CN111812662A - Detection system and detection method - Google Patents
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- CN111812662A CN111812662A CN202010758050.1A CN202010758050A CN111812662A CN 111812662 A CN111812662 A CN 111812662A CN 202010758050 A CN202010758050 A CN 202010758050A CN 111812662 A CN111812662 A CN 111812662A
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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
- 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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The application provides a detection system, characterized in that includes: a light source configured to output emitted light at least in part; a control module, the light source receiving the control signal and outputting first emission light having a first light emission amount in a first direction and outputting second emission light having a second light emission amount in at least one second direction different from the first direction, the first light emission amount being different from the second light emission amount; the receiving module receives the return light output to the field of view by the light source and realizes photoelectric conversion; and the processing module obtains final target information according to the information of the receiving module, and the emitted light in the field of view is in a non-uniform state through the control of the control module in the initial state, so that the output energy of the light source can be rapidly adjusted to the optimal state according to the state of the field of view, and the power is saved and the eye safety problem of the light source in use is also considered.
Description
Technical Field
The present application relates to the field of detection technologies, and in particular, to a detection system and a detection method.
Background
With the development of detection technology, laser ranging is an active detection type detection system, which mostly adopts Time of flight (TOF) ranging method, and the principle thereof is that light pulses are continuously transmitted to a target object, then light returned from the object is received by a sensor, the distance of the target object is obtained by detecting the Time of flight (round trip) of the light pulses, and three-dimensional image information with depth information can be formed by using the distance information, and the system has more and wide applications, such as automatic driving and three-dimensional photographing by mobile phones.
However, the use of scenes in the actual detection process determines the efficiency and accuracy of the detection system, and on the other hand, different scenes require different light sources to adapt, for example, for detecting objects with a long distance, high-energy emitted light is required, for short-distance emitted light is required, and the installation state determines the difference of the distances to be detected in each direction of the system, for example, for vehicle installation, the farthest distance needs to be detected in the horizontal direction, while other directions, especially the positions deviated downwards, are the driving road surface, and when the same energy as the horizontal direction is adopted, the problem of inaccurate measurement caused by multipath formed by the ground being partially reflected to the detected objects and the like may also exist. For application scenes such as security protection or high-speed traveling frames, a detected target is basically located at the lower position, so that the energy of a detection system needs to be adjusted simultaneously on the premise of adjusting the installation position of a detector, more efficient and accurate detection can be achieved, the probability that people serve as a detected object in actual use is very high, the energy allocation of the detection system directly influences the safety of personnel, the practical application of the detection system is limited by the problems, and therefore the technical problem to be solved is to design the multi-target detection system capable of adapting to specific scenes of a visual field and simultaneously guarantee the safety and the reliability of the system.
Disclosure of Invention
An object of the present application is to provide a pixel unit of a detector, which is not enough in the above prior art, so as to solve the technical problem that the existing detection unit cannot cope with the rapid detection with high precision of multiple targets.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a detection system, including: a light source configured to output emitted light at least in part; a control module, the light source receiving the control signal and outputting first emission light having a first light emission amount in a first direction and outputting second emission light having a second light emission amount in at least one second direction different from the first direction, the first light emission amount being different from the second light emission amount; the receiving module receives the return light output to the field of view by the light source and realizes photoelectric conversion; and the processing module is used for obtaining final target information according to the information of the receiving module.
Optionally, the light source is an array-type light source, the first direction is an axial direction of an array plane, and the first light-emitting amount is greater than the second light-emitting amount.
Optionally, the angle between the second direction and the first direction is the maximum value of the angle between any point in the field of view and the array axis direction.
Optionally, the light emission value in the second direction is a minimum value, and there are at least a plurality of other directions, and the light emission amounts are all larger than the light emission value in the second direction.
Optionally, the light emission amounts of all other directions from the first direction to the second direction are configured according to a decreasing rule.
Optionally, the light source includes a plurality of sub-units, and at least part of the sub-units are adjustable in laser emission angle.
Optionally, the lighting device further comprises a driving module, wherein the driving module is electrically connected with the light source and outputs different energy to different subunits of the light source.
In a second aspect, an embodiment of the present application provides a detection method using detection information obtained by the detection system in the first aspect, including: a light source configurable to output emitted light at least in part; a control module which controls the light source to output first emission light with a first light emission amount in a first direction and second emission light with a second light emission brightness in at least one second direction different from the first direction, wherein the first light emission amount is different from the second light emission amount; the receiving module receives the return light output to the field of view by the light source and realizes photoelectric conversion; and the processing module is used for obtaining final target information according to the information of the receiving module.
Optionally, the light source is an array-type light source, the first direction is an axial direction of an array plane, and the first light-emitting amount is greater than the second light-emitting amount.
Optionally, the light source includes a plurality of sub-units, and at least part of the sub-units are adjustable in laser emission angle.
Optionally, the lighting system further comprises a driving module, wherein the driving module outputs different energy to different subunits of the light source.
Optionally, the control module adjusts the light emission amount of the light source in the first direction and/or the second direction according to the information obtained by the processing and receiving module.
The beneficial effect of this application is:
a detection system, comprising: a light source configured to output emitted light at least in part; a control module, the light source receiving the control signal and outputting first emission light having a first light emission amount in a first direction and outputting second emission light having a second light emission amount in at least one second direction different from the first direction, the first light emission amount being different from the second light emission amount; the receiving module receives the return light output to the field of view by the light source and realizes photoelectric conversion; the processing module is used for obtaining final target information according to the information of the receiving module; therefore, different light emitting quantities are configured in the initial state according to different directions, so that the energy consumption of the light source can be ensured to be low, the safety of human eyes can be ensured in a scene that a detected object contains people under the condition of considering the installation scene, and further, the light emitting quantities in all directions in the system can be adjusted, so that the strong adaptability of the whole system to different detection conditions is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of a detection system according to an embodiment of the present disclosure;
fig. 2 is a schematic view illustrating an installation and a field range of a security detection apparatus according to an embodiment of the present disclosure;
FIG. 3 is a detailed view of a field of view of a security detection system according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating a relationship between a shortest detection distance and an angle of a security detection system provided in an embodiment of the present application;
fig. 5 is a schematic application diagram of a detection system for an on-vehicle scene according to an embodiment of the present application;
fig. 6 is a schematic view of region division under a vehicle-mounted scene provided with a detection system according to an embodiment of the present application;
FIG. 7 is a detailed view of a field of view of a vehicle-mounted scene with a detection system according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram illustrating a relationship between a shortest distance and an angle detected in a vehicle-mounted scene according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic diagram of a detection system according to an embodiment of the present disclosure. As shown in fig. 1, which illustrates a basic principle of acquiring an object by a detection system, a control module 120 controls a light source 110 to emit detection light, where the light source may be an LED or a laser source, where the light source is generally selected to be a laser source with a near infrared wavelength in order to consider safety of human eyes, and the laser source may be a VSCEL array type laser source, where the selection is not limited herein, and an angle of an emitting unit of the laser source itself may be adjusted autonomously, or multiple emitting units constitute a module, which forms a module capable of adjusting an emitting angle, and a specific implementation manner is not limited herein, and the detector array may be configured as an angle-adjustable scheme, where at least a part of the light source 110 emits detection light, and certainly includes a scene where all emission light and a part of emission light are emitted without limitation, and the emission light returns to an array type receiving module 130 after being reflected by a detection object, and the receiving array of return information may be divided into an ITOF measurement The DTOF single photon measurement array with time of flight may be, for example, a single photon avalanche diode array (SPAD) array, and is not limited herein, the processing module 150 obtains final target information of the detected object through the return light information received by the array type receiving module 130, and the final target information here is distance information of the detected target 140, and may further feed back to the control module 120 according to the information, and further adjust the light source 110, so that the light source 110 emits the detection light according to different intensities or light intensities, or the emitted light quantities in the directions of the adjusted portions are equal, and is not limited herein.
Fig. 2 is a schematic view of an installation and view field range of a security detection device provided in an embodiment of the present application, where the schematic view may be a security application scene or an application scene on a high-speed traveling rack system, and in this installation scene, a detection system is usually installed at a higher position, so that an included angle of the entire view field of the overlooking detection system shown in fig. 2 is θvThe horizontal direction is the first direction of the farthest detection distance, the position of the blind zone boundary is the second direction, and the farthest detection distance in the horizontal direction isL2, the distance is the detection distance of the maximum light quantity of the detection system, the hypotenuse distance at the boundary of the blind zone is the detection distance of the minimum light quantity, in order to reduce the dead zone range of the fov, the actual installation angle of the system can be adjusted to form a certain angle with the horizontal direction in the actual use, here, the first direction is also schematically illustrated according to fig. 2, the actual first direction can be set to be a non-horizontal direction according to the actual detection distance requirement, and the first direction and the second direction are distinguished according to the light emission quantity value of the initial configuration, and are not limited to a specific direction.
Fig. 3 is a detailed view of a field range of the security detection system provided by the embodiment of the present application, where light propagation has a spherical characteristic, the whole field is divided according to the spherical characteristic, and the light is projected on a plane in a grid type, so that accurate light quantity allocation can be performed according to the field requirement.
Fig. 4 is a schematic diagram of the relationship between the shortest detection Distance and the angle of the security detection system provided in the embodiment of the present application, for example, in the security scene or the high-speed traveling rack system of fig. 2 and fig. 3, the viewing field is configured by a top view angle, under such an installation angle, the detection Distance of the detection system in the initial condition for the detected object in the viewing field will have a large difference, and a long detection Distance needs to be ensured in the horizontal first direction, as shown in fig. 4, the actually required detection Distance is a Real Distance line along with the relationship curve of the included angle with the horizontal direction, as can be seen from the diagram, in the range of the included angle with the horizontal direction being smaller, for example, in the range of about 8 ° in the diagram, the required detection Distance is substantially unchanged, the farthest detection Distance of the system, and as the included angle with the horizontal range increases, the actually required shortest detection Distance will further decrease, and thus the required energy is further decreased, in the scenario of fig. 4, the goal of simplifying storage can be achieved by using Gauss to fit the distribution rule, for example, configuring the initial laser source light emission amount according to the Gauss rule, storing the fitted Gauss rule in a storage module or a module with a storage function can achieve the scenario in which the light source is configured as non-uniform emitted light at the initial time, although other functions can be used to fit the rule of non-uniform configured light emission amount in practice, it is also possible to configure the non-uniform light emission amount in the field of view directly according to the experimental result in a piecewise function, a table relationship, and the like, which is only exemplary and not limiting to a specific implementation manner, configure different laser energies at different included angles through initial conditions at the initial time, in fig. 4, the horizontal direction is the first direction and has the maximum detection distance, and thus configures the maximum light emission amount (if according to the Gauss fitting rule, a maximum light emission point is at an included angle of about 3 degrees, so that the position is a first direction), a boundary position of the dead zone is a second direction, a minimum light emission is configured, and light emission in each direction is configured in a mode of at least partially decreasing in other directions between the first direction and the second direction, so that the light emission of the light source at the initial moment is adaptively configured in a non-uniform state, optimal power consumption can be ensured in measurement, the aim of low power consumption of the system is achieved, on the other hand, the non-uniform state can also maximally ensure the requirement of human eye safety when an artificial detection object exists in a field of view, and can also be rapidly adjusted according to the object in a scene, the detection system further comprises a driving module, the driving module is electrically connected with the light source and outputs different energy to different subunits of the light source, in such a way, the control module adjusts the light emission amount of the light source in the first direction and/or the second direction according to the information obtained by the processing and receiving module, so that the quick response characteristic and the quick adjustment effect in the system detection process are ensured.
Fig. 5 is a schematic view of an application of a detection system for an on-vehicle scene according to an embodiment of the present application, fig. 5 is a schematic view of a field of view formed by installing a detection system on a vehicle in a front view direction, as shown in fig. 5, an axial direction of the array light source is a first direction in which a farthest detection distance is required, an upper portion or a lower portion having a largest included angle with the first direction is a second direction, the first direction requires a farthest detection distance L1, and a downward direction has a shortest detection distance due to a limitation of a height of the vehicle body, and therefore is a second detection direction at a dead zone boundary position in the downward direction. Certainly, there is no other detection direction other than the first and second directions, for example, there are other directions to be detected in the upward direction in the present solution, and there is a requirement for the shortest detection distance also in the boundary direction of the dead zone in the upward direction, because the probability of the interfering object existing in the height direction is very low, the upward dead zone included angle direction may be defined as the second direction, and this is not limited herein.
Fig. 6 is a schematic view of a region division under a vehicle-mounted scene where a detection system is installed, which is different from fig. 5 and is illustrated from a top view perspective, fig. 6 is a schematic view of a horizontal plane of an axis position of light emitting sources of the array of fig. 5, where it is required to substantially ensure that light emitting amounts in all directions are substantially consistent, that is, light emitting amounts in the same row direction in the array-type light source have the same light emitting amount, and it is also possible to further reduce the control complexity caused by configuring different energy in all directions of the entire array, and also ensure a reasonable detection range of the detection system, but it is not limited herein that light emitting amounts of light source units in each row are consistent.
Fig. 7 is a schematic view of details of a field of view in a vehicle-mounted scene where a detection system is installed according to an embodiment of the present application, which is similar to fig. 3 of a security scene and is not repeated here.
Fig. 8 is a schematic diagram of the relationship between the shortest distance to be detected and the angle in the vehicle-mounted scene provided by the embodiment of the present application, and fig. 8 is a diagram of the angle between the distance to be detected and the horizontal direction in the field of view in the vertical direction in fig. 5 or fig. 7, where the distance to be detected is the farthest in the horizontal position or the axial direction of the laser array, and the distance to be detected also exhibits a characteristic of decreasing with the change of the angle to the horizontal direction, as shown in fig. 8, in the range of the horizontal direction and the range of the angle to the horizontal direction (-13 ° -8 °), the detected distance is the largest, and the maximum value of the distance to be detected is substantially the same, and in the negative direction, that is, the maximum distance to be detected is also decreasing with the decrease of the angle, so that the required laser energy is further decreased, in the positive direction, that is, in the upward direction in the figure, after an included angle larger than about 8 degrees, the detection distance is further reduced along with the increase of the included angle, at this time, the laser energy emitted by the light source is further reduced, which is consistent with the application in the security scene described earlier, the gaussian function relationship is used to fit the scene requirement, the storage pressure of the control module can be reduced, of course, the use of the Gauss function for fitting is not limited here, and the practical application scene can also be adaptively adjusted by using other relationships or icons, and the like, which is not limited here, the non-uniform light-emitting scene can be constructed in the vehicle-mounted application scene by the present invention at the initial time, so that the safety of human eyes in the field of view can be ensured, the non-uniform light-emitting scene can be constructed at the initial time, and the further adjustment time can be ensured to be rapidly adjusted according to the object state in the field of view, and then the optimal laser source energy distribution is obtained most quickly, other purposes and efficacies similar to the prior security application scene are not described in detail here, and all the distance data are only used for demonstration and illustration, and the system is not limited to be applied in the range, and actually, the data description of the invention is used for describing the rule and the arrangement principle.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (12)
1. A detection system, comprising:
a light source configured to output emitted light at least in part;
a control module, the light source receiving the control signal and outputting first emission light having a first light emission amount in a first direction and outputting second emission light having a second light emission amount in at least one second direction different from the first direction, the first light emission amount being different from the second light emission amount;
the receiving module receives the return light output to the field of view by the light source and realizes photoelectric conversion;
and the processing module is used for obtaining final target information according to the information of the receiving module.
2. The detection system according to claim 1, wherein the light source is an array type light source, the first direction is an axial direction of an array plane, and the first light emission amount is larger than the second light emission amount.
3. A detection system according to claim 2 wherein the second direction is at a maximum of the angle between any point in the field of view and the direction of the axis of the array.
4. A detection system according to claim 3 wherein the amount of luminescence in the second direction is a minimum and there are at least a plurality of other directions each emitting a quantity of luminescence greater than the amount of luminescence in the second direction.
5. A detection system according to claim 3 wherein the amount of luminescence in all other of the first to second directions is arranged in a decreasing order.
6. The detection system of claim 1, wherein the light source comprises a plurality of sub-units, at least some of which are angularly adjustable.
7. The detection system of claim 6, further comprising a driving module electrically connected to the light source and outputting different energies to different subunits of the light source.
8. A probing method for obtaining probing information using the probing system as recited in claim 1, comprising:
a light source configurable to output emitted light at least in part;
a control module which controls the light source to output first emission light with a first light emission amount in a first direction and second emission light with a second light emission brightness in at least one second direction different from the first direction, wherein the first light emission amount is different from the second light emission amount;
the receiving module receives the return light output to the field of view by the light source and realizes photoelectric conversion;
and the processing module is used for obtaining final target information according to the information of the receiving module.
9. The detection method according to claim 8, wherein the light source is an array type light source, the first direction is an axial direction of an array plane, and the first light emission amount is larger than the second light emission amount.
10. A method according to claim 8, wherein the light source comprises a plurality of sub-units, at least some of which are angularly adjustable.
11. A method for detection according to claim 10 further comprising a driver module that outputs different energies to different subunits of the light source.
12. The detection method according to claim 8, wherein the control module adjusts the light emission amount of the light source in the first direction and/or the second direction according to the information obtained by the processing and receiving module.
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| CN113323657A (en) * | 2021-05-12 | 2021-08-31 | 天地（常州）自动化股份有限公司 | Underground data transmission system and method |
| CN114935743A (en) * | 2022-04-18 | 2022-08-23 | 深圳阜时科技有限公司 | Emitting module, photoelectric detection device and electronic equipment |
| CN115480258A (en) * | 2021-05-31 | 2022-12-16 | 宁波飞芯电子科技有限公司 | Detection device and method |
| CN116660868A (en) * | 2022-04-18 | 2023-08-29 | 深圳阜时科技有限公司 | Electronic equipment |
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