CN217639520U - Laser radar detection system - Google Patents
Laser radar detection system Download PDFInfo
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- CN217639520U CN217639520U CN202221477901.6U CN202221477901U CN217639520U CN 217639520 U CN217639520 U CN 217639520U CN 202221477901 U CN202221477901 U CN 202221477901U CN 217639520 U CN217639520 U CN 217639520U
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Abstract
The utility model provides a laser radar's detecting system, detecting system includes: the imaging operation module is suitable for performing fingerprint imaging operation on the detection channel for at least 1 time, and the fingerprint imaging operation is suitable for enabling the detection light beams emitted by the detection channel to be imaged through the imaging component; and the fingerprint extraction module is suitable for obtaining the light path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, and the light path fingerprint is suitable for representing the light path characteristic of the detection beam. The detection system can obtain the light path fingerprint of the detection channel to represent the light 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 quickly and safely obtained, the spatial angle distribution of the stray light spots and the light intensity under the corresponding angle are obtained, and the detection system has an important effect on the judgment, inhibition and elimination of ghost images of the laser radar.
Description
Technical Field
The utility model relates to a laser detection field, in particular to laser radar's detecting system.
Background
Laser radar is a range finding sensor commonly used, has characteristics such as detection range is far away, resolution ratio is high, receive environmental disturbance little, and the wide application is in fields such as unmanned driving, intelligent robot, unmanned aerial vehicle. In recent years, the automatic driving technology has been rapidly developed, and the laser radar has become indispensable as a core sensor for distance sensing.
As shown in fig. 1, besides a main light spot 14 (e.g., a light spot formed by the main light beam 11 in fig. 1), a plurality of stray light spots 13 (e.g., light spots formed by the stray light beam 12 in fig. 1) exist in a detection light beam emitted from a detection channel in the laser radar, and these stray light spots may cause phenomena such as ghosting and widening of a detection target on a point cloud of the laser radar, thereby affecting the performance of the laser radar.
At present, no detection method and detection system for the stray light spots can be directly used. The current detection method and the detection system need detection personnel to visually observe in a dark environment, and have low efficiency, easy fatigue of personnel and possibility of affecting eyesight for a long time.
SUMMERY OF THE UTILITY MODEL
The utility model provides a problem detect laser radar outgoing detection light beam's stray facula distribution fast, safely.
In order to solve the above problem, the utility model provides a laser radar's detection method, include:
performing at least 1 fingerprint imaging operation on a detection channel, wherein the fingerprint imaging operation is suitable for enabling a detection beam emitted by the detection channel to be imaged through an imaging component; and obtaining the light path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, wherein the light path fingerprint is suitable for representing the light path characteristics of the detection light beam.
Optionally, the optical path fingerprint includes: 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 a detection beam; and acquiring a fingerprint image according to the detection light beam.
Optionally, the step of obtaining the light path fingerprint of the detection channel includes: obtaining a main light spot of the detection channel according to the fingerprint image; and judging 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 light path fingerprints of the detection channel; and according to the distribution range of the optical path fingerprints of the detection channels and the imaging range of the imaging component, the at least 1 fingerprint imaging operation enables the imaging range of the imaging component to traverse the distribution range of the optical path fingerprints of the detection channels.
Optionally, the step of determining the relative position of the lidar and the imaging assembly comprises: adjusting at least one of a pose of the lidar and a position of the imaging assembly 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: and receiving the detection light beam by using an image sensor in the imaging assembly to obtain the fingerprint image.
Optionally, the step of obtaining a fingerprint image according to the probe beam includes: irradiating the probe beam to a reference object; obtaining an image of the illuminated reference as the fingerprint image using an image sensor in the imaging assembly.
Optionally, the step of obtaining the fingerprint image further includes: determining the position of a main light spot of the detection light 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 illuminated reference object as the fingerprint image using an image sensor in the imaging assembly, increasing an exposure of the image sensor.
Optionally, in the step of reducing the brightness of the position of the main light spot, an absorption structure or a transmission structure is arranged at the position of the main light spot to reduce the brightness of the position of the main light spot.
Optionally, performing multiple fingerprint imaging operations on the detection channel to obtain multiple fingerprint images; and carrying out image splicing 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 multiple fingerprint imaging operations on a plurality of detection channels to obtain a plurality of light path fingerprints, wherein the plurality of light path fingerprints correspond to the plurality of detection channels one to one; 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 includes: and optimizing structural characteristics based on the light path fingerprints of all detection channels of the laser radar so as to eliminate or weaken stray light beams in the detection light beams.
Optionally, the step of performing structural feature optimization to eliminate or attenuate stray light beams in the probe light beam includes: judging whether the light paths of the stray light beams are consistent or not based on the light path fingerprints of a plurality of detection channels which are isolated in space, and optimizing structural features based on the judgment result; and fusing the light path fingerprints of the plurality of detection channels based on the light path fingerprints of the plurality of detection channels which are partially overlapped in space, and optimizing the structural characteristics according to the fused light path fingerprints.
Correspondingly, the utility model also provides a laser radar's detecting system, detecting system is suitable for right laser radar implements the utility model discloses a detection method is in order to obtain the light path fingerprint of detection passageway.
Furthermore, the utility model also provides a laser radar's detecting system, include:
the imaging operation module is suitable for carrying out fingerprint imaging operation on the detection channel for at least 1 time, and the fingerprint imaging operation is suitable for enabling the detection light beam emitted by the detection channel to be imaged through the imaging component; and the fingerprint extraction module is suitable for obtaining the light path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, and the light path fingerprint is suitable for representing the light path characteristic of the detection beam.
Optionally, the optical path fingerprint includes: the main light spot and the stray light spot formed by the detection light beam are distributed.
Optionally, the imaging operation module includes: a mechanical unit, the mechanical unit comprising: a turntable to which at least the lidar is fixed; a control unit adapted to determine a relative position of the lidar and the imaging assembly; said control unit is further adapted to cause said detection channel to emit a detection beam after determining said relative position; an image unit adapted to obtain a fingerprint image based on the probe beam.
Optionally, the fingerprint extraction module obtains a main light spot of the detection channel according to the fingerprint image; and the fingerprint extraction module judges 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, the control unit 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.
Optionally, the image unit receives the probe beam by using an image sensor in the imaging assembly to obtain the fingerprint image.
Optionally, after the probe beam irradiates the reference object, an image sensor in the imaging assembly obtains an image of the irradiated reference object as the fingerprint image.
Optionally, after the probe beam is irradiated to the reference object, the image unit determines a position of a main spot of the probe beam on the reference object and reduces brightness of the position of the main spot; the image unit increases an exposure amount of the image sensor in a process in which the image sensor obtains an image of the reference object to be irradiated.
Optionally, the image unit is provided with an absorption structure or a transmission structure at the position of the main light spot to reduce the brightness of the position of the main light spot.
Optionally, the detection system further includes: a range estimation module adapted to obtain a distribution range of the light path fingerprint of the detection channel; the imaging operation module executes the at least 1-time fingerprint imaging operation to enable the imaging range of the imaging component to traverse the distribution range of the optical path fingerprint of the detection channel according to the distribution range of the optical path fingerprint of the detection channel and the imaging range of the imaging component.
Optionally, the imaging operation module performs multiple fingerprint imaging operations on the detection channel to obtain multiple fingerprint images; and the fingerprint extraction module carries out image splicing on the plurality of fingerprint images so as to obtain the light path fingerprint of the detection channel.
Optionally, the lidar includes: a plurality of detection channels; the imaging operation module carries out multiple times of fingerprint imaging operation on a plurality of detection channels to obtain a plurality of light path fingerprints, and the plurality of light path fingerprints correspond to the plurality of detection channels one to one; and the fingerprint extraction module splices the light path fingerprints to obtain the light path fingerprints of all detection channels of the laser radar.
Optionally, the method further includes: and the optical-mechanical optimization module is suitable for carrying out structural characteristic optimization based on the light path fingerprints of all detection channels of the laser radar so as to eliminate or weaken stray light beams in the detection light beams.
Optionally, the optical-mechanical optimization module judges whether stray light paths are consistent based on light path fingerprints of a plurality of detection channels which are spatially isolated, and performs structural feature optimization based on a judgment result; the optical machine optimization module fuses the light path fingerprints of the detection channels based on the light path fingerprints of the detection channels with the overlapped space part, and performs structural feature optimization according to the fused light path fingerprints.
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 comprises: a tele einzel lens and a quenching element downstream of the tele einzel lens along the optical path of the probe beam.
Optionally, the imaging assembly further comprises: an aperture stop located between the imaging optics and the image sensor.
Compared with the prior art, the technical scheme of the utility model have following advantage:
the utility model discloses technical scheme, detecting system can obtain the light path fingerprint of detection passageway is with the sign detection light beam's light path characteristic to can obtain fast, safely laser radar's detection passageway's stray facula distribution situation to obtain the space angle distribution of stray facula and correspond the light intensity under the angle, have important effect to the judgement, the suppression and the elimination of laser radar ghost.
Drawings
FIG. 1 is a schematic diagram of an optical path structure of a laser radar;
fig. 2 is a schematic flow chart of an embodiment of the detection method of the laser radar of the present invention;
FIG. 3 is a schematic diagram of an optical path structure of the fingerprint imaging operation in the embodiment of the detection method of the lidar shown in FIG. 2;
FIG. 4 is a schematic flow chart of the fingerprint imaging operation in the embodiment of the detection method of the lidar shown in FIG. 2;
FIG. 5 is a complete fingerprint image obtained by the embodiment of the detection method of the lidar shown in FIG. 2;
FIG. 6 is a schematic flow chart illustrating the steps of performing structural feature optimization to eliminate or attenuate stray light beams in the probe beam according to the exemplary laser radar detection method of FIG. 2;
fig. 7 is 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;
fig. 8 is 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;
fig. 9 is a functional block diagram of an embodiment of a detection system of the lidar of the present invention;
fig. 10 is a schematic diagram of an optical path structure of another embodiment of the detection system of the laser radar of the present invention.
Detailed Description
As known in the background art, a detection method and a detection system for detecting the distribution condition of stray light spots of a detection beam emitted by a laser radar are lacked in the prior art.
For solving the technical problem, the utility model provides a laser radar's detection method, include: performing at least 1 fingerprint imaging operation on a detection channel, wherein the fingerprint imaging operation is suitable for enabling a detection beam emitted by the detection channel to be imaged through an imaging component; and obtaining the light path fingerprint of the detection channel according to the imaging result of the at least 1 fingerprint imaging operation, wherein the light path fingerprint is suitable for representing the light path characteristics of the detection light beam.
The utility model discloses technical scheme can obtain through at least 1 fingerprint imaging operation the light path fingerprint of detection passageway is with the sign detection light beam's light path characteristic to can obtain fast, safely laser radar's detection passageway's stray facula distribution condition to obtain the space angle distribution of stray facula and correspond the light intensity under the angle, to laser radar ghost image's judgement, suppression and elimination have important effect.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 2 and fig. 3, fig. 2 shows a schematic flow diagram of an embodiment of a detection method of the lidar 101 of the present invention, and fig. 3 shows a schematic light path structure diagram 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 a fingerprint imaging operation on a detection channel for at least 1 time, where the fingerprint imaging operation is suitable for enabling the detection beam 105 emitted by the detection channel to be imaged by the imaging component 110; step S120 is executed, and according to the imaging result of the at least 1 fingerprint imaging operation, an optical path fingerprint of the detection channel is obtained, where the optical path fingerprint is suitable for characterizing the optical path characteristics of the detection beam 105.
The fingerprint imaging operation is adapted to image the probe beam 105 emitted by the probe channel using the imaging assembly 110.
As shown in fig. 3, the laser radar 101 is disposed on a table top of a turntable 102, the turntable 102 having two rotation axes, i.e., a rotation axis 101h and a rotation axis 101v shown in fig. 3, wherein the rotation axis 101h is perpendicular to the table top 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 an optical path of the probe beam 105.
The imaging optical element 111 is used for transmitting the probe light beam 105 and imaging the probe light beam 105; the image sensor 112 is used to receive the probe beam 105 transmitted through the imaging optical element 111 and image.
As shown in fig. 3, in some embodiments of the present invention, the imaging optical element 111 includes an imaging lens (not shown); 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 the light transmitted through the imaging lens is imaged on the image sensor 112.
Referring to fig. 4 in combination, a schematic flowchart 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 present invention, the fingerprint imaging operation includes: step S111 is executed, the relative position of the laser radar 101 and the imaging component 110 is determined according to the structural characteristics of the laser radar 101, and the detection channel is enabled to emit a detection light beam 105; step S112 is executed to obtain a fingerprint image according to the detecting beam 105.
It should be noted that, in some embodiments of the present invention, the laser radar 101 includes: a plurality of detection channels; therefore, before performing step S110, and performing at least 1 fingerprint imaging operation on the detection channel, as shown in fig. 2, the detection method further includes: step S101 is executed to select 1 probing channel from the multiple probing channels to activate for detection. After selecting the detection channel, performing the fingerprint imaging operation at least 1 time on the selected detection channel.
Specifically, after the laser radar 101 selects the detection channel, step S111 is performed to determine the relative positions of the laser radar 101 and the imaging component 110 according to the structural features of the laser radar 101, and activate the detection channel to emit the detection beam 105.
In some embodiments of the present invention, step S111 is performed, and the step of determining the relative position of the lidar 101 and the imaging component 110 includes: adjusting at least one of a pose of the lidar 101 and a position of the imaging assembly 110 to determine a relative position of the lidar 101 and the imaging assembly 110.
In the embodiment shown in fig. 3, the lidar 101 is disposed on a turntable 102, and the relative position between the two is determined by adjusting the pose of the lidar 101 through the turntable 102. Specifically, the azimuth angle of the selected detection channel is obtained according to the internal parameters of the laser radar 101; rotating the turntable 102 around at least one of the rotation axis 101h and the rotation axis 101v according to the azimuth angle to adjust the pose of the lidar 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 lidar 101 and the imaging assembly 110.
After determining the relative position of the lidar 101 and the imaging assembly 110, the lidar 101 is turned on, the selected detection channel is activated to generate a probe beam 105, and the generated probe beam 105 is imaged through the imaging optics 111.
The utility model discloses in some embodiments, carry out step S112, according to detecting beam, the step of obtaining the fingerprint image includes: the probe 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 component 110 is affected by the focal length of the imaging optical element 111 and the photosensitive surface 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 detection beam 105 emitted by the activated detection channel.
Because the imaging range of imaging component 110 is limited, in some embodiments of the present invention, the field of view range of the activated detection channel is larger, i.e. larger than the imaging range of imaging component 110, so that the imaging range of imaging component 110 can 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, and the distribution range of the light path fingerprints of the detection channels is obtained; step S110, in the step of performing at least 1 time of fingerprint imaging operation on the detection channel, according to the distribution range of the light path fingerprint of the detection channel and the imaging range of the imaging component 110, the at least 1 time of fingerprint imaging operation makes the imaging range of the imaging component 110 traverse the distribution range of the light path fingerprint 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 after being imaged by the imaging assembly) is HFOV VFOV; the imaging range of the imaging assembly 110 is HFOV0 × VFOV0, so that 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/HFOV0; the number of fingerprint images obtained in the vertical direction is N = VFOV/VFOV0, that is, 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 the fingerprint imaging operation is performed at least 1 time to obtain at least 1 fingerprint image for each adjustment of the relative positions of the lidar 101 and the imaging assembly 110. 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 the light path fingerprint of the detection channel is obtained; in other embodiments of the present invention, the detection channel to be activated is determined again after the light path fingerprint distribution range of all detection channels of the laser radar 101 is obtained. The utility model discloses do not limit to this.
In other embodiments of the present invention, the fingerprint imaging operation can be directly performed on the detection channel for at least 1 time, i.e. step S102 is not performed, and the light path fingerprint distribution range 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 parameters of the imaging component (e.g., parameters of the imaging optical element 111 or parameters 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 at least 1 time of fingerprint imaging operation is performed on the detection channel, step S120 is performed to obtain an optical path fingerprint of the detection channel according to an imaging result of the at least 1 time of fingerprint imaging operation, where the optical path fingerprint is suitable for characterizing optical path characteristics of the detection beam 105.
Specifically, step S110 is executed, and in the step of performing fingerprint imaging operation on the detection channel for at least 1 time, 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 obtaining 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 fingerprint imaging operation on the detection channel for at least 1 time, performing fingerprint imaging operation on the detection channel for multiple times to obtain multiple fingerprint images; and step S120 is executed, in the step of obtaining the light path fingerprint of the detection channel, image stitching is performed on the multiple fingerprint images to obtain the light 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, wherein the M × N fingerprint images respectively correspond to different angular fields of view of the activated detection channels; and splicing the M fingerprint images, namely the N fingerprint images, so as to obtain the complete fingerprint image of the laser radar.
In some embodiments of the present invention, referring to fig. 3, the light path fingerprint includes: the main spot 106a and the stray plate 106b formed by the probe beam 105 are distributed. In some embodiments, the light path fingerprint refers to data of the distribution of the main light spot 106a and the stray light plate 106b extracted in the fingerprint image.
Specifically, the step of obtaining the light 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 distribution of the relative position between the stray light plate 106b and the main light spot 106a is obtained through the identification of the main light spot 106a and the relative gray value of each pixel in the fingerprint image, so that the data volume can be effectively compressed, and the reduction of the system load is facilitated.
In particular, obtaining said probeIn the step of measuring the main light spot 106a of the channel, the area where the main light spot 106a of the detection channel is located is obtained according to the fingerprint image; obtaining the maximum gray value of the 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, obtaining a relative gray value of each pixel according to a ratio of the gray value of each pixel of the fingerprint image with the activated detection channel intact to the maximum gray value of the pixel of the region where the main light spot 106a is located; obtaining a distribution map of 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 larger than the preset threshold value (5 x 10) -5 ) Then, it is determined that the stray light plate 106b is present at the position.
As previously mentioned, in some embodiments, the lidar 101 includes: a plurality of detection channels; therefore, the fingerprint imaging operation of step S110 and the obtaining of the light path fingerprint of the detection channel are performed for each detection channel, and the light path fingerprint of each detection channel is obtained, that is, multiple fingerprint imaging operations are performed on multiple detection channels to obtain multiple light path fingerprints, where the multiple light path fingerprints are in one-to-one correspondence with the multiple 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 the light path fingerprints of all detection channels of the laser radar, namely obtaining the complete light path fingerprint of the laser radar.
The light path fingerprint of the laser radar 101 can effectively represent the light path characteristics of the corresponding detection beam 105, so that the light path fingerprint of the laser radar 101 can be used for light path optimization to eliminate the stray light beam 105b. Therefore, with continued reference to fig. 3, in some embodiments of the present invention, the detecting method further comprises: step S130 is executed to perform structural feature optimization to eliminate or attenuate the stray light beam 105b in the detection light beam 105 based on the light path fingerprints of all detection channels of the laser radar 101. In particular, the optical-mechanical structure is optimized for the stronger stray light beam 105b, and the intensity of the stray light beam is eliminated or weakened as much as possible, so that 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, the step S130 of performing structural feature optimization to eliminate or attenuate the stray light beam 105b in the probe light beam 105 includes: executing step S131, determining whether the light paths of the stray light beam 105b are consistent based on the light path fingerprints of the multiple spatially isolated detection channels, and performing structural feature optimization based on the determination result; and executing step S132, fusing the light path fingerprints of the plurality of detection channels based on the light path fingerprints of the plurality of detection channels which are partially overlapped in space, and performing structural feature optimization according to the fused light path fingerprints.
In the step of executing step S131, determining whether the stray light beam 105b is consistent, the multiple detection channels are spatially isolated from each other, that is, the field ranges corresponding to the multiple detection channels are not overlapped and are isolated from each other; when the light paths of the stray light beams 105b are judged to be consistent, performing optical-mechanical optimization on the multiple detection channels to uniformly eliminate the stray light; when the optical paths of the stray light beams 105b are judged to be inconsistent, optical-mechanical optimization is performed for each detection channel to eliminate the stray light beams 105b.
Executing step S132, in the step of fusing the optical path fingerprints of the multiple detection channels, the multiple detection channels are partially overlapped with each other in space, that is, the field ranges corresponding to the multiple detection channels are partially overlapped; since the stray light beam 105b at the overlapping portion is enhanced, the light path fingerprints of the multiple detection channels need to be fused, and structural feature optimization is performed according to the fused light path fingerprints.
In the foregoing embodiment, the probe light beam 105 transmitted through the imaging optical element 111 is directly received by the image sensor 112. This method of obtaining a fingerprint image is merely an example. In other embodiments of the present invention, the detecting light beam 105 can be irradiated to the reference object, and then the image sensor 112 in the imaging component 110 is used to obtain the 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 the fingerprint image according to the detection beam includes: irradiating the probe beam to a reference 203; an image of the illuminated reference 203 is obtained as the fingerprint image using the image sensor 212 in the imaging assembly.
Specifically, the reference object 203 is used to reflect the probe beam. The reference 203 may be a high reflectivity object such as white paper or a 90% reflective plate. A detection beam emitted by a 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 illuminated reference object 203 is obtained as the fingerprint image by the image sensor 212.
It should be noted that, compared to the main light beam, the intensity of the stray light 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 the probe light beam is irradiated to the reference object 203, determining the position of the main light spot 204 of the probe light beam on the reference object 203 and reducing the brightness of the position of the main light spot 204 before an image of the irradiated reference object 203 is obtained by using the image sensor 212 in the imaging assembly; and in the step of obtaining an image of the illuminated reference 203 as the fingerprint image using the image sensor 212 in the imaging assembly, the exposure of the image sensor 212 is increased.
Specifically, in the step of reducing the brightness of the position of the main light spot 204, an absorption structure or a transmission structure (not shown in the figure) is arranged at the position of the main light spot 204 to reduce the brightness of the position of the main light spot 204; wherein, the absorption structure can be a black body, and the transmission structure can be a hollow 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 parts as the previous embodiments are not described herein again. The difference from the previous embodiments is that, as shown in fig. 8, in some embodiments of the present invention, the imaging optical element 310 includes: a telephoto einzel lens 311 and an extinction member 314 located downstream of the telephoto einzel lens 311 along the optical path of the probe beam.
The thickness of the telephoto single lens 311 is smaller, and the number of structural components for fixing the telephoto single lens 311 is smaller, and the volume is smaller, so that the possibility of stray light introduction can be effectively reduced, thereby effectively reducing the influence of the imaging optical element 310 on the light path fingerprint and improving the accuracy of detecting the light path fingerprint.
The extinction member is used for eliminating light rays with unnecessary angles so as to reduce interference among light signals and improve the accuracy of the obtained light path fingerprint. Specifically, the matting member may be a mask or matting ink.
In some embodiments of the present invention, the imaging assembly further comprises: an aperture stop 313, the aperture stop 313 being located between the imaging optics 310 and the image sensor 312. The aperture stop 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 light path fingerprint can be effectively improved. The combination of the telephoto single lens 311 and the aperture stop 313 can introduce as less stray light as possible, suppress optical signal crosstalk as much as possible, and effectively improve the accuracy of detecting the optical path fingerprint.
Correspondingly, the utility model also provides a laser radar's detecting system, detecting system is suitable for and implements laser radar the utility model discloses a detection method is in order to obtain the light path fingerprint of detection passageway.
Detecting system is through implementing laser radar the utility model discloses a detection method, detecting system's concrete technical scheme refers to aforementioned detection method's embodiment, the utility model discloses no longer give unnecessary details here.
Furthermore, the utility model also provides a laser radar's detecting system.
Referring to fig. 9, a functional block diagram of an embodiment of the detection system of the lidar of the present invention is shown.
The detection system comprises: an imaging operation module 910, wherein the imaging operation module 910 is adapted to perform at least 1 fingerprint imaging operation on the detection channel, and the fingerprint imaging operation is adapted to image the detection beam emitted by the detection channel through the imaging component; a fingerprint extraction module 920, wherein the fingerprint extraction module 920 is adapted to obtain an optical path fingerprint of the detection channel according to an imaging result of the at least 1 fingerprint imaging operation, and the optical path fingerprint is adapted to characterize an 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 to which at least the lidar is fixed; a control unit 912, said control unit 912 adapted to determine a relative position of said lidar and said 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 rotary table, the rotary table is provided with two rotating shafts, and one rotating shaft is perpendicular to the table top of the rotary table; the other axis of rotation is parallel to the table top of the turntable.
In some embodiments of the present invention, the imaging assembly includes: 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 used for receiving and imaging the detection light beam transmitted by the imaging optical element.
In some embodiments of the present invention, the imaging optical element comprises an imaging lens; the image sensor comprises a camera, such as a CCD camera. The image sensor is located on the focal plane of the imaging lens, and the light sensing surface of the image sensor is located on the focal plane of the imaging optical element and is perpendicular to the optical axis of the imaging lens, so that the detection light beam transmitted by the imaging lens is imaged on the image sensor.
In some embodiments of the present invention, the control unit 912 determines the relative positions of the lidar and the imaging component according to the structural features of the lidar, and causes the detection channel to emit a detection beam; the image unit 913 obtains a fingerprint image according to the probe beam.
It should be noted that, 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, the selection module 930 selecting 1 probe channel from the plurality of probe channels to activate 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 component according to the structural characteristics of the lidar and activates the detection channel to emit a detection beam.
In some embodiments, 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 disposed on a turntable, and the control unit 912 adjusts the pose of the laser radar through the turntable to determine the relative position relationship between the two. Specifically, according to the internal parameters of the lidar, the control unit 912 obtains the azimuth of the selected detection channel; according to the azimuth, the control unit 912 adjusts the pose of the lidar by rotating the turntable, so that the detection beam generated by the detection channel coincides with the optical axis of the imaging optical element, and determines the relative position of the lidar and the imaging component.
After determining the relative position of the lidar and the imaging assembly, the control unit 912 turns on the lidar, activates the selected probe channel to generate a probe beam, and images the generated probe beam through the imaging optics.
In some embodiments of the present invention, the image unit 913 utilizes the image sensor in the imaging assembly to receive the detection beam, 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, the image unit 913 turns on the image sensor, and the image sensor receives the probe beam, so as to obtain the fingerprint image.
The size of the imaging range of the imaging component is influenced by the focal length of the imaging optical element and the photosensitive surface 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 detection beam emitted by the activated detection channel.
Because the formation of image scope of formation of image subassembly is limited, the utility model discloses some embodiments, the visual field scope of the detection passageway that activates is great, is greater than the formation of image scope of formation of image subassembly promptly, therefore formation of image operation module 910 is through carrying out the operation of many times fingerprint imaging so that the distribution range of the light path fingerprint of the detection passageway that activates is traversed to the formation of image scope of formation of image subassembly.
Therefore, in some embodiments of the present invention, before performing at least 1 fingerprint imaging operation on the detection channel, the detection system further comprises: a range estimation module 940, wherein the range estimation module 940 is adapted to obtain a distribution range of the light path fingerprint of the detection channel; the imaging operation module 910 performs the at least 1 fingerprint imaging operation to traverse the imaging range of the imaging component through the distribution range of the optical path fingerprint of the detection channel according to the distribution range of the optical path fingerprint of the detection channel and the imaging range of the imaging component.
Specifically, the range estimation module 940 may obtain the range of the optical path fingerprint distribution of the activated detection channel as HFOV FOV by an experimental and guiding method; the imaging range of the imaging assembly is HFOV0 × VFOV0, so that the number of fingerprint images obtained by the imaging operation module 910 in the horizontal direction is M = HFOV/HFOV0 as shown in fig. 5; the number of fingerprint images obtained in the vertical direction is N = VFOV/VFOV0, i.e., the control unit 912 changes the pose of the lidar through the turntable to adjust the relative positions of the lidar and the imaging assembly; each time the relative positions of the lidar and the imaging assembly are adjusted, the control unit 912 performs at least 1 of the fingerprint imaging operations to obtain at least 1 fingerprint image. The imaging operation module 910 performs at least M × N fingerprint imaging operations to obtain at least M × N fingerprint images.
After the imaging operation module 910 performs at least 1 fingerprint imaging operation on a detection channel, the fingerprint extraction module 920 obtains an optical path fingerprint of the detection channel, where the optical path fingerprint is suitable for characterizing optical path characteristics of the detection beam.
Specifically, the fingerprint extraction module 920 obtains 1 fingerprint image in each fingerprint imaging operation; the fingerprint extraction module 920 obtains the light 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 a plurality of fingerprint imaging operations on the detection channel to obtain a plurality of fingerprint images; the fingerprint extraction module 920 performs image stitching on the plurality of fingerprint images to obtain the light 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 different angular fields of view of the activated detection channels; the fingerprint extraction module 920 splices the M × N fingerprint images to obtain a complete fingerprint image of the laser radar.
In some embodiments of the present invention, the light path fingerprint includes: 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 the main light spot of the detection channel according to the fingerprint image; the fingerprint extraction module 920 determines 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.
Specifically, the fingerprint extraction module 920 obtains an area where a main light spot of the detection channel is located according to the fingerprint image, and further obtains a maximum gray value of a pixel in the area where the main light spot is located; the fingerprint extraction module 920 obtains the relative gray value of each pixel according to the ratio of the gray value of each pixel of the fingerprint image with the complete activated detection channel to the maximum gray value of the pixel of the region 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 fingerprint image with the complete activated detection channel; when the relative gray-scale value is larger than a preset threshold value (5 x 10) -5 ) In time, the fingerprint extraction module 920 determines that there is a stray light spot at the location.
As previously mentioned, in some embodiments, the lidar comprises: a plurality of detection channels; the imaging operation module 910 performs a fingerprint imaging operation for each detection channel, that is, the imaging operation module 910 performs multiple fingerprint imaging operations on multiple detection channels to obtain multiple light path fingerprints, where the multiple light path fingerprints correspond to the multiple detection channels one to one; fingerprint extraction module 920 extracts the light path fingerprint of each detection channel, and splices the light path fingerprints to obtain the light path fingerprints of all detection channels of laser radar.
The light path fingerprint of the laser radar can effectively represent the light path characteristics of the corresponding detection light beam, so that the light path fingerprint of the laser radar can be used for light path optimization to eliminate stray light beams. Therefore, in some embodiments of the present invention, the detection system further comprises: an optical-mechanical optimization module 950, wherein the optical-mechanical optimization module 950 is adapted to perform structural feature optimization based on the light path fingerprints of all detection channels of the laser radar to eliminate or weaken stray light beams in the detection light beams.
The utility model discloses in some embodiments, whether stray light path is unanimous is judged to ray apparatus optimization module 950 based on the light path fingerprint of a plurality of detection passageways that the space keeps apart to carry out structural feature based on the judged result and optimize. Specifically, when the stray light path is judged to be consistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization on the multiple detection channels to uniformly eliminate the stray light; when the stray light path is determined to be inconsistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization for each detection channel to eliminate the stray light.
The detection channels are mutually isolated in space, namely the field ranges corresponding to the detection channels are not overlapped and are mutually isolated; when the light paths of the stray light beams are judged to be consistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization on the multiple detection channels to uniformly eliminate the stray light; when the optical paths of the stray light beams are determined to be inconsistent, the optical-mechanical optimization module 950 performs optical-mechanical optimization for each detection channel to eliminate the stray light beams.
The utility model discloses in some embodiments, ray apparatus optimization module 950 fuses based on the light path fingerprint of a plurality of detection passageways that the space part overlaps a plurality of light path fingerprints of detecting the passageway to according to the light path fingerprint after fusing, carry out structural feature optimization.
In the foregoing embodiment, the probe beam transmitted through the imaging optical element is directly received by the image sensor. This method of obtaining a fingerprint image is merely an example. The utility model discloses in other embodiments, also can make after probe beam shines to the reference object, utilize image sensor among the imaging assembly obtains the image of the reference object that is shone and is regarded as fingerprint image.
In the embodiment shown in fig. 7, the probe beam is irradiated to 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 beam. The reference object 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, 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, after the probe beam is irradiated onto 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 of the image sensor in the process of obtaining the image of the illuminated reference object by the image sensor.
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 light spot to reduce the brightness of the position of the main light spot; wherein the absorption structure may be a black body, and the transmission structure may be a hollow structure.
In the embodiment shown in fig. 8, the imaging optical element includes: a telephoto einzel lens and an extinction member located downstream of the telephoto einzel lens along an optical path of the probe beam.
The thickness of the long-focus single lens is smaller, the number of structural components for fixing the long-focus single lens is smaller, the size is smaller, and therefore the possibility of stray light introduction can be effectively reduced, the influence of an imaging optical element on a light path fingerprint can be effectively reduced, and the accuracy of the light path fingerprint is improved.
The extinction member is used for eliminating light rays with unnecessary angles so as to reduce interference among light signals and improve the precision and accuracy of the obtained light path fingerprints. Specifically, the matting member may be a mask or matting ink.
In the embodiment shown in fig. 8, the imaging assembly further comprises: an aperture stop located between the imaging optics and the image sensor. The aperture diaphragm can limit the angle of light received by the image sensor, so that the field of view is smaller, and the measurement accuracy of the light path fingerprint can be effectively improved. The combination of the long-focus single lens and the small aperture diaphragm can introduce less stray light as much 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, some embodiments of the present invention include a plurality of imaging components, and the plurality of imaging components are located at different positions in the market of the detection channel.
In the embodiment shown in fig. 10, the inspection system includes 3 imaging assemblies 410, each of the imaging assemblies 410 including: a telephoto einzel lens 411, a light extinction member 413, an aperture stop, and an image sensor 412. Compared with the detection system only comprising 1 imaging assembly, the detection speed of the detection system can be improved by about 3 times, 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 conclusion, through at least 1 fingerprint imaging operation, the light path fingerprint of the detection channel can be obtained to represent the light 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 rapidly and safely obtained, the stray light spot space angle distribution emitted by the laser radar and the intensity under the corresponding angle are obtained, and the method has an important role in 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 effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (17)
1. A lidar detection system, comprising:
the imaging operation module is suitable for carrying out fingerprint imaging operation on the detection channel for at least 1 time, and the fingerprint imaging operation is suitable for enabling the detection light beam emitted by the detection channel to be imaged through the imaging component;
a fingerprint extraction module adapted to obtain a light path fingerprint of the detection channel according to an imaging result of the at least 1 fingerprint imaging operation, the light path fingerprint being adapted to characterize light path characteristics of the detection beam.
2. The detection system of claim 1, wherein the optical path fingerprint comprises: the main light spot and the stray light spot formed by the detection light beam are distributed.
3. The inspection system of claim 1, wherein the imaging operation module comprises:
a mechanical unit, the mechanical unit comprising: a turntable to which at least the lidar is fixed;
a control unit adapted to determine a relative position of the lidar and the imaging assembly; said control unit is further adapted to cause said detection channel to emit a detection beam after determining said relative position;
an image unit adapted to obtain a fingerprint image based on the probe beam.
4. The detection system according to claim 3, wherein the fingerprint extraction module obtains a main light spot of the detection channel according to the fingerprint image; and the fingerprint extraction module judges 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 detection system of claim 3, wherein the control unit adjusts at least one of a pose of the lidar and a pose of the imaging assembly to determine a relative position of the lidar and the imaging assembly.
6. The detection system of claim 3, wherein the image unit receives the probe beam using an image sensor in the imaging assembly to obtain the fingerprint image.
7. The detection system of claim 3, wherein after the probe beam is directed to the reference object, the image sensor in the imaging assembly obtains an image of the directed reference object as the fingerprint image.
8. The detection system of claim 7, wherein the image unit determines a location of a main spot of the probe beam on the reference object and reduces a brightness of the location of the main spot after the probe beam is irradiated to the reference object; the image unit increases an exposure amount of the image sensor in a process in which the image sensor obtains an image of the reference object to be irradiated.
9. The detection system according to claim 8, wherein the image unit is provided with an absorbing structure or a transmitting structure at the position of the main spot to reduce the brightness at the position of the main spot.
10. The detection system of claim 1, further comprising: a range estimation module adapted to obtain a distribution range of the light path fingerprint of the detection channel;
the imaging operation module executes the at least 1-time fingerprint imaging operation to enable the imaging range of the imaging component to traverse the distribution range of the optical path fingerprint of the detection channel according to the distribution range of the optical path fingerprint of the detection channel and the imaging range of the imaging component.
11. The detection system of claim 1, wherein the imaging operation module performs a plurality of fingerprint imaging operations on the detection channel to obtain a plurality of fingerprint images;
and the fingerprint extraction module carries out image splicing on the plurality of fingerprint images so as to obtain the light path fingerprint of the detection channel.
12. The detection system of claim 1, wherein the lidar comprises: a plurality of detection channels;
the imaging operation module performs multiple fingerprint imaging operations on a plurality of detection channels to obtain a plurality of light path fingerprints, and the light path fingerprints correspond to the detection channels one to one;
and the fingerprint extraction module splices the light path fingerprints to obtain the light path fingerprints of all detection channels of the laser radar.
13. The detection system of claim 12, further comprising: and the optical-mechanical optimization module is suitable for carrying out structural characteristic optimization based on the light path fingerprints of all detection channels of the laser radar so as to eliminate or weaken stray light beams in the detection light beams.
14. The detection system according to claim 13, wherein the opto-mechanical optimization module determines whether stray light paths are consistent based on light path fingerprints of the plurality of detection channels that are spatially isolated, and performs structural feature optimization based on the determination result;
the optical machine optimization module fuses the light path fingerprints of the detection channels based on the light path fingerprints of the detection channels with the overlapped space parts, and performs structural feature optimization according to the fused light path fingerprints.
15. The inspection system of claim 1, 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.
16. The detection system of claim 15, wherein the imaging optics comprise: a tele einzel lens and a quenching element downstream of the tele einzel lens along the optical path of the probe beam.
17. The inspection system of claim 16, wherein the imaging assembly further comprises: an aperture stop located between the imaging optics and the image sensor.
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| CN116152283A (en) * | 2023-04-18 | 2023-05-23 | 天津宜科自动化股份有限公司 | Processing method for grouping exposure of multiple line laser sensors |
| CN116152283B (en) * | 2023-04-18 | 2023-07-28 | 天津宜科自动化股份有限公司 | Processing method for grouping exposure of multiple line laser sensors |
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