CN116466328A - Flash intelligent optical radar device and system - Google Patents
Flash intelligent optical radar device and system Download PDFInfo
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- CN116466328A CN116466328A CN202310725008.3A CN202310725008A CN116466328A CN 116466328 A CN116466328 A CN 116466328A CN 202310725008 A CN202310725008 A CN 202310725008A CN 116466328 A CN116466328 A CN 116466328A
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- 238000003860 storage Methods 0.000 claims description 23
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- 239000004065 semiconductor Substances 0.000 claims description 11
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- 238000005259 measurement Methods 0.000 abstract description 21
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- 238000012360 testing method Methods 0.000 description 6
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Classifications
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- G01S7/497—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a Flash intelligent optical radar device and a system, wherein the device comprises a main control board, a light source driving board, a receiving window assembly and an imaging optical assembly, wherein the receiving window assembly and the imaging optical assembly are sequentially arranged between the main control board and the light source driving board; the middle of the light source driving plate is provided with a mounting hole, and one end of the imaging optical assembly penetrates through the mounting hole and extends towards the direction of the light source driving plate; the light source driving plate is provided with a light source and a light source driver; the light source driving plate is used for driving the light source to emit light signals to irradiate the tested object, so that the tested object reflects the light signals to form echo signals; and the imaging optical assembly is used for receiving the echo signals and sending imaging data to the main control board through the receiving window assembly after imaging, so that the main control board sends the imaging data to the background control platform for corresponding optical analysis to obtain corresponding measurement results. The invention has the advantages that each part is not provided with movable parts, the measurement stability can be ensured, and the invention has the characteristics of high measurement speed, high reliability and the like.
Description
Technical Field
The invention relates to an optical measurement device, in particular to a Flash intelligent optical radar device and a Flash intelligent optical radar system.
Background
The Flash optical radar is a novel detection device designed based on the radar principle by taking light beams as detection signals, and can detect the position, basic outline, speed, distance and other information of a target. The mechanical radar has the advantages that the mechanical radar needs to rotate, the service life of the whole radar is short due to the scanning component, and the engineering problems of inaccurate measurement and the like due to the fact that devices are easy to age are solved. Therefore, the method is more suitable for being applied to the fields of intelligent traffic, intelligent cities and the like, and has wide prospect.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a Flash intelligent optical radar device which can solve the problems of inaccurate ranging and short service life of the traditional mechanical radar and solve the problems of halation and exposure engineering of a vision camera; and manual parameter and detection are not needed, so that automatic detection is realized.
The second purpose of the invention is to provide a Flash intelligent optical radar system which can solve the problems of inaccurate ranging and short service life of the traditional mechanical radar and solve the problems of halation and exposure engineering of a vision camera; and manual parameter and detection are not needed, so that automatic detection is realized.
One of the purposes of the invention is realized by adopting the following key structural technical scheme:
a Flash intelligent optical radar device comprises a main control board, a receiving window assembly, an imaging optical assembly and a light source driving board;
the receiving window assembly and the imaging optical assembly are sequentially arranged between the main control board and the light source driving board, and the receiving window assembly is fixed on the main control board; the receiving window assembly is communicated with one end of the imaging optical assembly, and the central axis of the receiving window assembly and the central axis of the imaging optical assembly are on the same straight line;
the middle of the light source driving plate is provided with a mounting hole, and the other end of the imaging optical assembly penetrates through the mounting hole and extends towards the direction of the light source driving plate; the light source driving board is provided with a light source and a light source driver, and the light source driver is electrically connected with the main control board and the light source;
the light source driving plate is used for driving the light source to emit light signals to irradiate the tested object, so that the tested object reflects the light signals to form echo signals; the imaging optical assembly is used for receiving echo signals reflected by the measured object, imaging the echo signals and then sending imaging data to the receiving window assembly, and then sending the imaging data to the main control board, so that the main control board sends the imaging data to the background control platform for corresponding optical analysis.
Further, a housing and a rear panel; the rear panel is clamped at the opening of the shell, so that the shell and the rear panel form a containing cavity for containing the main control board and the light source driving board; the main control board is fixed on the rear panel; the main control board is fixedly connected with the light source driving board through a plurality of bracket pieces; and the rear panel is provided with a heat dissipation device for dissipating heat of the main control panel.
Further, the device also comprises a mounting bracket; the mounting bracket comprises a circular bracket and a plurality of mounting protrusions, and the mounting protrusions are fixed on the circular bracket in a dispersing manner; one end of each mounting protrusion is fixedly connected with the circular ring bracket, and the other end of each mounting protrusion is fixed on the main control board; the plurality of mounting protrusions enclose the receiving window assembly to support and fix the receiving window assembly, and the other end of the receiving window assembly passes through the annular hole of the annular bracket to be communicated with one end of the receiving window assembly.
Further, the light-isolating structure part is also included; the light-isolating structural member comprises a cylinder and a mounting ring, wherein the mounting ring is arranged at one end of the cylinder and is fixedly connected with a circular ring bracket of the mounting bracket;
the cylinder is nested in the mounting hole of the light source driving plate, so that the imaging optical assembly is arranged in the cylinder, and light signals emitted by the light source on the light source driving plate are prevented from entering the imaging optical assembly.
Further, one or more light source drivers are arranged, and each light source driving plate is electrically connected with the main control board; one or more of the light sources; wherein each light source is electrically connected with one light source driving plate, and one light source driver is electrically connected with one or more light sources; the light source is a semiconductor laser light source or a high-power LED light source, and the semiconductor laser light source is any one of VCSEL, a VCSEL unit of a single PN junction and a VCSEL unit of a plurality of PN junctions.
Further, the light source comprises a light emitting chip and a bowl-shaped lens; the bottom of the bowl-shaped lens is provided with an installation cavity, and the light-emitting chip is installed in the installation cavity; the inner walls of the bowl-shaped lenses are provided with total reflection surfaces; the outlet of the bowl-shaped lens comprises a convex curved surface arranged in the middle and a horizontal curved surface arranged around the convex curved surface.
Further, the receiving window component is a photon sensor array detector, is electrically connected with the main control board, and is used for receiving imaging data of the imaging optical component, converting the imaging data into photocurrent and then sending the photocurrent to the main control board; the photon sensor array type detector is SiPM or SPAD.
The second purpose of the invention is realized by adopting the following key structural technical scheme:
a Flash intelligent optical radar system comprises a radar device and a background control platform; the Flash intelligent optical radar device is adopted as one of the purposes of the invention; the background control platform is electrically connected with the main control board of the Flash intelligent optical radar device and is used for acquiring imaging data and carrying out corresponding optical analysis on the imaging data to obtain the Flash intelligent optical radar device.
Further, the background control platform is further used for calling a preset intelligent algorithm to capture differences according to the received imaging data and automatically identifying the detected object according to the captured difference data; the automatic identification of the measured object comprises automatic extraction of recommended images, object identification of the measured object, statistics of the number of the measured object and type identification of the measured object; the intelligent algorithm comprises one or more of shape extraction, edge feature point extraction, emissivity feature point extraction, graph position extraction, contour position extraction, straight line position extraction and angle extraction.
Further, the background control platform is provided with a signal storage unit, an intelligent image processing unit, a CMOS camera unit and an MCU module; the signal storage unit is electrically connected with the MCU module and used for storing imaging data; the MCU module is electrically connected with the intelligent image processing unit, and the intelligent image processing unit is called to perform image optimization on the imaging data and acquire depth and color information of an image in the imaging data; the MCU module is electrically connected with the CMOS camera unit and is used for coloring the color of imaging data; the signal storage unit is an internal storage unit of the background control platform or an external storage unit connected with the background control platform; the background control platform is also in communication connection with the cloud end so as to upload detection data and data processing results to the cloud end for storage; the Flash intelligent optical radar device comprises one or more than one background control platform, and the background control platform is electrically connected with the background control platform of each Flash intelligent optical radar device.
Compared with the prior art, the invention has the beneficial effects that:
the Flash intelligent optical radar device provided by the invention has all components in solid state and no movable parts, so that the defects of difficult calibration, limited radar service life, poor manufacturing repeatability and the like caused by the existence of movable parts in the traditional mechanical rotary radar equipment can be overcome, and meanwhile, the Flash intelligent radar provided by the invention is not easily influenced by shaking of a use environment and the like in the use process, and the measurement stability can be ensured.
The invention also solves the problems of halation and exposure engineering of the vision camera by arranging the signal storage unit, the intelligent image processing unit and the CMOS camera unit in the device in advance; the test can be automatically completed without manual parameters.
When the imaging data is processed through the background control platform, the invention realizes coloring of the colors of the imaging data by calling the CMOS camera unit, thereby achieving the purpose of capturing depth information and object colors. Meanwhile, the background control platform also supports information analysis, and when batch detection is carried out, analysis, feedback and the like on yield, yield quantity and defective product data can be realized according to detected result data. The background control platform can also simultaneously support a plurality of connected Flash intelligent optical radar devices, and summarize and display the detection results of the plurality of Flash intelligent optical radar devices through a display device: the background control platform can also set a corresponding real-time data display window for each Flash intelligent optical radar device so as to display corresponding measurement results in real time.
The invention not only sets the storage unit in the system for storing data, but also can support the external storage unit, so that when the equipment fails, the equipment can be restarted automatically in time through the configuration file in the external storage unit.
The cloud data storage method and the cloud data storage system also support cloud data storage, and detected data results and analyzed data results are uploaded to the cloud for storage for later checking. The invention has the characteristics of simple structure, flexible operation, high test speed, low cost, high reliability and the like.
Drawings
FIG. 1 is a schematic diagram of an installation structure of a Flash intelligent optical radar device provided by the invention;
FIG. 2 is an exploded view of a Flash intelligent optical radar device according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a bowl-shaped lens of a light source of a Flash intelligent optical radar device according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating the emission of light signals from the light emitting chip of the light source in FIG. 3;
fig. 5 is an algorithm flow of a background control center of the Flash intelligent optical radar device provided by the invention.
In the figure: 1. a main control board; 11. a bracket member; 2. a receiving window assembly; 3. an imaging optical assembly; 4. a light source driving plate; 5. a mounting bracket; 51. a circular ring bracket; 52. mounting the bulge; 6. a light blocking structure; 61. a cylinder; 62. a mounting ring; 7. a light source; 71. a light emitting chip; 721. a mounting cavity; 722. a horizontal curved surface; 723. a convex curved surface; 724. and a total reflection surface.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
As shown in fig. 1-5, a preferred embodiment of the present invention provides a Flash intelligent optical radar apparatus, which includes a main control board 1, a receiving window assembly 2, an imaging optical assembly 3, and a light source driving board 4.
The receiving window assembly 2 and the imaging optical assembly 3 are sequentially arranged on the main control board 1 and the light source driving board 4, and the receiving window assembly 2 is fixed on the main control board 1. The receiving window assembly 2 communicates with one end of the imaging optical assembly 3, and the central axis of the receiving window assembly 2 is on the same line as the central axis of the imaging optical assembly 3. By disposing the receiving window assembly 2 on the same line as the central axis of the imaging optical assembly 3, the receiving window assembly 2 can receive the imaging data of the imaging optical assembly 3.
The middle of the light source driving plate 4 is provided with a mounting hole. The other end of the imaging optical assembly 3 passes through the mounting hole and extends in the direction of the light source driving plate 4.
Preferably, the light source driving board 4 is provided with a light source 7 and a light source driver, and the light source driver is electrically connected with the main control board 1 and the light source 7. The light source driving board 4 is used for driving the light source 7 to emit light signals to irradiate the tested object, so that the tested object reflects the light signals to form echo signals.
The imaging optical component 3 is used for receiving echo signals reflected by the measured object, imaging the echo signals and then sending imaging data to the receiving window component 2, and then sending the imaging data to the main control board 1, so that the main control board 1 sends the imaging data to the background control platform, and the background control platform performs corresponding optical analysis.
Preferably, the main control board 1 is also fixedly connected with the light source driving board 4 in parallel through a plurality of bracket pieces 11, so as to fix the receiving window assembly 2 and the imaging optical assembly 3 between the main control board 1 and the light source driving board 4. More specifically, the number of the holder members 11 in this embodiment is four. Corresponding mounting holes are formed in the main control board 1 and the light source driving board 4 in a scattered mode, and the main control board 1 and the light source driving board 4 can be fixed through fixedly mounting the corresponding support piece 11 in the corresponding mounting hole.
The central axes of the receiving window assembly 2 and the imaging optical assembly 3 are all on the same straight line to ensure that the receiving window assembly 2 successfully receives the imaging data of the imaging optical assembly 3.
The middle of the light source driving plate 4 is provided with a mounting hole. One end of the imaging optical assembly 3 is connected to the receiving window assembly 2, and the other end extends through the mounting hole toward the light source driving plate 4. That is, as a receiving window, the imaging optical assembly 3 is implemented to receive echo signals reflected back from the object to be measured to image according to the echo signals, and then the imaging data is fed back to the main control board 1 by the receiving window assembly 2.
More preferably, the present invention further comprises a housing and a rear panel. The rear panel is clamped at the opening of the shell, so that the shell and the rear panel form a containing cavity for containing the main control board 1 and the light source driving board 4. Wherein, the main control board 1 is fixed on the back panel. And the rear panel is also provided with a heat radiating device, and the main control board 1 is radiated through the heat radiating device, so that the normal operation of the equipment is ensured.
Preferably, the invention also comprises a mounting bracket 5. The mounting bracket 5 includes a circular bracket 51 and a plurality of mounting protrusions 52, and the plurality of mounting protrusions 52 are fixed on the circular bracket 51 in a dispersed manner. Each mounting boss 52 is fixed to the main control board 1. The plurality of mounting bosses 52 enclose the receiving window assembly 2 to support and fix the receiving window assembly 2. The other end of the receiving window assembly 2 is communicated with one end of the receiving window assembly 2 through an annular hole of the annular bracket 51. The consistency of the central axes of the receiving window assembly 2 and the imaging optical assembly 3 can be further ensured through the mounting bracket 5, meanwhile, the stability of the receiving window assembly 2 and the imaging optical assembly 3 can be ensured, the fixation of each component in the invention is ensured, and the use of equipment is prevented from being influenced by movement.
Preferably, the invention also comprises a light-insulating structure 6. The mounting device comprises a cylinder 61 and a mounting ring 62, wherein the mounting ring 62 is arranged at one end of the cylinder 61, and the mounting ring 62 is fixedly connected with the circular ring bracket 51 of the mounting bracket 5. The cylinder 61 is nested in the mounting hole of the light source driving plate 4, so that the other end of the imaging optical assembly 3 extends to a direction far away from the mounting bracket 5 through the cylinder 61 and is used for isolating the light signal emitted by the light source 7 on the light source driving plate 4 from entering the imaging optical assembly 3, so that the light signal of the light source 7 on the light source driving plate 4 is prevented from entering the imaging optical assembly 3, imaging data is influenced, and the follow-up measurement is inaccurate.
That is, the main control board 1 controls the light source 7 to operate through the light source driving board 4, so that the light source 7 emits light signals outwards and irradiates the measured object, the measured object reflects the light signals to form echo signals, the echo signals enter the imaging optical assembly 3 through the cylinder 61 of the light isolation structural member 6 to be imaged, and then the imaging data are sent to the main control board 1 through the receiving window assembly 2, so that the main control board 1 performs relevant data analysis to realize corresponding measurement.
Preferably, there may be one or more light source drivers on the light source driving board 4 in the present invention. Each light source driver is electrically connected to one or more light sources 7 to drive the one or more light sources 7 to operate, and may be specifically set according to actual requirements. More specifically, the light source driver in the invention adopts a Mosfet driver, the driver has the characteristic of double high speeds, the driver can be used in a driver requiring accurate pulse, meanwhile, the driver has a wide output voltage range and low on-resistance, and the devices can drive various resistance and capacitance loads to ensure that the driver has the visual sense of rapid rise and fall, and the requirement of array imaging with low inclination can be allowed to run at high speed. More specifically, the Mosfet driver is implemented with an N-Mosfet unipolar transistor.
Wherein the number of light sources 7 is also several, and one light source 7 is driven and controlled by one light source driver.
Furthermore, the main function of the emission optical system (i.e. the light source 7, the light source driving board 4, etc.) in the present application is to fix or dynamically collimate and focus the light beam emitted by the light emitting module, so that the divergence angle of the light beam is reduced and the shape meets the use requirement. The effect achieved by the emission optical system is generally measured by key parameters such as a beam divergence angle, a spot diameter, energy transmittance and the like after collimation. The receiving optical system is mainly used for collecting reflected light energy as much as possible and converging the light energy on a photosensitive surface of the detector so as to improve the detection distance; the effect achieved by the receiving optical system (i.e., imaging optics 3, receiving window 2, etc.) is typically measured by indices such as system aperture, focal length, incident focal spot diameter, system transmittance, etc.
More preferably, as shown in fig. 3, the light source 7 includes a light emitting chip 71 and a bowl-shaped lens. Wherein, the bottom of the bowl-shaped lens is provided with a mounting cavity 721, and the light emitting chip 71 is mounted in the mounting cavity 721.
The inner walls of the bowl-shaped lenses are provided with total reflection surfaces 724. Thus, the light signal emitted from the light emitting chip 71 is totally reflected after contacting the bowl wall of the bowl-shaped lens.
Further, the outlet of the bowl-shaped lens includes a convex curved surface 723 provided in the middle and a horizontal curved surface 722 provided around the convex curved surface 723. The light signals emitted by the light emitting chip 71 can be converged through the bowl-shaped lens, so that the emitted light signals are emitted horizontally to irradiate the object to be measured, and the light beams emitted by the light emitting chip 71 are uniformly transmitted by the bowl-shaped lens in the emitting direction of the light beams emitted by the light emitting chip 71 as shown in fig. 4. That is, the convex curved surface 723 serves to disperse strong light emitted from the light emitting chip 71 to the central region of the bowl-shaped lens so as to be emitted as parallel light. The horizontal curved surface 722 is used for horizontally emitting the light signal reflected by the total reflection surface 724 from the light signal emitted from the light emitting chip 71 to the bowl wall of the bowl-shaped lens.
Preferably, the light source 7 is a semiconductor laser light source or a high power LED light source. The semiconductor laser light source is any one of VCSEL, single PN junction VCSEL unit or multiple PN junction VCSEL unit. Specifically, for example, a 850nm semiconductor laser light source, a 885nm semiconductor laser light source, a 905nm semiconductor laser light source, a 940nm semiconductor laser light source, a 1064nm semiconductor laser light source, and the like. When the invention realizes the distance measurement of the measured object, the measurement range can reach 100 meters.
Preferably, for example when the device is used for testing of distances, the probing distance can be raised by the following three technical dimensions: the emitting power of the laser light source or the LED light source, the minimum detectable power of the photoelectric detector, the fixed or dynamic collimation and the focusing light source emit beam quality.
The higher the emission power of the laser light source or the LED light source is, the farther the detection distance of the device is. The emission power of the laser light source 7 is mainly dependent on the optical power density of the laser chip. If the emission power of the laser light source is increased by 1 time, the detection distance is increased by about 20 percent. However, the emission power of the laser chip is the product of the "power density of the laser chip" and the "light emitting area", and since the light emitting area has a limited space for increasing the emission power, the emission power of the laser light source is generally increased by the optical power density of the laser chip, so as to increase the detection distance. That is, the invention proposes dynamic adjustment of the emission power of the light source 7, can meet the detection distance and precision requirements in different application environments, and can flexibly adjust and save the working power of the Flash intelligent optical radar device, thereby bringing the advantages of prolonging the working life and the like.
The smaller the minimum detectable power of the photodetector, the farther the detection distance. Wherein the minimum detectable power of the photodetector depends on the PDE and the dark count. If PDE is improved by 1 time, the minimum detectable power of the photoelectric detector is reduced by 50 percent, and the detection distance of the Flash intelligent optical radar device is improved by about 20 percent. Since the primary function of the photodetector is to convert the incident light power into a corresponding photocurrent, the minimum detectable power of the photodetector is indicative of the minimum incident light power that can be detected by a photodetector such as SPAD, siPM, etc. If the incident light power of the photodetector is lower than the minimum incident light power NEP value, the incident light signal is submerged by noise and cannot be detected by the detector. That is, the minimum incident optical power NEP value represents the minimum input optical signal power required at a signal-to-noise ratio of 1, so NEP represents the minimum detectable power. Furthermore, the invention provides that on the basis of collecting the signals of the photoelectric detector, the artificial intelligent image module is adopted to reduce noise of the collected signals, so that the signal to noise ratio is improved, the detection distance is improved, and meanwhile, the physical limit of the detector in severe environments such as rainy and foggy days is overcome.
The smaller the laser divergence angle, the farther the detection distance. The divergence angle of the laser light depends on the collimation properties of the emission optical system. If the laser divergence angle is reduced by 50%, the detection distance of the Flash intelligent optical radar device is increased by 40%. For example, a VCSEL laser emits from a laser chip at a divergence angle that directly affects the area of a spot of the laser emitted to the surface of the target object, thereby affecting the optical power density of the laser impinging on the target object, and ultimately affecting the incident optical power reflected from the surface of the target object back to the surface of the detector. The laser radar generally comprises a collimating lens and a beam expander in a transmitting optical system, so that the divergence angle of laser can be reduced. However, even if the collimation performance of the optical system is good, the laser beam cannot be completely collimated to 0, a certain divergence angle exists all the time, the laser beam cannot be completely collimated, and the optical system can only reduce the divergence angle as much as possible. The far field divergence angle of a VCSEL is typically 25 (the unit of description), and if not collimated, the radius of the spot becomes half when propagating to 100 meters, thus the importance of reducing the beam divergence angle by collimation is seen. The invention provides a method for fixed collimation focusing or dynamic collimation focusing for the laser emission light source 7, thereby optimizing the emission angle, providing irradiation of a detected target for the Flash intelligent optical radar device, and providing reliable dynamic light source 7 coverage for space imaging.
Preferably, the imaging optical assembly 3 comprises an imaging distance sensor for imaging echo signals returned by the object under test.
Further, the receiving window assembly 2 comprises a photon sensor array detector, and is used for converting echo signals of the detected object sent by the imaging optical assembly 3 to generate photocurrent and sending the photocurrent to the main control board 1.
Preferably, the invention further comprises a gain control module. The gain control module is electrically connected with the main control board 1 and the light source driver. The main control board 1 also obtains imaging data according to the ADC sampling module to obtain an echo sampling value, and controls the gain control module according to the echo sampling value, so that the intensity of an optical signal emitted by the light source 7 is regulated through the light source driver, the saturation or the weak signal is avoided, and the range of ranging is dynamically regulated. Through feedback control, the intensity of the light signal emitted by the light source 7 and the distance between the measured object are in a reasonable range, so that the measurement result is more accurate.
Preferably, the receiving window assembly 2 is a photon sensor array detector, wherein the photon sensor array detector is electrically connected with the main control board 1, and is configured to receive imaging data of the imaging optical assembly, convert the imaging data into photocurrent, and send the photocurrent to the main control board 1. More specifically, the photon sensor array detector in this embodiment is SiPM or SPAD.
Based on the Flash intelligent optical radar device provided by the invention, the invention also provides a Flash intelligent optical radar system, which comprises a background control center and the Flash intelligent optical radar device adopted in the first embodiment.
The background control center is electrically connected with the main control board 1 of the Flash intelligent optical radar device and is used for acquiring imaging data and carrying out corresponding optical analysis on the imaging data to obtain the Flash intelligent optical radar device.
Preferably, the background control platform is electrically connected with the main control board 1, and is used for receiving imaging data and correspondingly analyzing the imaging data to obtain a measurement result. Specifically, the background control platform can be matched with a corresponding touch screen, a user can input a corresponding measurement target to the background control platform through the touch screen and start testing, and the background control platform can send a testing start instruction to the main control board 1 so as to control the Flash intelligent optical radar device to start working.
Furthermore, the invention also provides intelligent algorithms for various optical analyses in the background control platform. And the background control platform can be matched with a corresponding intelligent algorithm according to the measurement target when the imaging data is received, and call the corresponding intelligent algorithm to process and analyze the imaging data so as to obtain a final analysis result and display the final analysis result to measurement personnel through a touch screen. After the measuring personnel starts to input the measuring target to the background control platform and places the measured object at the corresponding position, the system can automatically complete the measurement and display the corresponding measuring result without any operation.
Preferably, the background control platform is further used for calling a preset intelligent algorithm to capture differences according to the received imaging data and automatically identifying the detected object according to the captured difference data. The automatic identification of the measured object comprises automatic extraction of recommended images, object identification of the measured object, statistics of the number of the measured object and type identification of the measured object.
Further, the preset intelligent algorithm may include one or more terminal combinations of shape extraction, edge feature point extraction, reflectivity feature point extraction, graphic position extraction, contour position extraction, straight line position extraction, angle extraction, and the like. Such as: the automatic extraction of the recommended image is realized according to the extracted feature points of the shape and the reflectivity; the edge feature points include 2D edges and 3D edges. When the difference between the color of the detected object and the background color is smaller than a preset value during the extraction of the edge feature points, the edge of the detected object is processed through the feature points of the reflectivity, so that the edge feature points are extracted. The above-mentioned each preset intelligent algorithm is a commonly used technical algorithm for processing image data in the current artificial intelligence field, and engineering personnel can put in a large number of preset intelligent algorithms in advance on a background control platform according to actual measurement requirements, and when the follow-up measurement is performed, the background control platform automatically calls the corresponding intelligent algorithm to realize corresponding data analysis, so as to obtain a corresponding measurement target.
As shown in fig. 5, the present invention also provides a specific flow chart of a part of the intelligent algorithm:
after receiving imaging data, the background control platform intelligently captures differences and automatically identifies the differences by calling a preset intelligent algorithm so as to find out the parts with the differences and automatically perform basic detection setting. Such as: the detection mechanism is as follows: the shape and edge characteristics are extracted, and even if part of the area is invisible or deformed, the judgment can be correctly made; position deviation correction: the pattern position, contour position, straight line position, angle, etc. can be corrected, and the work correction process can be tracked. Extracting through characteristic points such as shape, edge, reflectivity and the like; such as whether the sealing material is completely closed or continuous without opening; calculating the same shape and edge to identify the detection object, which is suitable for counting the number; the type identification is realized through the combination of the shape, the edge and the reflectivity, so that the source detection can be traced, and the production efficiency can be improved.
More preferably, the background control platform can also be used for measuring defective products of products. For example, before measurement, positions to be detected are defined, then good product point cloud data or defective product point cloud data are shot and marked, and then characteristics are captured from the marked good product point cloud data or defective product point cloud data, so that the calculation of the good product rate and the defective product rate is realized. The intelligent algorithm also supports rapid iteration of the model, defect labeling and key point labeling data, one-key additional learning, basic detection setting generation of the intelligent algorithm is realized again, knowledge or experience is not needed, and multi-scene conditions such as environmental change, category addition and the like are supported.
Furthermore, the background control platform is also provided with a signal storage unit, an intelligent image processing unit, a CMOS camera unit and an MCU module. The signal storage unit is electrically connected with the MCU module and is used for storing imaging data so as to backup the received imaging data for later use.
The MCU module is electrically connected with the intelligent image processing unit, and the intelligent image processing unit is called to perform image optimization on imaging data and acquire depth and color information of an image in the imaging data. By adopting the intelligent image processing unit, the purpose of noise reduction is achieved, and the calculated signal to noise ratio is improved.
The signal storage unit is an internal storage unit of the background control platform or an external storage unit connected with the background control platform.
The background control platform is also in communication connection with the cloud end so as to upload detection data and data processing results to the cloud end for storage;
and the MCU module supports the integrated display of a plurality of connected Flash intelligent optical radar devices. That is, the background control platform can be simultaneously connected with one or more MCU modules Flash intelligent optical radar devices to collect data. Preferably, the background control platform further comprises an intelligent image processing unit which is electrically connected with the main control module.
The MCU module can process imaging data through the intelligent image processing unit according to the requirements of application environments and specific deployment environments, and meanwhile, the power of the LED or VSCEL light source can be dynamically adjusted. For example, the device can be deployed in an unmanned automatic driving distribution trolley, and the working power can be intelligently adjusted in different environments such as rainy days, sunny days and the like. For example, when the device is applied to intelligent traffic, the device can be installed on traffic bars with different heights, and the working power of the light source 7 can be dynamically adjusted according to different measured distances.
When the MCU module processes imaging data, the CMOS camera unit is called to realize coloring of the colors of the imaging data, so that the purposes of capturing depth information and object colors are achieved.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (10)
1. The Flash intelligent optical radar device is characterized by comprising a main control board, a receiving window assembly, an imaging optical assembly and a light source driving board;
the receiving window assembly and the imaging optical assembly are sequentially arranged between the main control board and the light source driving board, and the receiving window assembly is fixed on the main control board; the receiving window assembly is communicated with one end of the imaging optical assembly, and the central axis of the receiving window assembly and the central axis of the imaging optical assembly are on the same straight line;
the middle of the light source driving plate is provided with a mounting hole, and the other end of the imaging optical assembly penetrates through the mounting hole and extends towards the direction of the light source driving plate; the light source driving board is provided with a light source and a light source driver, and the light source driver is electrically connected with the main control board and the light source;
the light source driving plate is used for driving the light source to emit light signals to irradiate the tested object, so that the tested object reflects the light signals to form echo signals; the imaging optical assembly is used for receiving echo signals reflected by the measured object, imaging the echo signals and then sending imaging data to the receiving window assembly, and then sending the imaging data to the main control board, so that the main control board sends the imaging data to the background control platform for corresponding optical analysis.
2. The Flash intelligent optical radar apparatus according to claim 1, comprising a housing and a rear panel; the rear panel is clamped at the opening of the shell, so that the shell and the rear panel form a containing cavity for containing the main control board and the light source driving board; the main control board is fixed on the rear panel; the main control board is fixedly connected with the light source driving board through a plurality of bracket pieces; and the rear panel is provided with a heat dissipation device for dissipating heat of the main control panel.
3. The Flash intelligent optical radar apparatus of claim 1, further comprising a mounting bracket; the mounting bracket comprises a circular bracket and a plurality of mounting protrusions, and the mounting protrusions are fixed on the circular bracket in a dispersing manner; one end of each mounting protrusion is fixedly connected with the circular ring bracket, and the other end of each mounting protrusion is fixed on the main control board; the plurality of mounting protrusions enclose the receiving window assembly to support and fix the receiving window assembly, and the other end of the receiving window assembly passes through the annular hole of the annular bracket to be communicated with one end of the receiving window assembly.
4. The Flash intelligent optical radar apparatus according to claim 3, further comprising a light blocking structure; the light-isolating structural member comprises a cylinder and a mounting ring, wherein the mounting ring is arranged at one end of the cylinder and is fixedly connected with a circular ring bracket of the mounting bracket;
the cylinder is nested in the mounting hole of the light source driving plate, so that the imaging optical assembly is arranged in the cylinder, and light signals emitted by the light source on the light source driving plate are prevented from entering the imaging optical assembly.
5. The Flash intelligent optical radar device according to claim 1, wherein one or more light source drivers are provided, and each light source driver board is electrically connected with the main control board; one or more of the light sources; wherein each light source is electrically connected with one light source driving plate, and one light source driver is electrically connected with one or more light sources; the light source is a semiconductor laser light source or a high-power LED light source, and the semiconductor laser light source is any one of VCSEL, a VCSEL unit of a single PN junction and a VCSEL unit of a plurality of PN junctions.
6. The Flash intelligent optical radar apparatus according to claim 1, wherein the light source comprises a light emitting chip and a bowl-shaped lens; the bottom of the bowl-shaped lens is provided with an installation cavity, and the light-emitting chip is installed in the installation cavity; the inner walls of the bowl-shaped lenses are provided with total reflection surfaces; the outlet of the bowl-shaped lens comprises a convex curved surface arranged in the middle and a horizontal curved surface arranged around the convex curved surface.
7. The Flash intelligent optical radar device according to claim 1, wherein the receiving window component is a photon sensor array detector, and is electrically connected with the main control board, and is configured to receive imaging data of the imaging optical component, convert the imaging data into photocurrent, and send the photocurrent to the main control board; the photon sensor array type detector is SiPM or SPAD.
8. The Flash intelligent optical radar system is characterized by comprising a radar device and a background control platform; wherein the radar device is a Flash intelligent optical radar device according to any one of claims 1-7; the background control platform is electrically connected with the main control board of the Flash intelligent optical radar device and is used for acquiring imaging data and carrying out corresponding optical analysis on the imaging data to obtain the Flash intelligent optical radar device.
9. The Flash intelligent optical radar system according to claim 8, wherein the background control platform is further configured to invoke a preset intelligent algorithm to capture differences according to the received imaging data, and automatically identify the object to be detected according to the captured difference data; the automatic identification of the measured object comprises automatic extraction of recommended images, object identification of the measured object, statistics of the number of the measured object and type identification of the measured object; the intelligent algorithm comprises one or more of shape extraction, edge feature point extraction, emissivity feature point extraction, graph position extraction, contour position extraction, straight line position extraction and angle extraction.
10. The Flash intelligent optical radar system according to claim 8, wherein the background control platform is provided with a signal storage unit, an intelligent image processing unit, a CMOS camera unit and an MCU module; the signal storage unit is electrically connected with the MCU module and used for storing imaging data; the MCU module is electrically connected with the intelligent image processing unit, and the intelligent image processing unit is called to perform image optimization on the imaging data and acquire depth and color information of an image in the imaging data; the MCU module is electrically connected with the CMOS camera unit and is used for coloring the color of imaging data; the signal storage unit is an internal storage unit of the background control platform or an external storage unit connected with the background control platform; the background control platform is also in communication connection with the cloud end so as to upload detection data and data processing results to the cloud end for storage; the Flash intelligent optical radar device comprises one or more than one background control platform, and the background control platform is electrically connected with the background control platform of each Flash intelligent optical radar device.
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