CN212965419U - Monitoring device with functions of optical camera and laser radar sensor - Google Patents

Abstract

The utility model belongs to the technical field of the photoelectric detection technique and specifically relates to a monitoring devices with optical camera and laser radar sensor function, including laser emission module, light field modulation module and receiving lens module, the light field modulation module is connected to the laser emission module, the light field modulation module is connected with transmitting end optics group module, transmitting end optics group module is connected with receiving end optics group, receiving end optics group link has single-point receiver module and area array camera module, single-point receiver module and area array camera module are connected with signal processing and control module, signal processing and control module are connected with display module. The invention fundamentally improves the precision and the response speed of the fusion system by setting the fusion of the camera using the physical hierarchy and the laser quantum radar, simplifies the system structure, enhances the environmental adaptability of the system and effectively reduces the dependence degree of the system on calibration and calibration.

Description

Monitoring device with functions of optical camera and laser radar sensor

Technical Field

The utility model relates to a photoelectric detection technical field specifically is a monitoring arrangement with optical camera and laser radar sensor function.

Background

The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emitted signal, and after appropriate processing, relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, can be obtained, so that the targets of airplanes, missiles and the like are detected, tracked and identified. The laser changes the electric pulse into the light pulse to be emitted, and the light receiver restores the light pulse reflected from the target into the electric pulse to be sent to the display.

Quantum radar systems produce pairs of optical particles, i.e. photons, in an entangled state. One photon of the pair is emitted and the other remains at the radar station. After locking to the target location, some photons are reflected back and the "identity" of the photon can be confirmed by matching with the entangled photons remaining in the radar station. By measuring the reflected photons, researchers can calculate the physical properties of the target, such as size, shape, speed, attack angle, etc., and an optical camera is the most familiar, applied and used remote sensing device with the longest history, and is still the most common remote sensing instrument today. Its working band is between near-violet light, visible light and near-infrared (0.32 um-1.3 um), and is mainly limited by the spectral stress of lens group of optical convergence unit and photosensitive film. A bandpass filter in front of the lens set selects a band of wavelengths that will expose the film through the lens set.

The prior art has the following defects:

1. most of laser radars including laser quantum radars do not have resolution and color information acquisition capability at the camera level;

2. most of the existing cameras do not have the high-precision depth information acquisition capability;

3. the system with both capabilities generally performs data fusion on a software level, and has the disadvantages of low precision, slow response speed, complex system structure, poor environmental adaptability, large amount of software calibration and calibration, and inconvenient use. The method aims to fundamentally solve the defects of low precision, low response speed, complex structure and poor environmental adaptability of the existing laser radar and camera software fusion scheme and relieve the problem of high dependence of the system on calibration and calibration. To sum up, the present invention provides a monitoring device with optical camera and lidar sensor functions to improve the existing problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a monitoring arrangement with optical camera and laser radar sensor function to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a monitoring device with functions of an optical camera and a laser radar sensor comprises a laser emitting module, a light field modulation module and a receiving lens module, the laser emission module is connected with an optical field modulation module which is connected with an emission end optical group module, the transmitting end optical group module is connected with a receiving end optical group, the receiving end optical group is connected with a single-point receiver module and an area-array camera module, the single-point receiver module and the area-array camera module are connected with a signal processing and control module, the signal processing and control module is connected with a display module, the receiving lens module is connected with an infrared/visible light beam splitting structure which is connected with a camera, the infrared/visible light beam splitting structure is connected with a converging lens module, and the converging lens module is connected with a single-point receiver.

Preferably, the output of the transmitting end optical group module is an optical signal, and the optical signal output by the transmitting end optical group module is reflected by the target and then respectively collected by the receiving end optical group and the receiving lens module.

Preferably, the camera includes an area-array camera module, and the camera is an area-array camera.

Preferably, the single-point receiver comprises a single-point receiver module.

Preferably, the receiving end optical group, the single-point receiver module and the area-array camera module are independent modules, and form a fusion sensor with a larger pixel scale according to actual requirements.

Preferably, the receiving-end optical group has the following design: firstly, an incident light path passes through a frequency selection light splitting device; secondly, the light splitting device transmits the wavelength of the laser radar and reflects visible light; and thirdly, the transmitted light is optically adjusted and then converged on a receiver of the single-point receiver module, and the reflected light is optically adjusted and then sent to the area array camera module.

Preferably, the single point receiver module and the area-array camera module have a relationship in which the single point receiver module field of view coincides with the field of view of the camera.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses in, through because single-point receiver field of vision and camera field of vision are unanimous, consequently the focus plane formation of image result and the quantum imaging inversion result of obtaining have the uniformity in target and field of vision on the physical layer, because the camera possesses the colored information acquisition ability of high resolution, laser quantum radar has high accuracy degree of depth information acquisition ability, so this scheme passes through the special combination of module and can realize the combination of the two ability.

2. The utility model discloses in, through the integration of setting up camera and the laser quantum radar that uses the physical layer level, fundamentally has improved the precision and the response speed that fuse the system, has strengthened the environmental suitability of system when having simplified the system architecture, has effectively reduced the degree of dependence of system to demarcation and calibration.

3. The utility model discloses in, through comparing in traditional laser quantum radar and the single use of camera, this scheme has higher controllability, stronger scalability and better environmental suitability and uses inconveniently.

Drawings

FIG. 1 is a schematic structural diagram of a system according to the present invention;

fig. 2 is the light path design structure schematic diagram of the reflective part of the present invention.

In the figure: the system comprises a laser emitting module 1, a light field modulation module 2, an optical group module at an emitting end 3, an optical group at a receiving end 4, a single-point receiver module 5, an area array camera module 6, a signal processing and controlling module 7, a display module 8, a receiving lens module 9, an infrared/visible light beam splitting structure 10, a camera 11, a converging lens module 12 and a single-point receiver 13.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution:

a monitoring device having functions of an optical camera and a laser radar sensor includes a laser emitting module 1, light field modulation module 2 and receiving lens module 9, laser emission module 1 connects light field modulation module 2, light field modulation module 2 is connected with transmitting end optics group module 3, transmitting end optics group module 3 is connected with receiving end optics group 4, receiving end optics group 4 is connected with single-point receiver module 5 and area array camera module 6, single-point receiver module 5 and area array camera module 6 are connected with signal processing and control module 7, signal processing and control module 7 are connected with display module 8, receiving lens module 9 is connected with infrared/visible light beam splitting structure 10, infrared/visible light beam splitting structure 10 is connected with camera 11, infrared/visible light beam splitting structure 10 is connected with convergent lens module 12, convergent lens module 12 is connected with single-point receiver 13.

The utility model discloses work flow: because the field of view of the single-point receiver 13 is consistent with that of the camera 11, the obtained focal plane imaging result and the quantum imaging inversion result have consistency between a target and the field of view on a physical layer, because the camera 11 has a high-resolution color information acquisition capability, and the laser quantum radar has a high-precision depth information acquisition capability, the combination of the two capabilities can be realized by the special combination of the modules, different devices do not continue to collect optical signals for signal processing after receiving the optical signals, but respectively process the optical signals and collect the processing results together, specifically as follows: firstly, a camera 11 carries out normal imaging on a target in a visual field and outputs a target image; II, secondly: after the reflected light signal received by the single-point receiver 13 is sampled by the receiving lens module 9, the image inversion based on the quantum imaging principle is performed on the target, and the target inversion result is output. Meanwhile, after the reflected light signal passes through the converging lens module 12, the distance information of the target in the visual field can be output; thirdly, because the visual field of the single-point receiver 13 is consistent with that of the camera 11, and the single-point receiver is positioned at the geometric midpoint of the visual field, the obtained focal plane imaging result and the quantum imaging inversion result are fused on a physical layer, and compared with the existing software fusion method, the precision and the response speed of the system are improved; the target reflected light is received by the receiving lens module 9 and then passes through the infrared/visible light beam splitting structure 10, the infrared light component emitted by the laser quantum radar in the reflected light is reflected at 90 degrees by the beam splitting structure, and the visible light component generated by a natural light source such as the sun in the reflected light is transmitted. The infrared light reflected at 90 ° is collected by the collecting lens module 12 and received by the single-point receiver 13, and the projected visible light is received by the camera 11. In the process, the method is generally used for calibrating and calibrating on the basis of the results respectively output by the laser radar and the area-array camera with the existing software fusion method, so that the method reduces the dependence of the system on additional calibration and calibration.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. A monitoring apparatus having functions of an optical camera and a lidar sensor, comprising a laser emission module (1), a light field modulation module (2), and a receiving lens module (9), characterized in that: the laser emitting module (1) is connected with an optical field modulation module (2), the optical field modulation module (2) is connected with an emitting end optical group module (3), the emitting end optical group module (3) is connected with a receiving end optical group (4), the receiving end optical group (4) is connected with a single-point receiver module (5) and an area array camera module (6), the single-point receiver module (5) and the area array camera module (6) are connected with a signal processing and control module (7), the signal processing and control module (7) is connected with a display module (8), the receiving lens module (9) is connected with an infrared/visible light beam splitting structure (10), the infrared/visible light beam splitting structure (10) is connected with a camera (11), and the infrared/visible light beam splitting structure (10) is connected with a converging lens module (12), the converging lens module (12) is connected with a single-point receiver (13).

2. A monitoring apparatus having functions of an optical camera and a lidar sensor according to claim 1, characterized in that: the optical signal output by the transmitting end optical group module (3) is an optical signal, and the optical signal output by the transmitting end optical group module (3) is reflected by a target and then is respectively collected by the receiving end optical group (4) and the receiving lens module (9).

3. A monitoring apparatus having functions of an optical camera and a lidar sensor according to claim 1, characterized in that: the camera (11) comprises an area-array camera module (6), and the camera (11) is an area-array camera.

4. A monitoring apparatus having functions of an optical camera and a lidar sensor according to claim 1, characterized in that: the single-point receiver (13) comprises a single-point receiver module (5).

5. A monitoring apparatus having functions of an optical camera and a lidar sensor according to claim 1, characterized in that: the receiving end optical group (4), the single-point receiver module (5) and the area-array camera module (6) are independent modules, and the area-array camera module (6) can be adjusted to form a fusion sensor with a larger pixel scale according to actual requirements.

6. A monitoring apparatus having functions of an optical camera and a lidar sensor according to claim 1, characterized in that: the receiving-end optical group (4) has the following design: firstly, an incident light path passes through a frequency selection light splitting device; secondly, the light splitting device transmits the wavelength of the laser radar and reflects visible light; and thirdly, the transmitted light is collected on a receiver of the single-point receiver module (5) after being optically adjusted, and the reflected light is sent into the area-array camera module (6) after being optically adjusted.

7. A monitoring apparatus having functions of an optical camera and a lidar sensor according to claim 1, characterized in that: the single-point receiver module (5) and the area-array camera module (6) have the following relationship that the single-point receiver (13) module field of view is identical to the field of view of the camera (11).

Images