CN117269937A - Laser radar detection method and detection system thereof - Google Patents

Laser radar detection method and detection system thereof Download PDF

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Publication number
CN117269937A
CN117269937A CN202210668396.1A CN202210668396A CN117269937A CN 117269937 A CN117269937 A CN 117269937A CN 202210668396 A CN202210668396 A CN 202210668396A CN 117269937 A CN117269937 A CN 117269937A
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China
Prior art keywords
detection
fingerprint
imaging
optical path
image
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CN202210668396.1A
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Chinese (zh)
Inventor
叶文炜
王吉
向少卿
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Hesai Technology Co Ltd
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Hesai Technology Co Ltd
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Priority to CN202210668396.1A priority Critical patent/CN117269937A/en
Publication of CN117269937A publication Critical patent/CN117269937A/en
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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
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Image Input (AREA)

Abstract

The invention provides a laser radar detection method and a laser radar detection system, wherein the laser radar detection method comprises the following steps: performing at least 1 fingerprint imaging operation on a detection channel, the fingerprint imaging operation being adapted to image a detection beam emitted by the detection channel via an imaging assembly; and obtaining an optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, wherein the optical path fingerprint is suitable for representing the optical path characteristic of the detection light beam. The detection method can obtain the optical path fingerprint of the detection channel to represent the optical path characteristic of the detection light beam, so that the stray light spot distribution condition of the detection channel of the laser radar can be obtained quickly and safely, the spatial angle distribution of the stray light spots and the light intensity under the corresponding angle can be obtained, and the detection method has important effects on judging, inhibiting and eliminating the ghost image of the laser radar.

Description

Laser radar detection method and detection system thereof
Technical Field
The invention relates to the field of laser detection, in particular to a laser radar detection method and a laser radar detection system.
Background
The laser radar is a commonly used ranging sensor, has the characteristics of long detection distance, high resolution, small environmental interference and the like, and is widely applied to the fields of unmanned, intelligent robots, unmanned aerial vehicles and the like. In recent years, the development of automatic driving technology is rapid, and a laser radar is indispensable as a core sensor for distance perception.
As shown in fig. 1, the detection beam emitted from the detection channel in the laser radar has a plurality of stray light spots 13 (such as the light spot formed by the stray light beam 12 in fig. 1) besides the main light spot 14 (such as the light spot formed by the main light beam 11 in fig. 1), and these stray light spots may cause phenomena such as ghosting, broadening of the detection target and the like on the point cloud of the laser radar, which affect the performance of the laser radar.
At present, no detection method and detection system for the stray light spot can be directly used. The current detection method requires detection personnel to carry out visual inspection in a dark environment, and is low in efficiency, easy to fatigue and capable of affecting eyesight for a long time.
Disclosure of Invention
The invention solves the problem of rapidly and safely detecting the stray light spot distribution condition of the laser radar emergent detection beam.
In order to solve the above problems, the present invention provides a method for detecting a lidar, comprising:
performing at least 1 fingerprint imaging operation on a detection channel, the fingerprint imaging operation being adapted to image a detection beam emitted by the detection channel via an imaging assembly; and obtaining an optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, wherein the optical path fingerprint is suitable for representing the optical path characteristic of the detection light beam.
Optionally, the optical path fingerprint includes: and the main light spot and the stray light spot formed by the detection light beam are distributed.
Optionally, the fingerprint imaging operation includes: determining the relative positions of the laser radar and the imaging component according to the structural characteristics of the laser radar, and enabling the detection channel to emit detection light beams; and obtaining a fingerprint image according to the detection light beam.
Optionally, the step of obtaining the optical path fingerprint of the detection channel includes: obtaining a main light spot of the detection channel according to the fingerprint image; and judging the stray light spots in the light path fingerprint according to the relative gray value of each pixel in the fingerprint image and the main light spot.
Optionally, before performing at least 1 fingerprint imaging operation on the detection channel, the method further includes: obtaining the distribution range of the optical path fingerprints of the detection channel; and according to the distribution range of the optical path fingerprints of the detection channel and the imaging range of the imaging component, the imaging range of the imaging component traverses the distribution range of the optical path fingerprints of the detection channel by the at least 1 fingerprint imaging operation.
Optionally, the step of determining the relative position of the lidar and the imaging assembly comprises: at least one of a pose of the lidar and a position of the imaging assembly is adjusted to determine a relative position of the lidar and the imaging assembly.
Optionally, the step of obtaining a fingerprint image according to the probe beam includes: the detection light beam is received by an image sensor in the imaging assembly, and the fingerprint image is obtained.
Optionally, the step of obtaining a fingerprint image according to the probe beam includes: irradiating the probe beam to a reference object; an image of the illuminated reference object is obtained as the fingerprint image using an image sensor in the imaging assembly.
Optionally, the step of obtaining a fingerprint image further comprises: determining the position of a main light spot of the probe beam on the reference object and reducing the brightness of the position of the main light spot; and in the step of obtaining an image of the irradiated reference object as the fingerprint image using the image sensor in the imaging assembly, increasing an exposure amount of the image sensor.
Optionally, in the step of reducing the brightness of the position of the main spot, an absorbing structure or a transmitting structure is disposed at the position of the main spot to reduce the brightness of the position of the main spot.
Optionally, performing fingerprint imaging operations on the detection channel for a plurality of times to obtain a plurality of fingerprint images; and performing image stitching on the plurality of fingerprint images to obtain the light path fingerprint of the detection channel.
Optionally, the lidar includes a plurality of detection channels; performing fingerprint imaging operation on a plurality of detection channels for a plurality of times to obtain a plurality of light path fingerprints, wherein the light path fingerprints are in one-to-one correspondence with the detection channels; the detection method further comprises the following steps: and splicing the plurality of light path fingerprints to obtain the light path fingerprints of all detection channels of the laser radar.
Optionally, the method further comprises: and carrying out structural feature optimization based on the optical path fingerprints of all detection channels of the laser radar so as to eliminate or weaken scattered light beams in the detection light beams.
Optionally, the step of optimizing the structural features to eliminate or attenuate stray light beams in the probe beam includes: judging whether the light paths of the scattered light beams are consistent or not based on the light path fingerprints of the plurality of detection channels which are isolated in space, and optimizing structural characteristics based on a judging result; based on the optical path fingerprints of a plurality of detection channels which are partially overlapped in space, fusing the optical path fingerprints of the detection channels, and optimizing structural characteristics according to the fused optical path fingerprints.
Correspondingly, the invention also provides a detection system of the laser radar, which is suitable for implementing the detection method of the invention on the laser radar to obtain the optical path fingerprint of the detection channel.
In addition, the invention also provides a laser radar detection system, which comprises:
an imaging operation module adapted to perform at least 1 fingerprint imaging operation on the detection channel, the fingerprint imaging operation being adapted to image the detection beam emitted by the detection channel via the imaging assembly; and the fingerprint extraction module is suitable for obtaining the optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, and the optical path fingerprint is suitable for representing the optical path characteristic of the detection light beam.
Optionally, the imaging assembly includes: the imaging optical element and the image sensor are sequentially arranged along the optical path of the detection light beam.
Optionally, the imaging optical element includes: a long Jiao Shan lens and an extinction element downstream of the long Jiao Shan lens along the optical path of the probe beam.
Optionally, the imaging assembly further comprises: an aperture stop, the aperture stop being located between the imaging optical element and the image sensor.
Optionally, the imaging operation module includes: a mechanical unit, the mechanical unit comprising: a turntable, at least the lidar being fixed to the turntable; a control unit adapted to determine the relative position of the lidar and the imaging assembly; the control unit is further adapted to cause the detection channel to emit a detection beam after determining the relative position; and an image unit adapted to obtain a fingerprint image from the probe beam.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the technical scheme, the detection method can obtain the optical path fingerprint of the detection channel to represent the optical path characteristic of the detection light beam, so that the stray light spot distribution condition of the detection channel of the laser radar can be obtained quickly and safely, the spatial angle distribution of the stray light spot and the light intensity under the corresponding angle can be obtained, and the detection method has an important effect on judging, inhibiting and eliminating the ghost image of the laser radar.
Drawings
FIG. 1 is a schematic view of an optical path structure of a laser radar;
FIG. 2 is a flow chart of an embodiment of a method for detecting a lidar according to the present invention;
FIG. 3 is a schematic view of the optical path structure of the fingerprint imaging operation in the embodiment of the method for detecting the lidar shown in FIG. 2;
FIG. 4 is a flow chart of the fingerprint imaging operation in the embodiment of the method for detecting the lidar shown in FIG. 2;
FIG. 5 is a complete fingerprint image obtained by an embodiment of the method of detecting a lidar of FIG. 2;
FIG. 6 is a flow chart of a step of optimizing structural features of an embodiment of the method of detecting a lidar of FIG. 2 to eliminate or attenuate stray light beams in the probe beam;
FIG. 7 is a schematic view of the optical path structure of the fingerprint imaging operation in another embodiment of the method for detecting a lidar of the present invention;
FIG. 8 is a schematic view of the optical path structure of the fingerprint imaging operation in another embodiment of the method for detecting a lidar of the present invention;
FIG. 9 is a functional block diagram of one embodiment of a detection system for a lidar of the present invention;
fig. 10 is a schematic view of an optical path structure of another embodiment of the detection system of the lidar of the present invention.
Detailed Description
As known from the background art, the prior art lacks a detection method and a detection system for detecting the distribution condition of stray light spots of the laser radar emergent detection beam.
In order to solve the technical problem, the invention provides a detection method of a laser radar, which comprises the following steps: performing at least 1 fingerprint imaging operation on a detection channel, the fingerprint imaging operation being adapted to image a detection beam emitted by the detection channel via an imaging assembly; and obtaining an optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, wherein the optical path fingerprint is suitable for representing the optical path characteristic of the detection light beam.
According to the technical scheme, through fingerprint imaging operation of at least 1, the optical path fingerprint of the detection channel can be obtained to represent the optical path characteristics of the detection light beam, so that the stray light spot distribution condition of the detection channel of the laser radar can be obtained quickly and safely, the space angle distribution of the stray light spot and the light intensity under the corresponding angle can be obtained, and the method has important effects on judging, inhibiting and eliminating the ghost image of the laser radar.
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Referring to fig. 2 and 3, fig. 2 is a flow chart illustrating an embodiment of a detection method of the lidar 101 according to the present invention, and fig. 3 is a schematic diagram illustrating an optical path structure of the fingerprint imaging operation in the embodiment of the detection method of the lidar 101 shown in fig. 2.
The detection method comprises the following steps: performing step S110, performing at least 1 fingerprint imaging operation on the probe channel, said fingerprint imaging operation being adapted to image the probe beam 105 emitted by said probe channel via the imaging assembly 110; step S120 is performed to obtain an optical path fingerprint of the probe channel according to the imaging result of the at least 1 fingerprint imaging operation, where the optical path fingerprint is suitable for characterizing the optical path characteristic of the probe beam 105.
The fingerprint imaging operation is adapted to image the probe beam 105 emitted by the probe channel with an imaging assembly 110.
As shown in fig. 3, the lidar 101 is disposed on a table surface of a turntable 102, the turntable 102 having two rotation axes, namely a rotation axis 101h and a rotation axis 101v shown in fig. 3, wherein the rotation axis 101h is perpendicular to the table surface of the turntable 102; the rotation axis 101v is parallel to the table top of the turntable 102.
As shown in fig. 3, in some embodiments of the present invention, the imaging assembly 110 includes: an imaging optical element 111 and an image sensor 112, the imaging optical element 111 and the image sensor 112 being arranged in sequence along the optical path of the probe beam 105.
The imaging optical element 111 is configured to transmit the probe beam 105 and image the probe beam 105; the image sensor 112 is configured to receive and image the probe beam 105 transmitted through the imaging optics 111.
As shown in fig. 3, in some embodiments of the present invention, the imaging optical element 111 includes an imaging lens (not labeled in the figure); the image sensor 112 includes a camera CCD. The image sensor 112 is located at the focal plane of the imaging lens, and the light sensing surface of the image sensor 112 is located at the focal plane of the imaging optical element 111 and perpendicular to the optical axis of the imaging optical element 111, so that light transmitted through the imaging lens is imaged on the image sensor 112.
Referring to fig. 4 in combination, a flow chart of the fingerprint imaging operation in the embodiment of the detection method of the lidar 101 shown in fig. 2 is shown.
In some embodiments of the invention, the fingerprint imaging operation comprises: step S111 is performed to determine the relative positions of the lidar 101 and the imaging component 110 according to the structural characteristics of the lidar 101, and to make the detection channel emit a detection beam 105; step S112 is performed to obtain a fingerprint image from the probe beam 105.
In some embodiments of the present invention, the lidar 101 includes: a plurality of detection channels; thus, before performing step S110 to perform at least 1 fingerprint imaging operation on the detection channel, as shown in fig. 2, the detection method further includes: step S101 is performed to select 1 detection channel activation from the plurality of detection channels for detection. After the detection channel is selected, the fingerprint imaging operation is performed at least 1 time on the selected detection channel.
Specifically, after the lidar 101 selects the detection channel, step S111 is performed to determine the relative position of the lidar 101 and the imaging component 110 according to the structural characteristics of the lidar 101, and activate the detection channel to emit the detection beam 105.
In some embodiments of the present invention, performing step S111, determining the relative position of the lidar 101 and the imaging assembly 110 includes: at least one of a pose of the lidar 101 and a position of the imaging assembly 110 is adjusted to determine a relative position of the lidar 101 and the imaging assembly 110.
In the embodiment shown in fig. 3, the laser radar 101 is disposed on a turntable 102, and the pose of the laser radar 101 is adjusted by the turntable 102 to determine the relative positional relationship between the two. Specifically, according to the internal parameters of the lidar 101, obtaining the azimuth angle of the selected detection channel; according to the azimuth angle, the turntable 102 is rotated around at least one of the rotation axis 101h and the rotation axis 101v to adjust the pose of the laser radar 101 by rotating the turntable 102, so that the probe beam 105 generated by the probe channel coincides with the optical axis of the imaging optical element 111 to determine the relative positions of the laser radar 101 and the imaging assembly 110.
After determining the relative positions of the lidar 101 and the imaging assembly 110, the lidar 101 is turned on, and the selected detection channel is activated to generate a detection beam 105, causing the generated detection beam 105 to be imaged by the imaging optics 111.
In some embodiments of the present invention, step S112 is performed, and the step of obtaining the fingerprint image according to the probe beam includes: the detection beam 105 is received by an image sensor 112 in the imaging assembly 110 to obtain the fingerprint image. Specifically, in the embodiment shown in fig. 3, the probe beam 105 transmitted through the imaging optical element 111 is directly projected onto the image sensor 112 and received by the image sensor 112, so as to obtain a fingerprint image.
The imaging range of the imaging assembly 110 is affected by the focal length of the imaging optics 111 and the photosurface area of the image sensor 112, so that the obtained fingerprint image records the distribution of the main beam 105a and the stray beam 105b of the probe beam 105 emitted by the activated probe channel.
Because of the limited imaging range of the imaging assembly 110, in some embodiments of the present invention, the field of view of the activated detection channel is large, i.e., larger than the imaging range of the imaging assembly 110, the imaging range of the imaging assembly 110 may be made to traverse the distribution range of the optical path fingerprint of the activated detection channel by performing multiple fingerprint imaging operations.
Therefore, in some embodiments of the present invention, before performing at least 1 fingerprint imaging operation on the detection channel, the detection method further includes: step S102 is executed to obtain the distribution range of the optical path fingerprints of the detection channel; and step S110, in the step of performing at least 1 fingerprint imaging operation on the detection channel, according to the distribution range of the optical path fingerprints of the detection channel and the imaging range of the imaging component 110, the at least 1 fingerprint imaging operation enables the imaging range of the imaging component 110 to traverse the distribution range of the optical path fingerprints of the detection channel.
Specifically, the range of the optical path fingerprint distribution of the activated detection channel (i.e. the range of the detection beam imaged by the imaging component) is HFOV; the imaging range of the imaging component 110 is HFOV0 VFOV0, so as shown in fig. 5, in step S110, in the step of performing at least 1 fingerprint imaging operation on the detection channel, the number of fingerprint images obtained in the horizontal direction is m=hfov/HFOV 0; the number of fingerprint images obtained in the vertical direction is n=vfov/VFOV 0, i.e., the pose of the lidar 101 is changed by the turntable 102 to adjust the relative positions of the lidar 101 and the imaging assembly 110, and at least 1 fingerprint imaging operation is performed to obtain at least 1 fingerprint image every time the relative positions of the lidar 101 and the imaging assembly 110 are adjusted. At least M x N fingerprint imaging operations are performed to obtain at least M x N fingerprint images.
In addition, in some embodiments of the present invention, a detection channel to be activated is selected first, and then a distribution range of optical path fingerprints of the detection channel is obtained; in other embodiments of the present invention, after the distribution ranges of the optical path fingerprints of all the detection channels of the lidar 101 are obtained, the detection channels that need to be activated may be determined. The invention is not limited in this regard.
In other embodiments of the present invention, at least 1 fingerprint imaging operation may be directly performed on the detection channel, that is, step S102 is not performed, and the distribution range of the optical path fingerprint of the activated detection channel is not additionally obtained. When the optical path fingerprint distribution range of the activated detection channel is not additionally obtained, the imaging range coincides with the optical path fingerprint distribution range. Specifically, the imaging range may be adjusted by adjusting a parameter of the imaging assembly (for example, a parameter of the imaging optical element 111 or a parameter of the image sensor 112), so that the imaging range coincides with the optical path fingerprint distribution range.
With continued reference to fig. 2, after performing at least 1 fingerprint imaging operation on the probe channel, step S120 is performed to obtain an optical path fingerprint of the probe channel, according to an imaging result of the at least 1 fingerprint imaging operation, where the optical path fingerprint is adapted to characterize an optical path characteristic of the probe beam 105.
Specifically, step S110 is executed, where in the step of performing at least 1 fingerprint imaging operation on the detection channel, 1 fingerprint image is obtained in each fingerprint imaging operation; the step of obtaining the optical path fingerprint of the detection channel comprises the following steps: and acquiring the light path fingerprint of the detection channel according to at least 1 fingerprint image.
In some embodiments of the present invention, in step S110, in the step of performing at least 1 fingerprint imaging operation on a detection channel, performing a plurality of fingerprint imaging operations on the detection channel to obtain a plurality of fingerprint images; in the step of obtaining the optical path fingerprint of the detection channel, the step S120 is executed to perform image stitching on the plurality of fingerprint images, so as to obtain the optical path fingerprint of the detection channel.
As shown in fig. 5, performing at least m×n fingerprint imaging operations to obtain at least m×n fingerprint images, where m×n fingerprint images respectively correspond to fields of view of different angles of the activated detection channel; and splicing the M x N fingerprint images, so as to obtain a complete fingerprint image of the laser radar.
In some embodiments of the present invention, referring to fig. 3, the optical path fingerprint includes: the main spot 106a and the stray light plate 106b formed by the probe beam 105 are distributed. In some embodiments, the optical path fingerprint refers to data of the distribution of the extracted main light spot 106a and the stray light plate 106b in the fingerprint image.
Specifically, the step of obtaining the optical path fingerprint of the detection channel includes: obtaining a main light spot 106a of the detection channel according to the fingerprint image; and judging the stray light plate 106b in the light path fingerprint according to the relative gray value of each pixel in the fingerprint image and the main light spot 106 a. The data size can be effectively compressed by identifying the main light spot 106a and obtaining the distribution of the relative positions between the stray light plate 106b and the main light spot 106a according to the relative gray value of each pixel in the fingerprint image, which is beneficial to the reduction of the system load.
Specifically, in the step of obtaining the main light spot 106a of the detection channel, according to the fingerprint image, an area where the main light spot 106a of the detection channel is located is obtained; obtaining a maximum gray value of a pixel of the area where the main light spot 106a is located; in the step of judging the stray light plate 106b in the light path fingerprint, according to the ratio of the gray value of each pixel of the activated fingerprint image with the complete detection channel to the maximum gray value of the pixel of the area where the main light spot 106a is located, obtaining the relative gray value of each pixel; obtaining a distribution map of the relative gray values according to the relative gray values of each pixel of the fingerprint image with the activated detection channel intact; when the relative gray value is greater than the preset threshold (5×10 -5 ) In this case, it is determined that the stray light plate 106b is present at the position.
As previously described, in some embodiments, the lidar 101 includes: a plurality of detection channels; the fingerprint imaging operation of step S110 is thus performed for each detection channel and the optical path fingerprint of the detection channel is obtained, and the optical path fingerprint of each detection channel is obtained, that is, the plurality of detection channels are subjected to the fingerprint imaging operation a plurality of times to obtain a plurality of optical path fingerprints, which are in one-to-one correspondence with the plurality of detection channels.
It should be noted that, in some embodiments of the present invention, the detection method further includes: and splicing the plurality of light path fingerprints to obtain light path fingerprints of all detection channels of the laser radar, namely obtaining the complete light path fingerprints of the laser radar.
The optical path fingerprint of the laser radar 101 can effectively characterize the optical path characteristics of the corresponding probe beam 105, so that the optical path fingerprint of the laser radar 101 can be used for optical path optimization to eliminate the stray light beam 105b. Thus, with continued reference to FIG. 3, in some embodiments of the invention, the detection method further comprises: step S130 is performed, based on the optical path fingerprints of all the detection channels of the lidar 101, to perform structural feature optimization to eliminate or attenuate the stray light beam 105b in the detection light beam 105. In particular, the optical-mechanical structure of the stronger stray light beam 105b is optimized, so that the intensity of the stray light beam is eliminated or weakened as far as possible, and the intensity of the stray light beam is weakened to an acceptable range.
As shown in fig. 2 and 6, in some embodiments of the present invention, performing step S130, performing structural feature optimization to eliminate or attenuate the stray light beam 105b in the probe light beam 105 includes: step S131 is executed, wherein whether the light paths of the stray light beam 105b are consistent or not is judged based on the light path fingerprints of the plurality of detection channels which are separated in space, and structural feature optimization is carried out based on a judgment result; step S132 is executed, based on the optical path fingerprints of the plurality of detection channels which are partially overlapped in space, the optical path fingerprints of the plurality of detection channels are fused, and structural feature optimization is performed according to the fused optical path fingerprints.
In the step of executing the step S131 to determine whether the stray light beams 105b are consistent, the detection channels are spatially separated from each other, that is, the field ranges corresponding to the detection channels are not overlapped and are separated from each other; when judging that the light paths of the stray light beams 105b are consistent, performing optical-mechanical optimization on the plurality of detection channels to uniformly eliminate the stray light; when it is judged that the optical paths of the stray light beams 105b are not uniform, optical-mechanical optimization is performed for each detection channel to eliminate the stray light beams 105b.
Executing step S132, wherein in the step of fusing the optical path fingerprints of the plurality of detection channels, the plurality of detection channels are partially overlapped with each other in space, i.e. the field of view ranges corresponding to the plurality of detection channels are partially overlapped; since the stray light beam 105b of the overlapping portion is enhanced, it is necessary to fuse the optical path fingerprints of the plurality of detection channels, and optimize the structural characteristics according to the fused optical path fingerprints.
In the foregoing embodiment, the probe beam 105 transmitted through the imaging optical element 111 is received directly by the image sensor 112. But this method of obtaining a fingerprint image is merely an example. In other embodiments of the present invention, after the probe beam 105 is irradiated to the reference object, the image sensor 112 in the imaging assembly 110 may obtain an image of the irradiated reference object as the fingerprint image.
Referring to fig. 7, a schematic diagram of an optical path structure of the fingerprint imaging operation in another embodiment of the detection method of the laser radar of the present invention is shown.
As shown in fig. 7, in some embodiments of the present invention, the step of obtaining a fingerprint image according to the probe beam includes: irradiating the probe beam to a reference 203; an image of the illuminated reference 203 is obtained as the fingerprint image using an image sensor 212 in the imaging assembly.
Specifically, the reference 203 is configured to reflect the probe beam. The reference 203 may be a high reflectivity object such as white paper or 90% reflective sheeting. The detection beam emitted by the detection channel of the laser radar 200 irradiates the reference object 203 to form a main light spot 204 and a stray light spot 205; an image of the irradiated reference object 203 is obtained as the fingerprint image by the image sensor 212.
It should be noted that, compared to the main beam, the intensity of the stray beam is much weaker, and in order to improve the quality of the obtained fingerprint image, in some embodiments of the present invention, the step of obtaining the fingerprint image further includes: after irradiating the probe beam to the reference 203, determining a position of a main spot 204 of the probe beam on the reference 203 and reducing a brightness of the position of the main spot 204 before obtaining an image of the irradiated reference 203 using an image sensor 212 in the imaging assembly; and in the step of obtaining an image of the irradiated reference object 203 as the fingerprint image using the image sensor 212 in the imaging assembly, the exposure amount of the image sensor 212 is increased.
Specifically, in the step of reducing the brightness of the position of the main spot 204, an absorption structure or a transmission structure (not shown) is provided at the position of the main spot 204 to reduce the brightness of the position of the main spot 204; the absorption structure can be a black body, and the transmission structure can be a hollowed-out structure.
Referring to fig. 8, a schematic diagram of an optical path structure of the fingerprint imaging operation in another embodiment of the detection method of the laser radar of the present invention is shown.
The same points as the foregoing embodiments are not repeated here. Unlike the previous embodiments, as shown in fig. 8, in some embodiments of the present invention, the imaging optical element 310 includes: a long Jiao Shan lens 311 and an extinction 314 downstream from the long Jiao Shan lens 311 along the optical path of the probe beam.
The long Jiao Shan lens 311 has smaller thickness, and the structural parts for fixing the long Jiao Shan lens 311 have smaller number and smaller volume, so that the possibility of introducing stray light can be effectively reduced, the influence of the imaging optical element 310 on the optical path fingerprint can be effectively reduced, and the accuracy for detecting the optical path fingerprint is improved.
The extinction piece is used for eliminating light rays of unnecessary angles so as to reduce interference among optical signals and improve the accuracy of the obtained optical path fingerprint. In particular, the matting element may be a shade or matting ink.
In some embodiments of the invention, the imaging assembly further comprises: an aperture stop 313, said aperture stop 313 being located between said imaging optics 310 and said image sensor 312. The aperture 313 can limit the angle of the light received by the image sensor 312, so that the field of view is smaller, and the measurement accuracy of the optical path fingerprint can be effectively improved. The combination of the long Jiao Shan lens 311 and the aperture stop 313 can introduce stray light as less as possible, inhibit optical signal crosstalk as much as possible, and effectively improve the accuracy of detecting the optical path fingerprint.
Correspondingly, the invention also provides a detection system of the laser radar, which is suitable for implementing the detection method of the invention on the laser radar to obtain the optical path fingerprint of the detection channel.
The detection system implements the detection method of the present invention on the lidar, and the specific technical scheme of the detection system refers to the embodiment of the detection method, and the present invention is not described herein.
In addition, the invention also provides a laser radar detection system.
Referring to fig. 9, a functional block diagram of one embodiment of a detection system for a lidar of the present invention is shown.
The detection system includes: an imaging operation module 910, the imaging operation module 910 being adapted to perform at least 1 fingerprint imaging operation on the probe channel, the fingerprint imaging operation being adapted to image the probe beam emitted by the probe channel via the imaging assembly; the fingerprint extraction module 920, the fingerprint extraction module 920 is adapted to obtain an optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, and the optical path fingerprint is adapted to characterize the optical path characteristic of the detection beam.
In some embodiments of the present invention, the imaging operation module 910 includes: a mechanical unit 911, the mechanical unit 911 comprising: a turntable, at least the lidar being fixed to the turntable; a control unit 912, the control unit 912 being adapted to determine the relative position of the lidar and the imaging assembly; the control unit 912 is further adapted to cause the detection channel to emit a detection beam after determining the relative position; an image unit 913, said image unit 913 being adapted to obtain a fingerprint image based on said probe beam.
The laser radar is arranged on the table top of the turntable, and the turntable is provided with two rotating shafts, wherein one rotating shaft is perpendicular to the table top of the turntable; the other axis of rotation is parallel to the table top of the turntable.
In some embodiments of the invention, the imaging assembly comprises: the imaging optical element and the image sensor are sequentially arranged along the optical path of the detection light beam.
The imaging optical element is used for transmitting the detection light beam and converging the detection light beam; the image sensor is configured to receive and image the probe beam transmitted through the imaging optics.
In some embodiments of the invention, the imaging optical element comprises an imaging lens; the image sensor comprises a camera, such as a CCD camera. The image sensor is positioned at the focal plane of the imaging lens, and the photosurface of the image sensor is positioned at the focal plane of the imaging optical element and perpendicular to the optical axis of the imaging lens, so that the detection light beam transmitted through the imaging lens is imaged on the image sensor.
In some embodiments of the present invention, the control unit 912 determines a relative position of the lidar and the imaging component according to a structural feature of the lidar, and causes the detection channel to emit a detection beam; the image unit 913 obtains a fingerprint image from the probe beam.
In some embodiments of the present invention, the laser radar includes: a plurality of detection channels; the detection system further comprises: a selection module 930, wherein the selection module 930 selects 1 detection channel activation from the plurality of detection channels for detection. After the selection module 930 activates the selected detection channel, the imaging operation module 910 performs at least 1 fingerprint imaging operation on the selected detection channel.
After the lidar is set and the detection channel is selected, the control unit 912 determines the relative position of the lidar and the imaging assembly based on the structural characteristics of the lidar and activates the detection channel to emit a detection beam.
In some embodiments of the invention, the control unit 912 adjusts at least one of the pose of the lidar and the pose of the imaging assembly to determine the relative position of the lidar and the imaging assembly.
The laser radar is arranged on a turntable, and the control unit 912 adjusts the pose of the laser radar through the turntable to determine the relative position relationship of the laser radar and the turntable. Specifically, the control unit 912 obtains the azimuth angle of the selected detection channel according to the internal parameters of the lidar; based on the azimuth angle, the control unit 912 adjusts the pose of the lidar by rotating the turntable so that the probe beam generated by the probe channel coincides with the optical axis of the imaging optical element to determine the relative position of the lidar and the imaging assembly.
After determining the relative positions of the lidar and the imaging assembly, the control unit 912 turns on the lidar, activates the selected detection channel to generate a detection beam, and causes the generated detection beam to be imaged by the imaging optics.
In some embodiments of the present invention, the image unit 913 receives the probe beam by using an image sensor in the imaging module to obtain the fingerprint image. Specifically, in the embodiment shown in fig. 3, the probe beam transmitted through the imaging optical element is directly projected onto the image sensor, and the image unit 913 turns on the image sensor, and the image sensor receives the probe beam, so as to obtain a fingerprint image.
The imaging range of the imaging component is influenced by the focal length of the imaging optical element and the photosurface area of the image sensor, so that the obtained fingerprint image records the distribution of the main beam and the stray light beam of the probe beam emitted by the activated probe channel.
Because of the limited imaging range of the imaging assembly, in some embodiments of the present invention, the field of view of the activated detection channel is larger, i.e., greater than the imaging range of the imaging assembly, the imaging operation module 910 performs multiple fingerprint imaging operations to traverse the imaging range of the imaging assembly through the distribution range of the optical path fingerprint of the activated detection channel.
Therefore, in some embodiments of the present invention, before performing at least 1 fingerprint imaging operation on the detection channel, the detection system further includes: a range estimation module 940, wherein the range estimation module 940 is adapted to obtain a distribution range of the optical path fingerprint of the detection channel; the imaging operation module 910 performs the at least 1 fingerprint imaging operation according to the distribution range of the optical path fingerprint of the detection channel and the imaging range of the imaging component so that the imaging range of the imaging component traverses the distribution range of the optical path fingerprint of the detection channel.
Specifically, by experimental and guideline methods, the range estimation module 940 obtains the range of the optical path fingerprint distribution of the activated detection channel as hfov×v FOV; the imaging range of the imaging component is HFOV0 VFOV0, so as shown in fig. 5, the number of fingerprint images obtained by the imaging operation module 910 in the horizontal direction is m=hfov/HFOV 0; the number of fingerprint images obtained in the vertical direction is n=vfov/VFOV 0, i.e., the control unit 912 changes the pose of the lidar by means of a turntable to adjust the relative positions of the lidar and the imaging assembly; the control unit 912 performs at least 1 of the fingerprint imaging operations to obtain at least 1 fingerprint image each time the relative positions of the lidar and the imaging component are adjusted. The imaging operation module 910 performs at least M x N fingerprint imaging operations to obtain at least M x N fingerprint images.
After the imaging operation module 910 performs at least 1 fingerprint imaging operation on the probe channel, the fingerprint extraction module 920 obtains an optical path fingerprint of the probe channel, where the optical path fingerprint is suitable for characterizing an optical path characteristic of the probe beam.
Specifically, the fingerprint extraction module 920 obtains 1 fingerprint image for each fingerprint imaging operation; the fingerprint extraction module 920 obtains an optical path fingerprint of the detection channel according to at least 1 fingerprint image.
In some embodiments of the present invention, the imaging operation module 910 performs fingerprint imaging operations on the detection channel multiple times to obtain multiple fingerprint images; the fingerprint extraction module 920 performs image stitching on the plurality of fingerprint images to obtain an optical path fingerprint of the detection channel.
The imaging operation module 910 performs at least m×n fingerprint imaging operations to obtain at least m×n fingerprint images, where m×n fingerprint images respectively correspond to fields of view of different angles of the activated detection channel; the fingerprint extraction module 920 performs stitching on m×n fingerprint images, so as to obtain a complete fingerprint image of the laser radar.
In some embodiments of the present invention, the optical path fingerprint includes: and the main light spot and the stray light spot formed by the detection light beam are distributed. In some embodiments, the optical path fingerprint refers to data of the distribution of the main light spot and the stray light spot extracted from the fingerprint image. Therefore, the fingerprint extraction module 920 obtains a main spot of the detection channel according to the fingerprint image; the fingerprint extraction module 920 determines the stray light spots in the optical path fingerprint according to the relative gray value between each pixel in the fingerprint image and the main light spot.
Specifically, the fingerprint extraction module 920 obtains, according to the fingerprint image, an area where a main light spot of the detection channel is located, and further obtains a maximum gray value of a pixel of the area where the main light spot is located; the fingerprint extraction module 920 obtains a relative gray value of each pixel according to a ratio of a gray value of each pixel of the activated complete fingerprint image of the detection channel to a maximum gray value of a pixel of the area where the main light spot is located, so as to obtain a distribution map of the relative gray values according to the relative gray value of each pixel of the activated complete fingerprint image of the detection channel; when the relative gray value is greater than the preset threshold (5×10 -5 ) When the fingerprint extraction module 920 determines that there is a stray light spot at the location.
As previously described, in some embodiments, the lidar comprises: a plurality of detection channels; the imaging operation module 910 performs fingerprint imaging operation on each detection channel, that is, the imaging operation module 910 performs fingerprint imaging operation on a plurality of detection channels for a plurality of times to obtain a plurality of optical path fingerprints, where the plurality of optical path fingerprints are in one-to-one correspondence with the plurality of detection channels; the fingerprint extraction module 920 extracts the optical path fingerprints of each detection channel, and splices the optical path fingerprints to obtain the optical path fingerprints of all detection channels of the laser radar.
The optical path fingerprint of the laser radar can effectively represent the optical path characteristics of the corresponding detection light beams, so that the optical path fingerprint of the laser radar can be used for optical path optimization to eliminate stray light beams. Therefore, in some embodiments of the invention, the detection system further comprises: the optical-mechanical optimization module 950, where the optical-mechanical optimization module 950 is adapted to perform structural feature optimization to eliminate or attenuate stray light beams in the probe light beams based on optical path fingerprints of all probe channels of the laser radar.
In some embodiments of the present invention, the optical-mechanical optimization module 950 determines whether the stray light paths are consistent based on the optical path fingerprints of the plurality of spatially separated detection channels, and performs structural feature optimization based on the determination result. Specifically, when the stray light paths are judged to be consistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization on the plurality of detection channels to uniformly eliminate the stray light; when the stray light paths are inconsistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization for each detection channel to eliminate the stray light.
The detection channels are spatially separated from each other, namely the field ranges corresponding to the detection channels are not overlapped and are mutually separated; when the optical paths of the stray light beams are consistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization on the plurality of detection channels to uniformly eliminate the stray light; when the optical paths of the stray light beams are not consistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization for each detection channel to eliminate the stray light beams.
The plurality of detection channels are partially overlapped with each other in space, namely, the field of view ranges corresponding to the plurality of detection channels are partially overlapped; because the stray light beam of the overlapping portion is enhanced, the optical-mechanical optimization module 950 needs to fuse the optical path fingerprints of the plurality of detection channels, and optimize the structural characteristics according to the fused optical path fingerprints.
In some embodiments of the present invention, the optical-mechanical optimization module 950 fuses optical path fingerprints of a plurality of detection channels based on optical path fingerprints of the plurality of detection channels that are partially overlapped in space, and performs structural feature optimization according to the fused optical path fingerprints.
In the foregoing embodiment, the probe beam transmitted through the imaging optical element is received directly by the image sensor. But this method of obtaining a fingerprint image is merely an example. In other embodiments of the present invention, after the probe beam is irradiated to the reference object, an image of the irradiated reference object may be obtained as the fingerprint image by using an image sensor in the imaging assembly.
In the embodiment shown in fig. 7, the probe beam irradiates the reference object; the image unit obtains an image of the illuminated reference object as the fingerprint image using an image sensor in the imaging assembly.
Specifically, the reference object is used for reflecting the detection light beam. The reference may be a high reflectivity object such as white paper or a 90% reflective plate. The detection light beam emitted by the detection channel irradiates the reference object to form a main light spot and a stray light spot; the image sensor obtains an image of the illuminated reference object as the fingerprint image.
It should be noted that, in order to improve the quality of the obtained fingerprint image, in some embodiments of the present invention, after the probe beam irradiates the reference object, the image unit determines the position of the main spot of the probe beam on the reference object and reduces the brightness of the position of the main spot; and the image unit increases the exposure amount of the image sensor in the process of the image sensor obtaining an image of the irradiated reference object.
Specifically, the image unit is provided with an absorption structure or a transmission structure (not shown in the figure) at the position of the main spot to reduce the brightness at the position of the main spot; the absorption structure can be a black body, and the transmission structure can be a hollowed-out structure.
In the embodiment shown in fig. 8, the imaging optical element includes: a long Jiao Shan lens and an extinction element downstream of the long Jiao Shan lens along the optical path of the probe beam.
The long Jiao Shan lens is smaller in thickness, and the structural parts for fixing the long Jiao Shan lens are fewer in number and size, so that the possibility of stray light introduction can be effectively reduced, the influence of an imaging optical element on the optical path fingerprint can be effectively reduced, and the accuracy of the optical path fingerprint is improved.
The extinction piece is used for eliminating light rays of unnecessary angles so as to reduce interference among optical signals and improve the precision and accuracy of the obtained optical path fingerprint. In particular, the matting element may be a shade or matting ink.
In the embodiment shown in fig. 8, the imaging assembly further includes: an aperture stop, the aperture stop being located between the imaging optical element and the image sensor. The aperture diaphragm can limit the angle of light received by the image sensor, so that the view field is smaller, and the measurement accuracy of the light path fingerprint can be effectively improved. The combination of the long Jiao Shan lens and the aperture diaphragm can introduce stray light as less as possible, inhibit optical signal crosstalk as much as possible, and effectively improve the measurement accuracy of the optical path fingerprint.
It should be noted that, in order to improve the detection efficiency and shorten the detection time, in some embodiments of the present invention, the detection system includes a plurality of imaging assemblies, where the plurality of imaging assemblies are located at different positions in the market of the detection channel.
In the embodiment shown in fig. 10, the detection system includes 3 imaging assemblies 410, and each imaging assembly 410 includes: a long Jiao Shan lens 411, a matting member 413 and an aperture stop, and an image sensor 412. The detection speed of the detection system can be increased approximately 3 times compared with a detection system including only 1 imaging module, so that the detection time can be greatly shortened. In other embodiments of the present invention, the detection system may also include other numbers of imaging assemblies, for example, 6 imaging assemblies, so as to further increase the detection speed.
In summary, by at least fingerprint imaging operation of 1, the optical path fingerprint of the detection channel can be obtained to represent the optical path characteristic of the detection beam, so that the stray light spot distribution condition of the detection channel of the laser radar can be obtained quickly and safely, the spatial angle distribution of the stray light spot emitted by the laser radar and the intensity under the corresponding angle can be obtained, and the method has an important effect on judging, inhibiting or eliminating the ghost image of the laser radar.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Claims (20)

1. A method for detecting a lidar, comprising:
performing at least 1 fingerprint imaging operation on a detection channel, the fingerprint imaging operation being adapted to image a detection beam emitted by the detection channel via an imaging assembly;
and obtaining an optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, wherein the optical path fingerprint is suitable for representing the optical path characteristic of the detection light beam.
2. The method of detection of claim 1, wherein the optical path fingerprint comprises: and the main light spot and the stray light spot formed by the detection light beam are distributed.
3. The method of detection of claim 1, wherein the fingerprint imaging operation comprises:
determining the relative positions of the laser radar and the imaging component according to the structural characteristics of the laser radar, and enabling the detection channel to emit detection light beams;
And obtaining a fingerprint image according to the detection light beam.
4. A detection method according to claim 3, wherein the step of obtaining an optical path fingerprint of the detection channel comprises:
obtaining a main light spot of the detection channel according to the fingerprint image;
and judging the stray light spots in the light path fingerprint according to the relative gray value of each pixel in the fingerprint image and the main light spot.
5. The method of detecting as claimed in claim 1, wherein before performing at least 1 fingerprint imaging operation on the probe channel, further comprising: obtaining the distribution range of the optical path fingerprints of the detection channel;
and according to the distribution range of the optical path fingerprints of the detection channel and the imaging range of the imaging component, the imaging range of the imaging component traverses the distribution range of the optical path fingerprints of the detection channel by the at least 1 fingerprint imaging operation.
6. The method of detecting as in claim 3, wherein the step of determining the relative position of the lidar and the imaging assembly comprises: at least one of a pose of the lidar and a position of the imaging assembly is adjusted to determine a relative position of the lidar and the imaging assembly.
7. A method of detecting as claimed in claim 3, wherein the step of obtaining a fingerprint image from the probe beam comprises: the detection light beam is received by an image sensor in the imaging assembly, and the fingerprint image is obtained.
8. A method of detecting as claimed in claim 3, wherein the step of obtaining a fingerprint image from the probe beam comprises:
irradiating the probe beam to a reference object;
an image of the illuminated reference object is obtained as the fingerprint image using an image sensor in the imaging assembly.
9. The method of detecting as claimed in claim 8, wherein the step of obtaining a fingerprint image further comprises:
determining the position of a main light spot of the probe beam on the reference object and reducing the brightness of the position of the main light spot;
and in the step of obtaining an image of the irradiated reference object as the fingerprint image using the image sensor in the imaging assembly, increasing an exposure amount of the image sensor.
10. The method of detecting as claimed in claim 9, wherein in the step of reducing the brightness of the position of the main spot, an absorption structure or a transmission structure is provided at the position of the main spot to reduce the brightness of the position of the main spot.
11. The detection method of claim 1, wherein the detection channel is subjected to a plurality of fingerprint imaging operations to obtain a plurality of fingerprint images;
and performing image stitching on the plurality of fingerprint images to obtain the light path fingerprint of the detection channel.
12. The detection method of claim 1, wherein the lidar includes a plurality of detection channels;
performing fingerprint imaging operation on a plurality of detection channels for a plurality of times to obtain a plurality of light path fingerprints, wherein the light path fingerprints are in one-to-one correspondence with the detection channels;
the detection method further comprises the following steps: and splicing the plurality of light path fingerprints to obtain the light path fingerprints of all detection channels of the laser radar.
13. The method of detecting as claimed in claim 12, further comprising: and carrying out structural feature optimization based on the optical path fingerprints of all detection channels of the laser radar so as to eliminate or weaken scattered light beams in the detection light beams.
14. The method of detecting according to claim 13, wherein the step of performing structural feature optimization to eliminate or attenuate stray light beams in the probe light beam comprises:
judging whether the light paths of the scattered light beams are consistent or not based on the light path fingerprints of the plurality of detection channels which are isolated in space, and optimizing structural characteristics based on a judging result;
Based on the optical path fingerprints of a plurality of detection channels which are partially overlapped in space, fusing the optical path fingerprints of the detection channels, and optimizing structural characteristics according to the fused optical path fingerprints.
15. A laser radar detection system is characterized in that,
the detection system is adapted to perform the detection method of any one of claims 1 to 14 on the lidar to obtain an optical path fingerprint of the detection channel.
16. A detection system for a lidar, comprising:
an imaging operation module adapted to perform at least 1 fingerprint imaging operation on the detection channel, the fingerprint imaging operation being adapted to image the detection beam emitted by the detection channel via the imaging assembly;
and the fingerprint extraction module is suitable for obtaining the optical path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, and the optical path fingerprint is suitable for representing the optical path characteristic of the detection light beam.
17. The detection system of claim 16, wherein the imaging assembly comprises: the imaging optical element and the image sensor are sequentially arranged along the optical path of the detection light beam.
18. The detection system of claim 17, wherein the imaging optics comprise: a long Jiao Shan lens and an extinction element downstream of the long Jiao Shan lens along the optical path of the probe beam.
19. The detection system of claim 18, wherein the imaging assembly further comprises: an aperture stop, the aperture stop being located between the imaging optical element and the image sensor.
20. The detection system of claim 16, wherein the imaging operation module comprises:
a mechanical unit, the mechanical unit comprising: a turntable, at least the lidar being fixed to the turntable;
a control unit adapted to determine the relative position of the lidar and the imaging assembly; the control unit is further adapted to cause the detection channel to emit a detection beam after determining the relative position;
and an image unit adapted to obtain a fingerprint image from the probe beam.
CN202210668396.1A 2022-06-14 2022-06-14 Laser radar detection method and detection system thereof Pending CN117269937A (en)

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