, on one hand, the infrared laser light may be used to generate a gray image, on the other hand, the infrared laser light may be used to implement infrared area array detection, and the signal receiving processing module 300 may generate distance information for distance detection by receiving the reflected light of the infrared area array laser light, i.e., to form a flash L lidar (flood area array laser radar).

When the visible light and the invisible light emitted by the dual-wavelength light source 210 pass through the dodging lens 220, the dodging lens 220 can homogenize the light to form light spots so as to achieve the required light intensity and divergence uniformity; the intensity of reflected light obtained after the uniformly distributed light spots irradiate the surface of an external object and are reflected is more uniform, and the data obtained after the reflected light is received by the signal receiving and processing module 300 and then processed is better in stability and more accurate in numerical value.

Preferably, the infrared laser emitted by the dual-wavelength light source 210 is a spaced light pulse or a continuous wave. When the light pulse is emitted, the pulse width of the pulse can be specially modulated, and the mutual interference among the devices can be avoided under the condition that a plurality of devices run simultaneously.

Furthermore, the wavelength of the infrared laser emitted by the dual-wavelength light source 210 may be various, preferably 905nm, 940nm or 1550nm, and through tests, the infrared laser with the wavelength of 905nm and 940nm is located at the weak part of the energy distribution of each wavelength of sunlight, so that the signal-to-noise ratio of the system can be increased; the 1550nm is advantageous not only in that it is located in a portion where the energy distribution of the sunlight wavelength is weaker, but also in that it is safer for human eyes, and can further improve the output of the emission power to achieve a longer detection distance.

Of course, in other embodiments, the infrared laser may be replaced by invisible light with other wavelengths for image generation and distance detection, and is not limited herein.

Referring to fig. 2, in some embodiments, two dual-wavelength light sources 210 are symmetrically disposed on two sides of the signal receiving and processing module 300 in the horizontal direction. Specifically, two dual wavelength light sources 210 emit optical signal simultaneously, can effectively promote luminous intensity, and signal reception processing module 300 receives the light of the dual wavelength light source 210 transmission of symmetry setting simultaneously, can handle and obtain more accurate stable supplementary driving data information.

It should be noted that in some other embodiments, a light source assembly capable of emitting dual-wavelength light may be disposed inside the vehicle, and the light source assembly is connected to the light emitting unit through an optical fiber so as to directly emit visible light and invisible light.

Referring to fig. 1, in some embodiments, the composite detecting device 10 further includes a protective cover 500 covering the surface of the fixing bracket 100 to protect the light emitting element 200 and the signal receiving and processing module 300, and the protective cover 500 is provided with a through hole 510 for allowing the visible light and the invisible light to pass through. The protective cover 500 protects the light emitting device 200 and the signal receiving and processing module 300 by covering the light emitting device 200 and the signal receiving and processing module 300, thereby preventing the components from being affected by collision or other external factors and prolonging the service life.

Referring to fig. 1 and 2, in some embodiments, the fixing bracket 100 includes a heat dissipating bracket. Specifically, the heat sink 110 is mounted at the rear of the fixing bracket 100 to form a heat dissipating bracket, and the heat sink 110 may be formed by stacking a plurality of heat dissipating fins. During driving, the light emitting assembly 200 and the signal receiving and processing module 300 need to continuously operate to provide data support for a driving system, great heat can be generated during continuous operation, and the heat can be timely dissipated outwards through the heat dissipation support, so that the service life of the device can be effectively prolonged.

Referring to fig. 2, in some embodiments, the compound detection device 10 further includes a heat dissipation fan unit 600 disposed at the rear of the fixing bracket 100 for driving air flow to provide heat dissipation. Specifically, the heat dissipation fan can be connected with the fixing bracket 100 through the bolt 620, and the heat dissipation fan unit 600 drives air to flow, so that heat is dissipated outwards in time through flowing air, and the effect of improving the heat dissipation effect is achieved. Preferably, there are two cooling fan units 600, which are symmetrically arranged at the rear of the fixing bracket 100, and each cooling fan unit 600 is connected to a power supply through an electrical connection wire 610.

In another embodiment of the present invention, a vehicle is provided, which includes a vehicle body 1 and the composite detecting device 10 described above, wherein the composite detecting device 10 is disposed in the middle of the rear portion of the vehicle body 1.

In the above description, although it is possible to describe respective elements of the present invention using expressions such as "first" and "second", they are not intended to limit the corresponding elements. For example, the above expressions are not intended to limit the order or importance of the corresponding elements. The above expressions are used to distinguish one element from another.

The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular references include plural references unless there is a significant difference in context, scheme or the like between them.

The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.

Those skilled in the art will appreciate that various features of the above-described embodiments may be omitted, added, or combined in any way, and for the sake of brevity, all possible combinations of features of the above-described embodiments will not be described, however, so long as there is no contradiction between these combinations of features, and simple variations and structural variations which are adaptive and functional to the prior art, which can occur to those skilled in the art, should be considered within the scope of this description.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that while the present invention has been shown and described with reference to various embodiments, it will be understood by those skilled in the art that various changes and modifications in form and detail may be made without departing from the spirit of the invention and these are within the scope of the invention as defined by the appended claims. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A composite detection device, comprising:

fixing a bracket;

2. The composite detection device of claim 1, wherein the signal reception processing module comprises:

3. The composite detection device of claim 2, wherein the processing unit comprises a combination of an RGB CMOS/CCD chip and a ToF CMOS/CCD chip; or, the signal receiving and processing module comprises an RGBD CMOS/CCD chip.

4. The composite detection device according to claim 1, further comprising a main control board disposed on the back of the fixing support, wherein the main control board is in communication connection with the light emitting assembly and used for controlling the light emitting assembly to emit visible light and invisible light, and the main control board is in communication connection with the signal receiving and processing module and used for receiving and transmitting image data, distance and depth information generated by the signal receiving and processing module.

5. The composite detection device of claim 1, wherein the light emitting assembly comprises:

6. The composite detection device of claim 5 wherein the infrared laser emitted by the dual wavelength light source is a spaced light pulse or a continuous wave.

7. The composite detection device of claim 6, wherein the wavelength of the infrared laser light emitted by the dual wavelength light source is 905nm, 940nm, or 1550 nm.

8. The composite detection device according to claim 1, further comprising a protective cover covering the surface of the fixing support, wherein the protective cover is provided with a through hole for the visible light and the invisible light to pass through.

9. The composite detection device of claim 1 further comprising a heat dissipation fan unit disposed at the rear of the fixed support for driving air flow to provide heat dissipation.

10. A vehicle comprising a vehicle body and a composite detecting device according to any one of claims 1 to 9, said composite detecting device being provided in the middle of the rear portion of said vehicle body.