WO2018014305A1 - Multi-wave detection and imaging system - Google Patents

Multi-wave detection and imaging system Download PDF

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Publication number
WO2018014305A1
WO2018014305A1 PCT/CN2016/090906 CN2016090906W WO2018014305A1 WO 2018014305 A1 WO2018014305 A1 WO 2018014305A1 CN 2016090906 W CN2016090906 W CN 2016090906W WO 2018014305 A1 WO2018014305 A1 WO 2018014305A1
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WO
WIPO (PCT)
Prior art keywords
sub
sensor
imaging system
support
connection structure
Prior art date
Application number
PCT/CN2016/090906
Other languages
French (fr)
Chinese (zh)
Inventor
张科峰
Original Assignee
武汉芯泰科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 武汉芯泰科技有限公司 filed Critical 武汉芯泰科技有限公司
Priority to PCT/CN2016/090906 priority Critical patent/WO2018014305A1/en
Publication of WO2018014305A1 publication Critical patent/WO2018014305A1/en

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Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the present invention relates to the field of image detection technologies, and in particular, to a multi-wave detection and imaging system.
  • Unmanned driving relies on computer systems to sense the environment around the drone by equipping the vehicle or aircraft with intelligent software and a variety of sensing devices, including sensors, radar, GPS, and cameras, without human involvement. According to the path, position and obstacle information obtained by the perception, the reaction judgment is made, and the driving steering and the speed are controlled, so that the drone can safely and reliably complete the driving from the starting place to the destination.
  • the detection imaging function is the core of "unmanned driving", how to realize the actual recognition and imaging of the surrounding environment, how to improve the accuracy of real recognition and imaging is the research focus of ensuring safe and automatic driving of drones.
  • existing detection imaging devices usually use an infrared camera or a natural light camera for image detection, which can meet the needs of unmanned driving under good ambient light conditions.
  • the imaging effect of the existing detection imaging device is often unsatisfactory; and the existing detection imaging device has a limited image detection angle to the object to be measured (such as only the front or side), and cannot be obtained. Multi-faceted image data of the measured object.
  • existing detection imaging devices usually use an infrared camera or a natural light camera for image detection, which can meet the unmanned demand under the condition of good ambient light.
  • the imaging effect of the existing detection imaging device is often unsatisfactory; and the existing detection imaging device has a limited image detection angle to the object to be measured (such as only the front or side), and cannot be obtained. Multi-faceted image data of the measured object.
  • the present invention is directed to a technical problem in the prior art that the image detecting mode of the detecting imaging device is single, and the image detecting of the object to be measured cannot be performed in the case of natural light blur or obstacles.
  • the multi-wave detection and imaging system supports a variety of image detection modes, and the system structure is flexible and adjustable. It can detect images of moving objects under natural light blur or obstacles, and the image detection effect is good. Meet the needs of unmanned real environment identification and imaging.
  • the present invention provides a multi-wave detection and imaging system comprising:
  • first body and a second body symmetrically disposed about the support; the first body and the second body are rotatably connected to the support by a first connection structure and a second connection structure, respectively;
  • a first sensor component and a second sensor component respectively disposed on the first body and the second body and symmetrical with respect to the support; the first sensor component and the second sensor component Each includes a sensor for detecting a plurality of waveform signals;
  • the multi-wave detection and imaging system further includes: a controller coupled to the first sensor component, the second sensor component, the first body, and the second body, and the controller a signal processing unit connected to the first sensor component and the second sensor component;
  • the controller is configured to control rotation of the first body and the second body relative to the support according to a detection requirement to adjust an angle between the first body and the second body, Simultaneously controlling at least one of the first sensor component and the second sensor component to detect the detected object and obtain the probe data;
  • the signal processing unit is configured to process the probe data to obtain image data, and output the image data to a display device for display.
  • the first sensor component and the second sensor component each include at least: a photo sensor unit, an electromagnetic wave sensor unit, and an acoustic wave sensor unit.
  • the first body includes: a first sub-body, a second sub-body, and a third connection structure; [0015] the first sub-body passes through the first connection structure and the support Connecting, the second sub body is rotatably connected to the first sub body through the third connecting structure.
  • the second body includes: a third sub-body, a fourth sub-body, and a fourth connection structure; [0017] the third sub-body passes through the second connection structure and the support Connecting, the fourth sub-body passes The fourth connecting structure is rotatably coupled to the third sub-body.
  • the rotation direction of the second sub-body relative to the first sub-body is 0°-360°
  • the fourth sub-body passes the fourth connection.
  • the rotation range of the structure relative to the third sub-body is 0° to 360°.
  • the first body is rotated by 0° relative to the support by the first connecting structure.
  • the first body further includes: at least one fifth connection structure and at least one fifth sub-body
  • the at least one fifth sub-body is rotatably coupled to the first sub-body or the second sub-body by the at least one fifth connection structure.
  • the second body further includes: at least one sixth connection structure and at least one sixth sub-body
  • the at least one sixth sub-body is rotatably coupled to the third sub-body or the fourth sub-body by the at least one sixth connection structure.
  • the first sensor component and the second sensor component respectively comprise a plurality of microwave sensor units, and the plurality of microwave sensor units are respectively corresponding to a plurality of quarter-wavelength antennas.
  • a multi-wave detection and imaging system includes: a support; a first body and a second body symmetrically disposed about the support; the first body and the second body respectively pass a first connecting structure and a second connecting structure are rotatably connected to the support; a first sensor component and a second sensor respectively disposed on the first body and the second body and symmetric about the support
  • the first sensor component and the second sensor component each include a sensor for detecting a plurality of waveform signals
  • the multi-wave detection and imaging system further includes: a controller and a signal processing unit; Controlling the rotation of the first body and the second body relative to the support according to a detection requirement to adjust an angle between the first body and the second body, and simultaneously controlling the first sensor Component and said At least one sensor of the second sensor component operates to detect the detected object and obtain the probe data; the signal processing unit is configured to process the probe data to obtain image data, and the image data Output to the display device for display.
  • the multi-wave detection and imaging system supports a variety of image detection forms, and the system structure is flexible and adjustable, and can detect images of moving objects under natural light blur or obstacles, and images
  • the detection effect is good, and it can meet the needs of unmanned real environment identification and imaging.
  • the technical problem that the image detecting mode of the detecting imaging device in the prior art is single and the image detecting of the measured object cannot be performed in the harsh situation that the natural light is blurred or the obstacle is present is effectively solved.
  • FIG. 1A is a schematic structural diagram of a first multi-wave detection and imaging system according to an embodiment of the present invention
  • FIG. 1B is a schematic structural diagram of a second multi-wave detection and imaging system according to an embodiment of the present invention.
  • FIG. 1C is a top plan view of the multi-wave detection and imaging system of FIG. 1A; [0030] FIG.
  • FIG. 2A is a first positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0031] FIG.
  • FIG. 2B is a second positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0032] FIG.
  • FIG. 2C is a third positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0033] FIG.
  • FIG. 2D is a fourth positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0034] FIG.
  • FIG. 2E is a fifth positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0035] FIG.
  • 2F is a first body and a second body of the multi-wave detection and imaging system shown in FIG. 1A with respect to a support A schematic diagram of a position;
  • 2G is a schematic diagram of a height measurement of a measured object by a multi-wave detection and imaging system according to an embodiment of the present invention
  • 3A is a schematic structural diagram of a third multi-wave detection and imaging system according to an embodiment of the present invention.
  • FIG. 3B is a top plan view of the multi-wave detection and imaging system illustrated in FIG. 3A; [0039] FIG.
  • FIG. 4 is a schematic diagram of multi-angle detection of the multi-wave detection and imaging system shown in FIG. 3A; [0040] FIG.
  • FIG. 5 is a schematic structural diagram of a fourth multi-wave detection and imaging system according to an embodiment of the present invention.
  • the embodiment of the present invention solves the problem that the image detecting mode of the detecting imaging device is single in the prior art by providing a multi-wave detecting and imaging system, and cannot be in a bad situation where natural light is blurred or obstacles exist.
  • the technical problem of image detection of the object to be tested, which supports multiple image detection forms, and the system structure is flexible and adjustable, and can perform image detection on the moving object under natural light blur or obstacles, and image detection Good results, able to meet the needs of unmanned real environment identification and imaging.
  • Embodiments of the present invention provide a multi-wave detection and imaging system, including: a support; a first body and a second body symmetrically disposed about the support; the first body and the second body Rotatingly connected to the support by a first connecting structure and a second connecting structure respectively; first sensor components and first symmetrically disposed on the first body and the second body and symmetric about the support a second sensor assembly; the first sensor assembly and the second sensor assembly each include a sensor for detecting a plurality of waveform signals; the multi-wave detection and imaging system further comprising: the first sensor assembly, the a second sensor assembly, a controller coupled to the first body and the second body, a signal processing unit coupled to the controller, the first sensor component, and the second sensor component; the controller is configured to Detecting a requirement, controlling rotation of the first body and the second body relative to the support to adjust an angle between the first body and the second body, At least one of the first sensor component and the second sensor component is configured to detect the detected object and obtain the probe data; the
  • the first body and the second body are rotatably connected with the support, and the first body and the second body are disposed with a sensor component (including a plurality of waveform signals for detecting multiple waveform signals). Sensor).
  • the controller controls the first body and the second body to rotate relative to the support according to the detection requirement, so as to adjust an angle between the first body and the second body. Simultaneously controlling at least one of the sensor components to perform image detection on the object to be measured, and obtaining the probe data, so that the signal processing unit processes the probe data to obtain image data, and the image data Output to the display device for display.
  • the multi-wave detection and imaging system of the solution supports multiple waveform image detection forms, and the system structure is flexible and adjustable, and can perform image detection on the moving object under natural light blur or obstacles, and the image detection effect is obtained. Good, able to meet the needs of unmanned real environment identification and imaging.
  • the technical problem that the image detecting mode of the detecting imaging device in the prior art is single and can not detect the moving object under the unfavorable situation of natural light blur or obstruction is effectively solved.
  • an embodiment of the present invention provides a multi-wave detection and imaging system, which can be applied to other fields that require image detection, such as on-vehicle photography, and the multi-wave detection and imaging system includes:
  • the first body 11 and the second body 12 are symmetrically disposed about the support 10; the first body 11 and the second body 12 are rotatably connected to the support 10 through the first connection structure 13 and the second connection structure 14, respectively; Wherein, the first connecting structure 13, the second connecting structure 14, and the connecting structure referred to in the present solution may adopt a hinge;
  • a first sensor component 110 and a second sensor component 120 respectively disposed on the first body 11 and the second body 12 and symmetric about the support 10; the first sensor component 110 and the second sensor component 120 are both included a sensor for detecting a plurality of waveform signals ( SenSO r_l ⁇ SenSO r_N);
  • the multi-wave detection and imaging system further includes: a controller 15 connected to the first sensor component 110, the second sensor component 120, the first body 11 and the second body 12, and the controller 15, the first sensor a signal processing unit 16 connected to the component 110 and the second sensor component 120;
  • the controller 15 is configured to control the rotation of the first body 11 and the second body 12 relative to the support 10 according to the detection requirement to adjust the angle between the first body 11 and the second body 12, and simultaneously control the first At least one of the sensor component 110 and the second sensor component 120 operates to detect the measured object and obtain the detected data;
  • the signal processing unit 16 is configured to process the probe data to obtain image data, and output the image data to a display device for display.
  • the first sensor component 110 and the second sensor component 120 each include at least: an array of light sensor units (light-sensors), Electromagnetic wave sensor unit (electromagnetic_wave_sensor) and acoustic wave sensor unit (acou stic_wave_sensor).
  • the photosensor unit includes a natural light sensor unit and an infrared sensor unit
  • the electromagnetic wave sensor unit includes a microwave sensor unit
  • the acoustic wave sensor unit includes an ultrasonic sensor unit.
  • the main component of the natural light sensor unit is a natural light sensor for receiving natural light reflected by the object to be measured, and photoelectrically converting the same, to obtain an electrical signal, and further transmitting the electrical signal to the signal processing unit. 16 for processing.
  • the natural light sensor unit is used to operate with good natural light during the day.
  • the main component of the infrared sensor unit is an infrared sensor that detects infrared radiation by utilizing the physical effects exhibited by the interaction of infrared radiation and matter, and in most cases utilizes the electrical effects exhibited by such interaction.
  • Such sensors can be divided into two types of photon sensors and heat sensitive sensors for receiving infrared rays emitted or emitted by the object under test and converting them into signals that the signal processing unit 16 can recognize, so that the signal processing unit 16 is based on the signals. Signal, calculate the distance of the measured object, or convert the signal into infrared thermal image data.
  • the infrared sensor unit can be used for both ranging and imaging.
  • the infrared sensor unit has a pair of infrared signal transmitting and receiving diodes, the transmitting tube emits an infrared signal of a specific frequency, and the receiving tube receives the infrared signal of the frequency, when the infrared detecting Square
  • the infrared signal is reflected back and received by the receiving tube, and the detection of the distance of the obstacle is performed according to the principle that the intensity of the reflection is different depending on the distance of the obstacle.
  • the infrared sensor unit When the infrared sensor unit is used for imaging ⁇ , the infrared sensor unit further includes an optical system; the optical system is configured to receive infrared rays emitted by the object to be measured and focus on the infrared sensor, and the infrared sensor senses the transmitted optical system Infrared, and send the signal to the signal processing unit 16; the signal processing unit 16 converts the signal from the infrared sensor into an infrared thermal image and transmits it to the display device for infrared thermal image display.
  • the optical system is configured to receive infrared rays emitted by the object to be measured and focus on the infrared sensor, and the infrared sensor senses the transmitted optical system Infrared, and send the signal to the signal processing unit 16; the signal processing unit 16 converts the signal from the infrared sensor into an infrared thermal image and transmits it to the display device for infrared thermal image display.
  • the infrared sensor unit has a common infrared sensor unit and a dot matrix infrared sensor unit.
  • the dot matrix infrared sensor unit is better than the ordinary one, the illumination distance is long, the picture quality is fine and clear, and the service life is longer than the ordinary infrared. The user can select the appropriate infrared sensor unit type according to the actual use needs.
  • the main component of the microwave sensor unit is a microwave sensor.
  • the working process is specifically as follows: The microwave is emitted by the transmitting antenna, and when the emitted microwave encounters the object to be measured, it will be absorbed or reflected, so that the power changes; if the receiving antenna is used, the receiving object passes through the measured object or is reflected by the measured object.
  • the microwave detection process is realized by converting the microwave into an electrical signal and measuring and indicating by the measurement circuit.
  • the microwave detecting sensor can be divided into two types: reflective type and occlusion type: 1) Reflective sensor, which expresses the position and thickness of the measured object by detecting the microwave power reflected by the measured object or the inter-turn interval. 2) The occlusion sensor determines the position and water content of the object to be measured between the transmitting antenna and the receiving antenna by detecting the magnitude of the microwave power received by the receiving antenna.
  • the first sensor component 110 and the second sensor component 120 respectively comprise a plurality of microwave sensor units, and the plurality of microwave sensor units correspond to a plurality of quarter-wavelength antennas.
  • the microwave sensor unit that controls the antennas with different quarter wavelengths can be selected according to the distance of the measured object from the system, so that the measured object can be tracked and detected under the optimal gain of the microwave sensor antenna.
  • the microwave sensor scheme is suitable for the case where the object to be measured moves quickly.
  • the main component of the ultrasonic sensor unit is an ultrasonic sensor for emitting ultrasonic waves and detecting the emitted ultrasonic waves, and calculating the distance of the object according to the speed of sound.
  • the first sensor component 110 or the second sensor 120 is disposed on both the front and back sides of the first body 11 and the second body 12, and the first body 11 and the second body 12, and the first On a body 11 Both the sensor assembly and the sensor assembly on the second body 12 are symmetrical about the support 10. Further, referring to FIG. 1C, two mutually perpendicular reference lines L1, L2 are formed with the center point 0 of the section of the support 10 as a center point, and the first body 11 is located on the left side of the line L2 and can pass the first connection structure.
  • the rotation range of 13 relative to the support 10 is 0° ⁇ 180° (as indicated by the angle arrow a); likewise, the rotation range of the second body 12 relative to the support 10 by the second connecting structure 14 is also It is 0° ⁇ 180°.
  • the second body 12 may be in a direction perpendicular to the reference line L1 (as shown in FIG. 2A and FIG. 2E). ), a direction with a certain acute angle from the reference line L1 (as shown in FIG. 2B, FIG. 2D), and the same direction as the reference line L1 (as shown in FIG. 2C), the sensor on the second body 12 emits a detection wave Wt, and The detection wave Wr after the detection wave Wt is reflected by the X to be measured, the transmission and reception inter-turn difference of the detection waves Wt, Wr, or the power between the two are calculated to determine the distance X of the object to be measured. Distance, direction relative to the sensor, material composition, etc.
  • the second when the detection wave Wt is emitted by the sensor on the first body 11 and cannot be received by the sensor on the first body 11, the second can be adjusted.
  • the angle of the body 1 2 relative to the first body 11 is such that the sensor on the second body 12 can receive the detection wave Wr after the detection wave Wt is reflected by the object X to be measured.
  • the detection waves Wti ⁇ Wtj may also be transmitted to the object X by the plurality of sensors on the first body 11 and/or the second body 12 in a one-to-one correspondence.
  • the peer receives the detection waves Wri ⁇ Wrj after the detection waves Wti ⁇ Wtj are reflected by the measured object X by one-to-one correspondence of the plurality of sensors; further, based on the set position information of the plurality of sensors transmitting the detection waves Wti ⁇ Wtj, and The detection signal Wti ⁇ Wtj, the transmission and reception inter-turn difference of the detection wave Wri ⁇ Wrj, and the power between the two are calculated, and the height of the object X to be measured is calculated.
  • 2G shows only one way of measuring the height of the X of the object to be measured.
  • the first body 11 and the second body can be flexibly set according to the orientation of the object X relative to the multi-wave detection and imaging system.
  • the angle of 12 measures the height of the object being measured.
  • the first body 11 includes: a first sub-body 111, a second sub-body 112, and a third connection structure 113.
  • the first sub-body 111 passes The first connecting structure 13 is connected to the support 10, and the second sub-body 112 is rotatable by the third connecting structure 113 and the first sub-body 111. Connected.
  • the second body 12 includes: a third sub-body 121, a fourth sub-body 122, and a fourth connection structure 123.
  • the third sub-body 121 passes through the second connection structure 14 and the support 10.
  • the fourth sub-body 122 is rotatably connected to the third sub-body 121 through the fourth connecting structure 123.
  • the sensor unit is disposed on both the front and back sides of the first sub-body 111, the second sub-body 112, the third sub-body 121, and the fourth sub-body 122.
  • the sensor unit type includes at least one of a photo sensor unit, an electromagnetic wave sensor unit, and an acoustic wave sensor unit.
  • 3A disposed on the first sub body 111 and the third sub-body 121 with a sensor sensor_l ⁇ sensor_M, provided with a sensor sen S or_M + l ⁇ S ensor_N on the second sub-body 112 and the fourth sub-body 122, wherein , M and N represent the number of sensors, and N is greater than M.
  • the second sub-body 112 has a rotation range of 0° to 360° with respect to the first sub-body 111 through the third connection structure 113 (as indicated by the curved arrow bl)
  • the third sub-body 121 can be rotated by the second connecting structure 14 relative to the support 10 by a range of 0° to 180° (as indicated by a curved arrow a2)
  • the fourth sub-body 122 can be The rotation range of the fourth connecting structure 123 relative to the third sub-body 121 is 0° to 360° (as indicated by the curved arrow b2)
  • the first sub-body 111, the second sub-body 112, the third sub-body 121, and the fourth sub-body 122 can be arbitrarily changed in angle.
  • the upper sensor emits a probe wave and receives the reflected probe wave through a sensor on the other sub-body. Specifically, as shown in FIG.
  • the probe wave Wtl emitted by the sensor on the second sub-body 112 is received by the sensor on the first sub-body 111 by the probe wave Wrl reflected by the object Y1; the first sub-body 111
  • the detection wave Wt2 emitted by the sensor, the detection wave Wr2 reflected by the object Y2 is received by the sensor on the third sub-body 121; the detection wave Wt3 emitted by the sensor on the third sub-body 121 is reflected by the object Y3
  • the probe wave Wr3 is received by a sensor on the fourth sub-body 122. If the three objects J1, ⁇ 2, and ⁇ 3 in Fig.
  • FIG. 4 are regarded as three different faces of the same object to be measured, it can be seen that: through the system structure shown in Fig. 3 A different surface of a measured object is detected to obtain a stereoscopic image of the object to be measured (ie, the shape of the object to be measured), thereby obtaining a more accurate detection image effect.
  • the first body 11 further includes: at least one fifth connection structure 114 and at least one fifth sub-body 115; at least one The five sub-body 115 is rotatably coupled to the first sub-body 111 or the second sub-body 112 via at least one fifth connection structure 114.
  • the second body 12 further includes: at least one sixth connecting structure 124 and at least one sixth sub-body 125; at least one sixth sub-body 125 is coupled to the at least one sixth connecting structure 124
  • the third sub-body 121 or the fourth sub-body 122 is rotatably connected.
  • the fifth connection structure 114, the fifth sub-body 115, the sixth connection structure 124, and the sixth sub-body 125 are respectively two.
  • the rotation direction of the first sub-body 111 relative to the support 10 through the first connection structure 13 is 0° ⁇ 180°, and the rotation direction is referred to the al direction in FIG. 3B or the reverse direction of the al direction; the second sub-body 112
  • the rotation range of the third connecting structure 113 relative to the first sub-body 111 is 0° ⁇ 360°, and the rotation direction is referred to the bl direction in FIG.
  • a fifth sub-body 11 5 passes A fifth connecting structure 114 is rotatably connected to the first sub-body 111, and the rotation range is from 0° to 360°, specifically from the page to the outside of the page or from the outside of the page to the page, and the first sub-body 111 is folded and rotated; A fifth sub-body 115 is rotatably connected to the previous fifth sub-body 115 through another fifth connecting structure 114, and the rotation range is 0° to 360°, and the rotation direction is referred to as the bl direction or the bl direction in FIG. 3B.
  • the other fifth sub-body 115 is rotatably connected to the second sub-body 112 through another fifth connecting structure 114, and the rotation range is 0° ⁇ 360°, specifically from the page to the page or from the page. Outgoing page, the body 112 is rotated in the second sub-fold.
  • the third sub-body 121 has a rotation range of 0° to 180° with respect to the support 10 through the second connection structure 14, and the rotation direction refers to the a2 direction in FIG. 3B, and may also be the reverse direction of the a2 direction;
  • the rotation range of the sub-body 122 relative to the third sub-body 121 through the fourth connection structure 123 is 0° ⁇
  • the direction of rotation refers to the b2 direction in FIG. 3B, and may also be the reverse direction of the b2 direction; a sixth sub-body 125 is rotatably connected to the fourth sub-body 122 through a sixth connecting structure 124, and the rotation range is 0°. ⁇ 360°, specifically from the page to the outside of the page or from the outside of the page to the page, to the fourth sub-body 122
  • the other sixth sub-body 125 is rotatably connected to the previous sixth sub-body 125 through another sixth connecting structure 124, and the rotation range is 0° to 360°, and the rotation direction is referred to the b2 direction in FIG. 3B.
  • the other is the reverse direction of the b2 direction; the other sixth sub-body 125 is rotatably connected to the third sub-body 1 21 by another sixth connecting structure 124, and the rotation range is 0° ⁇ 360°, and the rotation range is 0° ⁇ 360. °, specifically from the page to the outside of the page or from the outside of the page to the page, to the third sub-body 121 folding rotation.
  • the first sub-body 111, the second sub-body 112, the third sub-body 121, the fourth sub-body 122, the at least one fifth sub-body 115, and the at least one sixth sub-body 125 have other connection manners. In the actual operation process, it may be determined according to specific conditions, and is not specifically limited herein.
  • the first sub-body 111, the second sub-body 112, and the two fifth sub- bodies 115 are respectively provided with different types of sensor units sensor_A, sensor_B, sensor_C, and sensor_D.
  • the sensor unit type is selected from the group consisting of a light sensor unit, an electromagnetic wave sensor unit, and an acoustic wave sensor unit).
  • different types of sensors are also disposed on the second sub-body 121, the third sub-body 122, and the two sixth sub- bodies 125, respectively.
  • Unit sensor_A, sensor_B, sensor_C, sensor_D
  • the first sub-body 111, the second sub-body 112, the third sub-body 121, the fourth sub-body 122, the at least one fifth sub-body 115, and at least one The sub-subjects of the six sub-body 125 are omnidirectional and multi-angle detected on the object to be measured with respect to the orientation and angle of the object to be measured.
  • the multi-wave detection and imaging system in the embodiment of the present application has at least the following technical effects:
  • the multi-wave detection and imaging system of the solution the sensor unit comprises a light sensor unit, an electromagnetic wave sensor unit and an acoustic wave sensor unit, etc., which supports multiple waveform detection and imaging, the system structure is flexible and adjustable, and can be blurred in natural light. Or the image detection of the moving object under the harsh situation of obstruction, obtaining the direction data, distance data, height data, material composition data and shape data of the object to be measured, the image detection effect is good, and can satisfy the driverless Real environmental identification and imaging needs.
  • the multi-wave detection and imaging system of the present scheme adopts an infrared sensor unit, which can be used for ranging, and can be used for image detection at night or in the case of dim light.
  • the infrared sensor is in the form of a dot matrix, the detection sensitivity is higher.
  • the multi-wave detection and imaging system of the present scheme uses a microwave sensor of a plurality of quarter-wave antennas, According to the distance of the measured object from the system, the microwave sensor unit with different quarter-wavelength antennas is selected to work, so that the measured object can be tracked and detected under the optimal gain of the microwave sensor antenna, which can be applied.
  • the measurement object moves quickly, the resolution is higher, and the imaging effect is better.
  • the multi-wave detection and imaging system of the present scheme a plurality of bodies for setting the sensor unit are provided, and the bodies are connected by a rotatable connection structure, which can change different measurement angles and realize different from The angle is used to detect the same object to detect its stereo image.
  • the multi-wave detection and imaging system of the solution has a symmetrical structure, which is beneficial to reducing the computational complexity of the signal processing unit.

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Abstract

A multi-wave detection and imaging system, comprising: a support (10), and a first body (11) and a second body (12) connected to the support (10) in a rotatable manner; and a first sensor assembly (110) and a second sensor assembly (120) respectively arranged on the first body (11) and the second body (12), and both comprising a sensor for detecting various wave signals. The system further comprises: a controller (15) and a signal processing unit (16), wherein the controller (15) is used for controlling the adjustment of an angle between the first body (11) and the second body (12) according to detection requirements, and at the same time, controlling the operation of at least one sensor, so as to detect a detected object and obtain detection data; and the signal processing unit (16) is used for processing the detection data, so as to obtain image data. The system supports a plurality of image detection forms, and has a flexibly adjustable structure.

Description

一种多波探测与成像系统  Multi-wave detection and imaging system
技术领域  Technical field
[0001] 本发明涉及图像探测技术领域， 尤其涉及一种多波探测与成像系统。  [0001] The present invention relates to the field of image detection technologies, and in particular, to a multi-wave detection and imaging system.
背景技术  Background technique
[0002] 随着科技的进步， 现代交通运输、 物流、 军事等领域的交通工具 （如车辆、 飞 机等无人机） ， 均趋向于由人为驾驶转变为机器自动驾驶， 亦称"无人驾驶"。 无 人驾驶就是在没有人类参与的情况下， 依靠计算机系统， 通过给车辆或飞机等 交通工具装备智能软件和多种感应设备， 包括传感器、 雷达、 GPS以及摄像头 等， 来感知无人机周围环境， 并根据感知所获得的路径、 位置和障碍物信息， 随即作出反应判断， 控制行驶转向和速度， 从而使无人机能够安全、 可靠地完 成从起始地到目的地的行驶。  [0002] With the advancement of technology, modern transportation, logistics, military and other fields of transportation (such as vehicles, aircraft and other unmanned aerial vehicles) tend to be converted from human to automatic driving, also known as "unmanned driving." ". Unmanned driving relies on computer systems to sense the environment around the drone by equipping the vehicle or aircraft with intelligent software and a variety of sensing devices, including sensors, radar, GPS, and cameras, without human involvement. According to the path, position and obstacle information obtained by the perception, the reaction judgment is made, and the driving steering and the speed are controlled, so that the drone can safely and reliably complete the driving from the starting place to the destination.
[0003] 其中， 探测成像功能是"无人驾驶"的核心， 如何对周围环境进行实吋识别和成 像， 进一步如何提高实吋识别和成像的精度是保证无人机安全自动驾驶的研究 重点。 目前， 现有探测成像装置通常采用红外摄像头或自然光摄像头进行图像 探测， 其能在环境光线良好的条件下满足无人驾驶需求。 但是， 在雨天或雾天 吋， 现有的探测成像装置的摄像效果往往不尽人意； 并且现有的探测成像装置 对被测对象的图像探测角度有限 （如仅仅是正面或侧面） ， 无法获得被测对象 的多方位的图像数据。  [0003] Among them, the detection imaging function is the core of "unmanned driving", how to realize the actual recognition and imaging of the surrounding environment, how to improve the accuracy of real recognition and imaging is the research focus of ensuring safe and automatic driving of drones. At present, existing detection imaging devices usually use an infrared camera or a natural light camera for image detection, which can meet the needs of unmanned driving under good ambient light conditions. However, in rainy or foggy days, the imaging effect of the existing detection imaging device is often unsatisfactory; and the existing detection imaging device has a limited image detection angle to the object to be measured (such as only the front or side), and cannot be obtained. Multi-faceted image data of the measured object.
技术问题  technical problem
[0004] 目前， 现有探测成像装置通常采用红外摄像头或自然光摄像头进行图像探测， 其能在环境光线良好的条件下满足无人驾驶需求。 但是， 在雨天或雾天吋， 现 有的探测成像装置的摄像效果往往不尽人意； 并且现有的探测成像装置对被测 对象的图像探测角度有限 （如仅仅是正面或侧面） ， 无法获得被测对象的多方 位的图像数据。  [0004] At present, existing detection imaging devices usually use an infrared camera or a natural light camera for image detection, which can meet the unmanned demand under the condition of good ambient light. However, in rainy or foggy days, the imaging effect of the existing detection imaging device is often unsatisfactory; and the existing detection imaging device has a limited image detection angle to the object to be measured (such as only the front or side), and cannot be obtained. Multi-faceted image data of the measured object.
问题的解决方案  Problem solution
技术解决方案 [0005] 本发明针对现有技术中存在的， 探测成像装置的图像探测方式单一， 无法在自 然光线模糊或存在阻碍物的恶劣情境下对被测对象进行图像探测的技术问题， 提供了一种多波探测与成像系统， 支持多种图像探测形式， 且系统结构灵活可 调， 能够在自然光线模糊或存在阻碍物的恶劣情境下对移动被测对象进行图像 探测， 且图像探测效果良好， 能够满足无人驾驶的实吋环境识别和成像需求。 Technical solution [0005] The present invention is directed to a technical problem in the prior art that the image detecting mode of the detecting imaging device is single, and the image detecting of the object to be measured cannot be performed in the case of natural light blur or obstacles. The multi-wave detection and imaging system supports a variety of image detection modes, and the system structure is flexible and adjustable. It can detect images of moving objects under natural light blur or obstacles, and the image detection effect is good. Meet the needs of unmanned real environment identification and imaging.
[0006] 本发明提供了一种多波探测与成像系统， 包括：  The present invention provides a multi-wave detection and imaging system comprising:
[0007] 支座；  [0007] support;
[0008] 关于所述支座对称设置的第一本体和第二本体； 所述第一本体和所述第二本体 分别通过第一连接结构和第二连接结构与所述支座可转动连接；  [0008] a first body and a second body symmetrically disposed about the support; the first body and the second body are rotatably connected to the support by a first connection structure and a second connection structure, respectively;
[0009] 分别设置在所述第一本体和所述第二本体上、 且关于所述支座对称的第一传感 器组件和第二传感器组件； 所述第一传感器组件和所述第二传感器组件均包括 用于探测多种波形信号的传感器；  [0009] a first sensor component and a second sensor component respectively disposed on the first body and the second body and symmetrical with respect to the support; the first sensor component and the second sensor component Each includes a sensor for detecting a plurality of waveform signals;
[0010] 所述多波探测与成像系统还包括： 与所述第一传感器组件、 所述第二传感器组 件、 所述第一本体和所述第二本体连接的控制器， 与所述控制器、 所述第一传 感器组件和第二传感器组件连接的信号处理单元；  [0010] The multi-wave detection and imaging system further includes: a controller coupled to the first sensor component, the second sensor component, the first body, and the second body, and the controller a signal processing unit connected to the first sensor component and the second sensor component;
[0011] 所述控制器用于根据探测需求， 控制所述第一本体和所述第二本体相对于所述 支座转动， 以调整所述第一本体与所述第二本体之间的角度， 同吋控制所述第 一传感器组件和所述第二传感器组件中的至少一传感器工作， 以对被测对象进 行探测， 并获得探测数据；  [0011] the controller is configured to control rotation of the first body and the second body relative to the support according to a detection requirement to adjust an angle between the first body and the second body, Simultaneously controlling at least one of the first sensor component and the second sensor component to detect the detected object and obtain the probe data;
[0012] 所述信号处理单元用于对所述探测数据进行处理， 以获得图像数据， 并将所述 图像数据输出至显示装置进行显示。  [0012] The signal processing unit is configured to process the probe data to obtain image data, and output the image data to a display device for display.
[0013] 可选的， 所述第一传感器组件和所述第二传感器组件均至少包括： 光传感器单 元、 电磁波传感器单元和声波传感器单元。  [0013] Optionally, the first sensor component and the second sensor component each include at least: a photo sensor unit, an electromagnetic wave sensor unit, and an acoustic wave sensor unit.
[0014] 可选的， 所述第一本体包括： 第一子本体、 第二子本体和第三连接结构； [0015] 所述第一子本体通过所述第一连接结构与所述支座连接， 所述第二子本体通过 所述第三连接结构与所述第一子本体可转动连接。 [0014] Optionally, the first body includes: a first sub-body, a second sub-body, and a third connection structure; [0015] the first sub-body passes through the first connection structure and the support Connecting, the second sub body is rotatably connected to the first sub body through the third connecting structure.
[0016] 可选的， 所述第二本体包括： 第三子本体、 第四子本体和第四连接结构； [0017] 所述第三子本体通过所述第二连接结构与所述支座连接， 所述第四子本体通过 所述第四连接结构与所述第三子本体可转动连接。 [0016] Optionally, the second body includes: a third sub-body, a fourth sub-body, and a fourth connection structure; [0017] the third sub-body passes through the second connection structure and the support Connecting, the fourth sub-body passes The fourth connecting structure is rotatably coupled to the third sub-body.
[0018] 可选的， 所述第二子本体通过所述第三连接结构相对于所述第一子本体的转动 范围为 0°~ 360°， 所述第四子本体通过所述第四连接结构相对于所述第三子本体 的转动范围为 0°~ 360°。  [0018] Optionally, the rotation direction of the second sub-body relative to the first sub-body is 0°-360°, and the fourth sub-body passes the fourth connection. The rotation range of the structure relative to the third sub-body is 0° to 360°.
[0019] 可选的， 所述第一本体通过所述第一连接结构相对于所述支座的转动范围为 0°[0019] Optionally, the first body is rotated by 0° relative to the support by the first connecting structure.
~ 180°， 所述第二本体通过所述第二连接结构相对于所述支座的转动范围为 0°~~ 180°, the rotation range of the second body relative to the support by the second connection structure is 0°~
180。。 180. .
[0020] 可选的， 所述第一本体还包括： 至少一个第五连接结构和至少一个第五子本体  [0020] Optionally, the first body further includes: at least one fifth connection structure and at least one fifth sub-body
[0021] 所述至少一个第五子本体通过所述至少一个第五连接结构与所述第一子本体或 所述第二子本体可转动连接。 [0021] The at least one fifth sub-body is rotatably coupled to the first sub-body or the second sub-body by the at least one fifth connection structure.
[0022] 可选的， 所述第二本体还包括： 至少一个第六连接结构和至少一个第六子本体 [0022] Optionally, the second body further includes: at least one sixth connection structure and at least one sixth sub-body
[0023] 所述至少一个第六子本体通过所述至少一个第六连接结构与所述第三子本体或 所述第四子本体可转动连接。 [0023] the at least one sixth sub-body is rotatably coupled to the third sub-body or the fourth sub-body by the at least one sixth connection structure.
[0024] 可选的， 所述第一传感器组件和所述第二传感器组件分别包括多种微波传感器 单元， 且所述多种微波传感器单元一一对应包括多种四分之一波长的天线。 发明的有益效果 [0024] Optionally, the first sensor component and the second sensor component respectively comprise a plurality of microwave sensor units, and the plurality of microwave sensor units are respectively corresponding to a plurality of quarter-wavelength antennas. Advantageous effects of the invention
有益效果  Beneficial effect
[0025] 本发明中提供的一个或多个技术方案， 至少具有如下技术效果或优点：  [0025] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:
[0026] 由于在本发明中， 多波探测与成像系统， 包括： 支座； 关于所述支座对称设置 的第一本体和第二本体； 所述第一本体和所述第二本体分别通过第一连接结构 和第二连接结构与所述支座可转动连接； 分别设置在所述第一本体和所述第二 本体上、 且关于所述支座对称的第一传感器组件和第二传感器组件； 所述第一 传感器组件和所述第二传感器组件均包括用于探测多种波形信号的传感器； 所 述多波探测与成像系统还包括： 控制器和信号处理单元； 所述控制器用于根据 探测需求， 控制所述第一本体和所述第二本体相对于所述支座转动， 以调整所 述第一本体与所述第二本体之间的角度， 同吋控制所述第一传感器组件和所述 第二传感器组件中的至少一传感器工作， 以对被测对象进行探测， 并获得探测 数据； 所述信号处理单元用于对所述探测数据进行处理， 以获得图像数据， 并 将所述图像数据输出至显示装置进行显示。 也就是说， 本多波探测与成像系统 ， 支持多种图像探测形式， 且系统结构灵活可调， 能够在自然光线模糊或存在 阻碍物的恶劣情境下对移动被测对象进行图像探测， 且图像探测效果良好， 能 够满足无人驾驶的实吋环境识别和成像需求。 有效地解决了现有技术中探测成 像装置的图像探测方式单一， 无法在自然光线模糊或存在阻碍物的恶劣情境下 对被测对象进行图像探测的技术问题。 [0026] In the present invention, a multi-wave detection and imaging system includes: a support; a first body and a second body symmetrically disposed about the support; the first body and the second body respectively pass a first connecting structure and a second connecting structure are rotatably connected to the support; a first sensor component and a second sensor respectively disposed on the first body and the second body and symmetric about the support The first sensor component and the second sensor component each include a sensor for detecting a plurality of waveform signals; the multi-wave detection and imaging system further includes: a controller and a signal processing unit; Controlling the rotation of the first body and the second body relative to the support according to a detection requirement to adjust an angle between the first body and the second body, and simultaneously controlling the first sensor Component and said At least one sensor of the second sensor component operates to detect the detected object and obtain the probe data; the signal processing unit is configured to process the probe data to obtain image data, and the image data Output to the display device for display. That is to say, the multi-wave detection and imaging system supports a variety of image detection forms, and the system structure is flexible and adjustable, and can detect images of moving objects under natural light blur or obstacles, and images The detection effect is good, and it can meet the needs of unmanned real environment identification and imaging. The technical problem that the image detecting mode of the detecting imaging device in the prior art is single and the image detecting of the measured object cannot be performed in the harsh situation that the natural light is blurred or the obstacle is present is effectively solved.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0027] 为了更清楚地说明本发明实施例或现有技术中的技术方案， 下面将对实施例或 现有技术描述中所需要使用的附图作简单地介绍， 显而易见地， 下面描述中的 附图仅仅是本发明的实施例， 对于本领域普通技术人员来讲， 在不付出创造性 劳动的前提下， 还可以根据提供的附图获得其它的附图。  [0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are merely examples of the invention, and those skilled in the art can obtain other drawings based on the drawings provided without any inventive effort.
[0028] 图 1A为本发明实施例提供的第一种多波探测与成像系统结构示意图；  1A is a schematic structural diagram of a first multi-wave detection and imaging system according to an embodiment of the present invention;
[0029] 图 1B为本发明实施例提供的第二种多波探测与成像系统结构示意图；  1B is a schematic structural diagram of a second multi-wave detection and imaging system according to an embodiment of the present invention;
[0030] 图 1C为图 1A所示的多波探测与成像系统的俯视图；  1C is a top plan view of the multi-wave detection and imaging system of FIG. 1A; [0030] FIG.
[0031] 图 2A为图 1A所示的多波探测与成像系统的第二本体相对于支座的第一位置示 意图；  2A is a first positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0031] FIG.
[0032] 图 2B为图 1A所示的多波探测与成像系统的第二本体相对于支座的第二位置示 意图；  2B is a second positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0032] FIG.
[0033] 图 2C为图 1A所示的多波探测与成像系统的第二本体相对于支座的第三位置示 意图；  2C is a third positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0033] FIG.
[0034] 图 2D为图 1A所示的多波探测与成像系统的第二本体相对于支座的第四位置示 意图；  2D is a fourth positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0034] FIG.
[0035] 图 2E为图 1A所示的多波探测与成像系统的第二本体相对于支座的第五位置示 意图；  2E is a fifth positional view of the second body of the multi-wave detection and imaging system of FIG. 1A with respect to the support; [0035] FIG.
[0036] 图 2F为图 1A所示的多波探测与成像系统的第一本体和第二本体相对于支座的 一种位置示意图； 2F is a first body and a second body of the multi-wave detection and imaging system shown in FIG. 1A with respect to a support A schematic diagram of a position;
[0037] 图 2G为本发明实施例提供的一种多波探测与成像系统对被测对象进行高度测量 的示意图；  2G is a schematic diagram of a height measurement of a measured object by a multi-wave detection and imaging system according to an embodiment of the present invention;
[0038] 图 3A为本发明实施例提供的第三种多波探测与成像系统结构示意图；  3A is a schematic structural diagram of a third multi-wave detection and imaging system according to an embodiment of the present invention;
[0039] 图 3B为图 3A所示的多波探测与成像系统的俯视图； 3B is a top plan view of the multi-wave detection and imaging system illustrated in FIG. 3A; [0039] FIG.
[0040] 图 4为图 3A所示的多波探测与成像系统的多角度探测示意图； 4 is a schematic diagram of multi-angle detection of the multi-wave detection and imaging system shown in FIG. 3A; [0040] FIG.
[0041] 图 5为本发明实施例提供的第四种多波探测与成像系统结构示意图。 FIG. 5 is a schematic structural diagram of a fourth multi-wave detection and imaging system according to an embodiment of the present invention.
本发明的实施方式 Embodiments of the invention
[0042] 本发明实施例通过提供一种多波探测与成像系统， 解决了现有技术中存在的， 探测成像装置的图像探测方式单一， 无法在自然光线模糊或存在阻碍物的恶劣 情境下对被测对象进行图像探测的技术问题， 其支持多种图像探测形式， 且系 统结构灵活可调， 能够在自然光线模糊或存在阻碍物的恶劣情境下对移动被测 对象进行图像探测， 且图像探测效果良好， 能够满足无人驾驶的实吋环境识别 和成像需求。  [0042] The embodiment of the present invention solves the problem that the image detecting mode of the detecting imaging device is single in the prior art by providing a multi-wave detecting and imaging system, and cannot be in a bad situation where natural light is blurred or obstacles exist. The technical problem of image detection of the object to be tested, which supports multiple image detection forms, and the system structure is flexible and adjustable, and can perform image detection on the moving object under natural light blur or obstacles, and image detection Good results, able to meet the needs of unmanned real environment identification and imaging.
[0043] 本发明实施例的技术方案为解决上述技术问题， 总体思路如下：  [0043] The technical solution of the embodiment of the present invention is to solve the above technical problem, and the general idea is as follows:
[0044] 本发明实施例提供了一种多波探测与成像系统， 包括： 支座； 关于所述支座对 称设置的第一本体和第二本体； 所述第一本体和所述第二本体分别通过第一连 接结构和第二连接结构与所述支座可转动连接； 分别设置在所述第一本体和所 述第二本体上、 且关于所述支座对称的第一传感器组件和第二传感器组件； 所 述第一传感器组件和所述第二传感器组件均包括用于探测多种波形信号的传感 器； 所述多波探测与成像系统还包括： 与所述第一传感器组件、 所述第二传感 器组件、 所述第一本体和所述第二本体连接的控制器， 与所述控制器、 所述第 一传感器组件和第二传感器组件连接的信号处理单元； 所述控制器用于根据探 测需求， 控制所述第一本体和所述第二本体相对于所述支座转动， 以调整所述 第一本体与所述第二本体之间的角度， 同吋控制所述第一传感器组件和所述第 二传感器组件中的至少一传感器工作， 以对被测对象进行探测， 并获得探测数 据； 所述信号处理单元用于对所述探测数据进行处理， 以获得图像数据， 并将 所述图像数据输出至显示装置进行显示。 [0044] Embodiments of the present invention provide a multi-wave detection and imaging system, including: a support; a first body and a second body symmetrically disposed about the support; the first body and the second body Rotatingly connected to the support by a first connecting structure and a second connecting structure respectively; first sensor components and first symmetrically disposed on the first body and the second body and symmetric about the support a second sensor assembly; the first sensor assembly and the second sensor assembly each include a sensor for detecting a plurality of waveform signals; the multi-wave detection and imaging system further comprising: the first sensor assembly, the a second sensor assembly, a controller coupled to the first body and the second body, a signal processing unit coupled to the controller, the first sensor component, and the second sensor component; the controller is configured to Detecting a requirement, controlling rotation of the first body and the second body relative to the support to adjust an angle between the first body and the second body, At least one of the first sensor component and the second sensor component is configured to detect the detected object and obtain the probe data; the signal processing unit is configured to process the probe data to Get image data, and The image data is output to a display device for display.
[0045] 可见， 在本发明方案中， 第一本体和第二本体与支座可转动连接， 并在第一本 体和第二本体设置均设置有传感器组件 （包括用于探测多种波形信号的传感器 ) 。 在此结构基础上， 控制器根据探测需求， 控制所述第一本体和所述第二本 体相对于所述支座转动， 以调整所述第一本体与所述第二本体之间的角度， 同 吋控制传感器组件中的至少一传感器工作， 以对被测对象进行图像探测， 并获 得探测数据， 以使信号处理单元对所述探测数据进行处理， 以获得图像数据， 并将所述图像数据输出至显示装置进行显示。 本方案多波探测与成像系统， 支 持多种波形图像探测形式， 且系统结构灵活可调， 能够在自然光线模糊或存在 阻碍物的恶劣情境下对移动被测对象进行图像探测， 且图像探测效果良好， 能 够满足无人驾驶的实吋环境识别和成像需求。 有效地解决了现有技术中探测成 像装置的图像探测方式单一， 无法在自然光线模糊或存在阻碍物的恶劣情境下 对移动被测对象进行图像探测的技术问题。  [0045] It can be seen that, in the solution of the present invention, the first body and the second body are rotatably connected with the support, and the first body and the second body are disposed with a sensor component (including a plurality of waveform signals for detecting multiple waveform signals). Sensor). Based on the structure, the controller controls the first body and the second body to rotate relative to the support according to the detection requirement, so as to adjust an angle between the first body and the second body. Simultaneously controlling at least one of the sensor components to perform image detection on the object to be measured, and obtaining the probe data, so that the signal processing unit processes the probe data to obtain image data, and the image data Output to the display device for display. The multi-wave detection and imaging system of the solution supports multiple waveform image detection forms, and the system structure is flexible and adjustable, and can perform image detection on the moving object under natural light blur or obstacles, and the image detection effect is obtained. Good, able to meet the needs of unmanned real environment identification and imaging. The technical problem that the image detecting mode of the detecting imaging device in the prior art is single and can not detect the moving object under the unfavorable situation of natural light blur or obstruction is effectively solved.
[0046] 为了更好的理解上述技术方案， 下面将结合说明书附图以及具体的实施方式对 上述技术方案进行详细的说明， 应当理解本发明实施例以及实施例中的具体特 征是对本申请技术方案的详细的说明， 而不是对本申请技术方案的限定， 在不 冲突的情况下， 本发明实施例以及实施例中的技术特征可以相互组合。  [0046] In order to better understand the above technical solutions, the above technical solutions will be described in detail in conjunction with the drawings and specific embodiments. It should be understood that the specific features of the embodiments and embodiments of the present invention are the technical solutions of the present application. The detailed description, rather than the limitation of the technical solution of the present application, can be combined with each other in the embodiments of the present invention and the technical features in the embodiments without conflict.
[0047] 实施例一  [0047] Embodiment 1
[0048] 请参考图 1A， 本发明实施例提供了一种多波探测与成像系统， 可应用于车载摄 像等其他需要进行图像探测的领域， 所述多波探测与成像系统包括：  Referring to FIG. 1A, an embodiment of the present invention provides a multi-wave detection and imaging system, which can be applied to other fields that require image detection, such as on-vehicle photography, and the multi-wave detection and imaging system includes:
[0049] 支座 10; [0049] support 10;
[0050] 关于支座 10对称设置的第一本体 11和第二本体 12; 第一本体 11和第二本体 12分 别通过第一连接结构 13和第二连接结构 14与支座 10可转动连接； 其中， 第一连 接结构 13、 第二连接结构 14、 以及下述在本方案中所涉及的连接结构均可采用 合页；  [0050] The first body 11 and the second body 12 are symmetrically disposed about the support 10; the first body 11 and the second body 12 are rotatably connected to the support 10 through the first connection structure 13 and the second connection structure 14, respectively; Wherein, the first connecting structure 13, the second connecting structure 14, and the connecting structure referred to in the present solution may adopt a hinge;
[0051] 分别设置在第一本体 11和第二本体 12上、 且关于支座 10对称的第一传感器组件 110和第二传感器组件 120; 第一传感器组件 110和第二传感器组件 120均包括用 于探测多种波形信号的传感器 （SenSOr_l~ SenSOr_N) ； [0052] 所述多波探测与成像系统还包括： 与第一传感器组件 110、 第二传感器组件 120 、 第一本体 11和第二本体 12连接的控制器 15， 与控制器 15、 第一传感器组件 110 和第二传感器组件 120连接的信号处理单元 16; [0051] a first sensor component 110 and a second sensor component 120 respectively disposed on the first body 11 and the second body 12 and symmetric about the support 10; the first sensor component 110 and the second sensor component 120 are both included a sensor for detecting a plurality of waveform signals ( SenSO r_l ~ SenSO r_N); [0052] The multi-wave detection and imaging system further includes: a controller 15 connected to the first sensor component 110, the second sensor component 120, the first body 11 and the second body 12, and the controller 15, the first sensor a signal processing unit 16 connected to the component 110 and the second sensor component 120;
[0053] 控制器 15用于根据探测需求， 控制第一本体 11和第二本体 12相对于支座 10转动 ， 以调整第一本体 11与第二本体 12之间的角度， 同吋控制第一传感器组件 110和 第二传感器组件 120中的至少一传感器工作， 以对被测对象进行探测， 并获得探 测数据；  [0053] The controller 15 is configured to control the rotation of the first body 11 and the second body 12 relative to the support 10 according to the detection requirement to adjust the angle between the first body 11 and the second body 12, and simultaneously control the first At least one of the sensor component 110 and the second sensor component 120 operates to detect the measured object and obtain the detected data;
[0054] 信号处理单元 16用于对所述探测数据进行处理， 以获得图像数据， 并将所述图 像数据输出至显示装置进行显示。  [0054] The signal processing unit 16 is configured to process the probe data to obtain image data, and output the image data to a display device for display.
[0055] 在具体实施过程中， 请参考图 1B， 为了能够探测多种波形信号， 第一传感器组 件 110和第二传感器组件 120均至少包括： 阵列排布的光传感器单元 （light—sensor ) 、 电磁波传感器单元 (electromagnetic_wave_sensor) 和声波传感器单元 (acou stic_wave_sensor) 。 光传感器单元包括自然光传感器单元和红外传感器单元， 电磁波传感器单元包括微波传感器单元， 声波传感器单元包括超声波传感器单 元。  [0055] In a specific implementation, referring to FIG. 1B, in order to be able to detect a plurality of waveform signals, the first sensor component 110 and the second sensor component 120 each include at least: an array of light sensor units (light-sensors), Electromagnetic wave sensor unit (electromagnetic_wave_sensor) and acoustic wave sensor unit (acou stic_wave_sensor). The photosensor unit includes a natural light sensor unit and an infrared sensor unit, the electromagnetic wave sensor unit includes a microwave sensor unit, and the acoustic wave sensor unit includes an ultrasonic sensor unit.
[0056] 其中， 所述自然光传感器单元的主要构件为自然光传感器， 用于接收被测对象 反射的自然光线， 并对其进行光电转换， 以获得电信号， 进一步将该电信号传 输至信号处理单元 16进行处理。 通常， 所述自然光传感器单元用于在白天自然 光线良好吋工作。  [0056] wherein, the main component of the natural light sensor unit is a natural light sensor for receiving natural light reflected by the object to be measured, and photoelectrically converting the same, to obtain an electrical signal, and further transmitting the electrical signal to the signal processing unit. 16 for processing. Typically, the natural light sensor unit is used to operate with good natural light during the day.
[0057] 所述红外传感器单元的主要构件为红外传感器， 其利用红外辐射与物质相互作 用所呈现出来的物理效应探测红外辐射， 多数情况下是利用这种相互作用所呈 现出的电学效应。 此类传感器可分为光子传感器和热敏感传感器两大类型， 用 于接收被测对象发出或发射的红外线， 并将其转换为信号处理单元 16能够识别 的信号， 以使信号处理单元 16基于该信号， 对被测对象的距离进行计算、 或将 该信号转换为红外热图像数据。  [0057] The main component of the infrared sensor unit is an infrared sensor that detects infrared radiation by utilizing the physical effects exhibited by the interaction of infrared radiation and matter, and in most cases utilizes the electrical effects exhibited by such interaction. Such sensors can be divided into two types of photon sensors and heat sensitive sensors for receiving infrared rays emitted or emitted by the object under test and converting them into signals that the signal processing unit 16 can recognize, so that the signal processing unit 16 is based on the signals. Signal, calculate the distance of the measured object, or convert the signal into infrared thermal image data.
[0058] 所述红外传感器单元既可用于测距， 又可用于成像。 当所述红外传感器单元用 于测距吋， 所述红外传感器单元具有一对红外信号发射与接收二极管， 发射管 发射特定频率的红外信号， 接收管接收这种频率的红外信号， 当红外的检测方 向遇到障碍物 （即被测对象） 吋， 红外信号反射回来被接收管接收， 根据遇到 障碍物距离的不同反射的强度也不同的原理， 进行障碍物远近的检测。 当所述 红外传感器单元用于成像吋， 所述红外传感器单元还包括光学系统； 所述光学 系统用于接收被测对象发出的红外线并聚焦到红外传感器上， 所述红外传感器 感应透过光学系统的红外线， 并把信号发送给信号处理单元 16; 信号处理单元 1 6将来自于红外传感器的信号转化成红外热图像， 并发送于显示装置进行红外热 图像显示。 [0058] The infrared sensor unit can be used for both ranging and imaging. When the infrared sensor unit is used for ranging, the infrared sensor unit has a pair of infrared signal transmitting and receiving diodes, the transmitting tube emits an infrared signal of a specific frequency, and the receiving tube receives the infrared signal of the frequency, when the infrared detecting Square In the case of encountering an obstacle (ie, the object to be measured), the infrared signal is reflected back and received by the receiving tube, and the detection of the distance of the obstacle is performed according to the principle that the intensity of the reflection is different depending on the distance of the obstacle. When the infrared sensor unit is used for imaging 吋, the infrared sensor unit further includes an optical system; the optical system is configured to receive infrared rays emitted by the object to be measured and focus on the infrared sensor, and the infrared sensor senses the transmitted optical system Infrared, and send the signal to the signal processing unit 16; the signal processing unit 16 converts the signal from the infrared sensor into an infrared thermal image and transmits it to the display device for infrared thermal image display.
[0059] 进一步， 红外传感器单元有普通红外传感器单元和点阵红外传感器单元之分， 点阵红外传感器单元比普通的要好， 照射距离远， 画质细腻清晰， 而且使用寿 命比普通红外的长。 用户可根据实际的使用需要选择合适的红外传感器单元形 式。  [0059] Further, the infrared sensor unit has a common infrared sensor unit and a dot matrix infrared sensor unit. The dot matrix infrared sensor unit is better than the ordinary one, the illumination distance is long, the picture quality is fine and clear, and the service life is longer than the ordinary infrared. The user can select the appropriate infrared sensor unit type according to the actual use needs.
[0060] 所述微波传感器单元的主要构件为微波传感器。 其工作过程具体为： 由发射天 线发出微波， 当发出的微波遇到被测对象吋将被吸收或反射， 使功率发生变化 ； 若利用接收天线， 接收通过被测对象或由被测对象反射回来的微波， 并将它 转换成电信号， 再由测量电路测量和指示， 就实现了微波检测过程。 根据上述 原理， 微波检测传感器可分为反射式与遮断式两种： 1) 反射式传感器， 通过检 测被测对象反射回来的微波功率或经过的吋间间隔， 来表达被测对象的位置、 厚度等参数； 2) 遮断式传感器， 通过检测接收天线接收到的微波功率大小来判 断发射天线与接收天线间被测对象的位置与含水量等参数。  [0060] The main component of the microwave sensor unit is a microwave sensor. The working process is specifically as follows: The microwave is emitted by the transmitting antenna, and when the emitted microwave encounters the object to be measured, it will be absorbed or reflected, so that the power changes; if the receiving antenna is used, the receiving object passes through the measured object or is reflected by the measured object. The microwave detection process is realized by converting the microwave into an electrical signal and measuring and indicating by the measurement circuit. According to the above principle, the microwave detecting sensor can be divided into two types: reflective type and occlusion type: 1) Reflective sensor, which expresses the position and thickness of the measured object by detecting the microwave power reflected by the measured object or the inter-turn interval. 2) The occlusion sensor determines the position and water content of the object to be measured between the transmitting antenna and the receiving antenna by detecting the magnitude of the microwave power received by the receiving antenna.
[0061] 具体的， 第一传感器组件 110和第二传感器组件 120分别包括多种微波传感器单 元， 且所述多种微波传感器单元一一对应包括多种四分之一波长的天线。 可根 据被测对象距离本系统的距离远近， 来选择控制具有不同四分之一波长的天线 的微波传感器单元工作， 从而在微波传感器天线增益最佳的情况下对被测对象 进行跟踪探测， 此微波传感器方案适用于被测对象快速移动的情况。  [0061] Specifically, the first sensor component 110 and the second sensor component 120 respectively comprise a plurality of microwave sensor units, and the plurality of microwave sensor units correspond to a plurality of quarter-wavelength antennas. The microwave sensor unit that controls the antennas with different quarter wavelengths can be selected according to the distance of the measured object from the system, so that the measured object can be tracked and detected under the optimal gain of the microwave sensor antenna. The microwave sensor scheme is suitable for the case where the object to be measured moves quickly.
[0062] 所述超声波传感器单元的主要构件为超声波传感器， 用于发出超声波再检测到 发出的超声波， 同吋根据声速计算出物体的距离。  [0062] The main component of the ultrasonic sensor unit is an ultrasonic sensor for emitting ultrasonic waves and detecting the emitted ultrasonic waves, and calculating the distance of the object according to the speed of sound.
[0063] 在具体实施过程中， 在第一本体 11和第二本体 12的正反面均都设置有第一传感 器组件 110或第二传感器 120， 且第一本体 11和第二本体 12、 以及第一本体 11上 的传感器组件和第二本体 12上的传感器组件均关于支座 10对称。 进一步， 请参 考图 1C， 以支座 10截面的中心点 0为中心点作两条相互垂直的参考直线 Ll、 L2 ， 第一本体 11位于直线 L2的左侧区域、 并可通过第一连接结构 13相对于支座 10 的转动范围为 0°~ 180° (如曲线箭头 a所示的角度范围） ； 同样的， 第二本体 12 可通过第二连接结构 14相对于支座 10的转动范围也为 0°~ 180°。 [0063] In a specific implementation, the first sensor component 110 or the second sensor 120 is disposed on both the front and back sides of the first body 11 and the second body 12, and the first body 11 and the second body 12, and the first On a body 11 Both the sensor assembly and the sensor assembly on the second body 12 are symmetrical about the support 10. Further, referring to FIG. 1C, two mutually perpendicular reference lines L1, L2 are formed with the center point 0 of the section of the support 10 as a center point, and the first body 11 is located on the left side of the line L2 and can pass the first connection structure. The rotation range of 13 relative to the support 10 is 0°~180° (as indicated by the angle arrow a); likewise, the rotation range of the second body 12 relative to the support 10 by the second connecting structure 14 is also It is 0°~180°.
[0064] 进一步， 请参考图 2A-图 2E， 以第二本体 12相对于支座 10的位置为例， 第二本 体 12可处于与参考直线 L1垂直的方向 （如图 2A、 图 2E所示） 、 与参考直线 L1存 在一定锐角的方向 （如图 2B、 图 2D所示） 、 与参考直线 L1相同的方向 （如图 2C 所示） ， 第二本体 12上的传感器发出探测波 Wt， 并接收探测波 Wt经被测对象 X 反射后的探测波 Wr， 对探测波 Wt、 Wr的发送和接收吋间差、 或者二者之间的功 率进行计算处理， 以确定被测对象 X距离传感器的距离、 相对于传感器的方向、 物质成分等。 2A to 2E, taking the position of the second body 12 relative to the support 10 as an example, the second body 12 may be in a direction perpendicular to the reference line L1 (as shown in FIG. 2A and FIG. 2E). ), a direction with a certain acute angle from the reference line L1 (as shown in FIG. 2B, FIG. 2D), and the same direction as the reference line L1 (as shown in FIG. 2C), the sensor on the second body 12 emits a detection wave Wt, and The detection wave Wr after the detection wave Wt is reflected by the X to be measured, the transmission and reception inter-turn difference of the detection waves Wt, Wr, or the power between the two are calculated to determine the distance X of the object to be measured. Distance, direction relative to the sensor, material composition, etc.
[0065] 在具体实施过程中， 请参考图 2F， 当由于第一本体 11上的传感器发出的探测波 Wt发射角度的问题， 而无法被第一本体 11上的传感器接收吋， 可调整第二本体 1 2相对于第一本体 11的夹角， 以使第二本体 12上的传感器能够接收到探测波 Wt经 被测对象 X反射后的探测波 Wr。  [0065] In a specific implementation process, referring to FIG. 2F, when the detection wave Wt is emitted by the sensor on the first body 11 and cannot be received by the sensor on the first body 11, the second can be adjusted. The angle of the body 1 2 relative to the first body 11 is such that the sensor on the second body 12 can receive the detection wave Wr after the detection wave Wt is reflected by the object X to be measured.
[0066] 在具体实施过程中， 如图 2G所示， 还可通过第一本体 11和 /或第二本体 12上的 多个传感器一一对应同吋向被测对象 X发射探测波 Wti~Wtj， 同吋通过多个传感 器一一对应来接收探测波 Wti~Wtj经被测对象 X反射后的探测波 Wri~Wrj； 进一步 ， 基于发射探测波 Wti~Wtj的多个传感器的设置位置信息， 以及发射探测波 Wti~ Wtj、 接收探测波 Wri~Wrj的发送和接收吋间差和二者之间的功率等数据信息， 计算获得被测对象 X的高度。 图 2G仅示出一种测量被测对象 X高度的方式， 在实 际操作吋， 可根据被测对象 X相对于本多波探测与成像系统的方位， 来灵活设置 第一本体 11和第二本体 12的角度， 进而测量被测对象的高度。  [0066] In the specific implementation process, as shown in FIG. 2G, the detection waves Wti~Wtj may also be transmitted to the object X by the plurality of sensors on the first body 11 and/or the second body 12 in a one-to-one correspondence. The peer receives the detection waves Wri~Wrj after the detection waves Wti~Wtj are reflected by the measured object X by one-to-one correspondence of the plurality of sensors; further, based on the set position information of the plurality of sensors transmitting the detection waves Wti~Wtj, and The detection signal Wti~Wtj, the transmission and reception inter-turn difference of the detection wave Wri~Wrj, and the power between the two are calculated, and the height of the object X to be measured is calculated. 2G shows only one way of measuring the height of the X of the object to be measured. In actual operation, the first body 11 and the second body can be flexibly set according to the orientation of the object X relative to the multi-wave detection and imaging system. The angle of 12, in turn, measures the height of the object being measured.
[0067] 实施例二  [0067] Embodiment 2
[0068] 在实施例一所示方案的结构基础上， 请参考图 3A， 第一本体 11包括： 第一子本 体 111、 第二子本体 112和第三连接结构 113; 第一子本体 111通过第一连接结构 1 3与支座 10连接， 第二子本体 112通过第三连接结构 113与第一子本体 111可转动 连接。 [0068] Based on the structure of the solution shown in the first embodiment, referring to FIG. 3A, the first body 11 includes: a first sub-body 111, a second sub-body 112, and a third connection structure 113. The first sub-body 111 passes The first connecting structure 13 is connected to the support 10, and the second sub-body 112 is rotatable by the third connecting structure 113 and the first sub-body 111. Connected.
[0069] 进一步， 仍请参考图 3A， 第二本体 12包括： 第三子本体 121、 第四子本体 122和 第四连接结构 123 ; 第三子本体 121通过第二连接结构 14与支座 10连接， 第四子 本体 122通过第四连接结构 123与第三子本体 121可转动连接。  [0069] Further, still referring to FIG. 3A, the second body 12 includes: a third sub-body 121, a fourth sub-body 122, and a fourth connection structure 123. The third sub-body 121 passes through the second connection structure 14 and the support 10. The fourth sub-body 122 is rotatably connected to the third sub-body 121 through the fourth connecting structure 123.
[0070] 在具体实施过程中， 在第一子本体 111、 第二子本体 112、 第三子本体 121和第 四子本体 122的正反面均都设置有传感器单元。 传感器单元类型包括光传感器单 元、 电磁波传感器单元和声波传感器单元中至少其一。 如图 3A所示， 第一子本 体 111和第三子本体 121上设置有传感器 sensor_l~sensor_M， 第二子本体 112和第 四子本体 122上设置有传感器 senSor_M+l~Sensor_N， 其中， M和 N表示传感器的 个数， 且 N大于 M。 [0070] In a specific implementation, the sensor unit is disposed on both the front and back sides of the first sub-body 111, the second sub-body 112, the third sub-body 121, and the fourth sub-body 122. The sensor unit type includes at least one of a photo sensor unit, an electromagnetic wave sensor unit, and an acoustic wave sensor unit. 3A, disposed on the first sub body 111 and the third sub-body 121 with a sensor sensor_l ~ sensor_M, provided with a sensor sen S or_M + l ~ S ensor_N on the second sub-body 112 and the fourth sub-body 122, wherein , M and N represent the number of sensors, and N is greater than M.
[0071] 接着， 请参考图 3B， 以支座 10截面的中心点 0为中心点作两条相互垂直的参考 直线 Ll、 L2， 第一子本体 111和第二子本体 112位于直线 L2的左侧区域， 第一子 本体 111通过第一连接结构 13相对于支座 10的转动范围为 0°~  [0071] Next, referring to FIG. 3B, two mutually perpendicular reference lines L1, L2 are formed with the center point 0 of the section of the support 10 as a center point, and the first sub-body 111 and the second sub-body 112 are located on the left side of the line L2. In the side region, the rotation range of the first sub-body 111 relative to the support 10 through the first connection structure 13 is 0°~
180° (如曲线箭头 al所示的角度范围） ， 第二子本体 112通过第三连接结构 113相 对于第一子本体 111的转动范围为 0°~ 360° (如曲线箭头 bl所示的角度范围） ； 同样的， 第三子本体 121可通过第二连接结构 14相对于支座 10的转动范围为 0°~ 180° (如曲线箭头 a2所示的角度范围） ， 第四子本体 122可通过第四连接结构 123 相对于第三子本体 121的转动范围为 0°~ 360° (如曲线箭头 b2所示的角度范围）  180° (as indicated by the curved arrow a1), the second sub-body 112 has a rotation range of 0° to 360° with respect to the first sub-body 111 through the third connection structure 113 (as indicated by the curved arrow bl) Similarly, the third sub-body 121 can be rotated by the second connecting structure 14 relative to the support 10 by a range of 0° to 180° (as indicated by a curved arrow a2), and the fourth sub-body 122 can be The rotation range of the fourth connecting structure 123 relative to the third sub-body 121 is 0° to 360° (as indicated by the curved arrow b2)
[0072] 在具体实施过程中， 第一子本体 111、 第二子本体 112、 第三子本体 121和第四 子本体 122可任意变化角度， 在探测被测对象吋， 可通过某一子本体上的传感器 发射探测波， 并通过另一子本体上的传感器接收反射的探测波。 具体的， 如图 4 所示， 第二子本体 112上的传感器发射的探测波 Wtl， 经被测对象 Y1反射的探测 波 Wrl被第一子本体 111上的传感器接收； 第一子本体 111上的传感器发射的探测 波 Wt2， 经被测对象 Y2反射的探测波 Wr2被第三子本体 121上的传感器接收； 第 三子本体 121上的传感器发射的探测波 Wt3， 经被测对象 Y3反射的探测波 Wr3被 第四子本体 122上的传感器接收。 若将图 4中的三个被测对象 Yl、 Υ2、 Υ3看作为 同一被测对象的三个不同的面， 则可知： 通过图 3Α所示的系统结构， 可以对同 一被测对象的不同的面进行探测， 以获得被测对象的立体图像 （即被测对象的 形状） ， 从而获得更准确的探测图像效果。 [0072] In a specific implementation, the first sub-body 111, the second sub-body 112, the third sub-body 121, and the fourth sub-body 122 can be arbitrarily changed in angle. The upper sensor emits a probe wave and receives the reflected probe wave through a sensor on the other sub-body. Specifically, as shown in FIG. 4, the probe wave Wtl emitted by the sensor on the second sub-body 112 is received by the sensor on the first sub-body 111 by the probe wave Wrl reflected by the object Y1; the first sub-body 111 The detection wave Wt2 emitted by the sensor, the detection wave Wr2 reflected by the object Y2 is received by the sensor on the third sub-body 121; the detection wave Wt3 emitted by the sensor on the third sub-body 121 is reflected by the object Y3 The probe wave Wr3 is received by a sensor on the fourth sub-body 122. If the three objects J1, Υ2, and Υ3 in Fig. 4 are regarded as three different faces of the same object to be measured, it can be seen that: through the system structure shown in Fig. 3 A different surface of a measured object is detected to obtain a stereoscopic image of the object to be measured (ie, the shape of the object to be measured), thereby obtaining a more accurate detection image effect.
[0073] 实施例三  Embodiment 3
[0074] 在实施例二中图 3A所示方案的系统结构基础上， 请参考图 5， 第一本体 11还包 括： 至少一个第五连接结构 114和至少一个第五子本体 115; 至少一个第五子本 体 115通过至少一个第五连接结构 114与第一子本体 111或第二子本体 112可转动 连接。  [0074] Based on the system structure of the solution shown in FIG. 3A in the second embodiment, referring to FIG. 5, the first body 11 further includes: at least one fifth connection structure 114 and at least one fifth sub-body 115; at least one The five sub-body 115 is rotatably coupled to the first sub-body 111 or the second sub-body 112 via at least one fifth connection structure 114.
[0075] 进一步， 仍请参考图 5， 第二本体 12还包括： 至少一个第六连接结构 124和至少 一个第六子本体 125; 至少一个第六子本体 125通过至少一个第六连接结构 124与 第三子本体 121或第四子本体 122可转动连接。  [0075] Further, still referring to FIG. 5, the second body 12 further includes: at least one sixth connecting structure 124 and at least one sixth sub-body 125; at least one sixth sub-body 125 is coupled to the at least one sixth connecting structure 124 The third sub-body 121 or the fourth sub-body 122 is rotatably connected.
[0076] 具体的， 在图 5中， 第五连接结构 114、 第五子本体 115、 第六连接结构 124和第 六子本体 125分别均为 2个。 第一子本体 111通过第一连接结构 13相对于支座 10的 转动范围为 0°~ 180°， 旋转方向参见图 3B中的 al方向， 也可为 al方向的逆方向； 第二子本体 112通过第三连接结构 113相对于第一子本体 111的转动范围为 0°~ 360 °， 旋转方向参见图 3B中的 bl方向， 也可为 bl方向的逆方向； 一个第五子本体 11 5通过一个第五连接结构 114与第一子本体 111可旋转连接， 转动范围为 0°~ 360° ， 具体为从页面里向页面外或从页面外向页面里、 向第一子本体 111折叠旋转； 另一个第五子本体 115通过另一个第五连接结构 114与前一第五子本体 115可旋转 连接， 转动范围为 0°~ 360°， 旋转方向参见图 3B中的 bl方向， 也可为 bl方向的逆 方向； 另一个第五子本体 115或通过另一个第五连接结构 114与第二子本体 112可 旋转连接， 转动范围为 0°~ 360°， 具体为从页面里向页面外或从页面外向页面里 、 向第二子本体 112折叠旋转。  Specifically, in FIG. 5, the fifth connection structure 114, the fifth sub-body 115, the sixth connection structure 124, and the sixth sub-body 125 are respectively two. The rotation direction of the first sub-body 111 relative to the support 10 through the first connection structure 13 is 0°~180°, and the rotation direction is referred to the al direction in FIG. 3B or the reverse direction of the al direction; the second sub-body 112 The rotation range of the third connecting structure 113 relative to the first sub-body 111 is 0°~360°, and the rotation direction is referred to the bl direction in FIG. 3B, and may also be the reverse direction of the bl direction; a fifth sub-body 11 5 passes A fifth connecting structure 114 is rotatably connected to the first sub-body 111, and the rotation range is from 0° to 360°, specifically from the page to the outside of the page or from the outside of the page to the page, and the first sub-body 111 is folded and rotated; A fifth sub-body 115 is rotatably connected to the previous fifth sub-body 115 through another fifth connecting structure 114, and the rotation range is 0° to 360°, and the rotation direction is referred to as the bl direction or the bl direction in FIG. 3B. The other fifth sub-body 115 is rotatably connected to the second sub-body 112 through another fifth connecting structure 114, and the rotation range is 0°~360°, specifically from the page to the page or from the page. Outgoing page, the body 112 is rotated in the second sub-fold.
[0077] 第三子本体 121通过第二连接结构 14相对于支座 10的转动范围为 0°~ 180°， 旋转 方向参见图 3B中的 a2方向， 也可为 a2方向的逆方向； 第四子本体 122通过第四连 接结构 123相对于第三子本体 121的转动范围为 0°~  [0077] The third sub-body 121 has a rotation range of 0° to 180° with respect to the support 10 through the second connection structure 14, and the rotation direction refers to the a2 direction in FIG. 3B, and may also be the reverse direction of the a2 direction; The rotation range of the sub-body 122 relative to the third sub-body 121 through the fourth connection structure 123 is 0°~
360°， 旋转方向参见图 3B中的 b2方向， 也可为 b2方向的逆方向； 一个第六子本 体 125通过一个第六连接结构 124与第四子本体 122可旋转连接， 转动范围为 0°~ 360°， 具体为从页面里向页面外或从页面外向页面里、 向第四子本体 122折叠旋 转； 另一个第六子本体 125通过另一个第六连接结构 124与前一第六子本体 125可 旋转连接， 转动范围为 0°~ 360°， 旋转方向参见图 3B中的 b2方向， 也可为 b2方向 的逆方向； 另一个第六子本体 125或通过另一个第六连接结构 124与第三子本体 1 21可旋转连接， 转动范围为 0°~ 360°， 转动范围为 0°~ 360°， 具体为从页面里向 页面外或从页面外向页面里、 向第三子本体 121折叠旋转。 360°, the direction of rotation refers to the b2 direction in FIG. 3B, and may also be the reverse direction of the b2 direction; a sixth sub-body 125 is rotatably connected to the fourth sub-body 122 through a sixth connecting structure 124, and the rotation range is 0°. ~ 360°, specifically from the page to the outside of the page or from the outside of the page to the page, to the fourth sub-body 122 The other sixth sub-body 125 is rotatably connected to the previous sixth sub-body 125 through another sixth connecting structure 124, and the rotation range is 0° to 360°, and the rotation direction is referred to the b2 direction in FIG. 3B. The other is the reverse direction of the b2 direction; the other sixth sub-body 125 is rotatably connected to the third sub-body 1 21 by another sixth connecting structure 124, and the rotation range is 0°~360°, and the rotation range is 0°~360. °, specifically from the page to the outside of the page or from the outside of the page to the page, to the third sub-body 121 folding rotation.
[0078] 上述第一子本体 111、 第二子本体 112、 第三子本体 121、 第四子本体 122、 至少 一个第五子本体 115和至少一个第六子本体 125还有其它的连接方式， 在实际操 作过程中可依据具体情况而定， 这里不作具体限定。  [0078] The first sub-body 111, the second sub-body 112, the third sub-body 121, the fourth sub-body 122, the at least one fifth sub-body 115, and the at least one sixth sub-body 125 have other connection manners. In the actual operation process, it may be determined according to specific conditions, and is not specifically limited herein.
[0079] 进一步， 仍请参考图 5， 第一子本体 111、 第二子本体 112、 两个第五子本体 115 上分别设置有不同类型的传感器单元 sensor_A、 sensor_B、 sensor_C、 sensor_D [0079] Further, referring to FIG. 5, the first sub-body 111, the second sub-body 112, and the two fifth sub- bodies 115 are respectively provided with different types of sensor units sensor_A, sensor_B, sensor_C, and sensor_D.
(传感器单元类型选自光传感器单元、 电磁波传感器单元和声波传感器单元） ， 同样的， 第二子本体 121、 第三子本体 122、 两个第六子本体 125上也分别设置 有不同类型的传感器单元 sensor_A、 sensor_B、 sensor_C、 sensor_D= (The sensor unit type is selected from the group consisting of a light sensor unit, an electromagnetic wave sensor unit, and an acoustic wave sensor unit). Similarly, different types of sensors are also disposed on the second sub-body 121, the third sub-body 122, and the two sixth sub- bodies 125, respectively. Unit sensor_A, sensor_B, sensor_C, sensor_D=
[0080] 在具体实施过程中， 通过控制器 15控制调整第一子本体 111、 第二子本体 112、 第三子本体 121、 第四子本体 122、 至少一个第五子本体 115和至少一个第六子本 体 125中各个子本体相对于被测对象的方位和角度， 来对被测对象进行全方位、 多角度探测。  [0080] In a specific implementation, the first sub-body 111, the second sub-body 112, the third sub-body 121, the fourth sub-body 122, the at least one fifth sub-body 115, and at least one The sub-subjects of the six sub-body 125 are omnidirectional and multi-angle detected on the object to be measured with respect to the orientation and angle of the object to be measured.
[0081] 综上所述， 通过采用本申请实施例中的多波探测与成像系统至少具备以下技术 效果：  [0081] In summary, the multi-wave detection and imaging system in the embodiment of the present application has at least the following technical effects:
[0082] 1) 本方案多波探测与成像系统， 传感器单元包括光传感器单元、 电磁波传感 器单元和声波传感器单元等， 即支持多种波形探测与成像， 系统结构灵活可调 ， 能够在自然光线模糊或存在阻碍物的恶劣情境下对移动被测对象进行图像探 测， 获得被测对象的方向数据、 距离数据、 高度数据、 物质组成数据以及形状 数据等， 图像探测效果良好， 能够满足无人驾驶的实吋环境识别和成像需求。  [0082] 1) The multi-wave detection and imaging system of the solution, the sensor unit comprises a light sensor unit, an electromagnetic wave sensor unit and an acoustic wave sensor unit, etc., which supports multiple waveform detection and imaging, the system structure is flexible and adjustable, and can be blurred in natural light. Or the image detection of the moving object under the harsh situation of obstruction, obtaining the direction data, distance data, height data, material composition data and shape data of the object to be measured, the image detection effect is good, and can satisfy the driverless Real environmental identification and imaging needs.
[0083] 2) 本方案多波探测与成像系统采用红外传感器单元， 既可用于测距， 又可用 于在晚上或光线较暗的情况下进行图像探测。 当红外传感器采用点阵形式吋， 探测敏感度更高。  [0083] 2) The multi-wave detection and imaging system of the present scheme adopts an infrared sensor unit, which can be used for ranging, and can be used for image detection at night or in the case of dim light. When the infrared sensor is in the form of a dot matrix, the detection sensitivity is higher.
[0084] 3) 本方案多波探测与成像系统采用多种四分之一波长天线的微波传感器， 可 根据被测对象距离本系统的距离远近， 来选择控制具有不同四分之一波长天线 的微波传感器单元工作， 从而在微波传感器天线增益最佳的情况下对被测对象 进行跟踪探测， 能够适用被测对象快速移动的情况， 分辨率更高， 成像效果更 好。 [0084] 3) The multi-wave detection and imaging system of the present scheme uses a microwave sensor of a plurality of quarter-wave antennas, According to the distance of the measured object from the system, the microwave sensor unit with different quarter-wavelength antennas is selected to work, so that the measured object can be tracked and detected under the optimal gain of the microwave sensor antenna, which can be applied. The measurement object moves quickly, the resolution is higher, and the imaging effect is better.
[0085] 4) 在本方案多波探测与成像系统中， 用于设置传感器单元的本体为多个， 且 各本体之间通过可转动的连接结构连接， 能够变换不同的测量角度， 实现从不 同角度对同一被测对象进行探测， 以探测其立体图像。 且本方案多波探测与成 像系统为对称结构， 有利于降低信号处理单元的计算复杂度。  [0085] 4) In the multi-wave detection and imaging system of the present scheme, a plurality of bodies for setting the sensor unit are provided, and the bodies are connected by a rotatable connection structure, which can change different measurement angles and realize different from The angle is used to detect the same object to detect its stereo image. Moreover, the multi-wave detection and imaging system of the solution has a symmetrical structure, which is beneficial to reducing the computational complexity of the signal processing unit.
[0086] 尽管已描述了本发明的优选实施例， 但本领域内的技术人员一旦得知了基本创 造性概念， 则可对这些实施例做出另外的变更和修改。 所以， 所附权利要求意 欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。  [0086] While the preferred embodiment of the invention has been described, it will be apparent to those skilled in Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and
[0087] 显然， 本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的 精神和范围。 这样， 倘若本发明的这些修改和变型属于本发明权利要求及其等 同技术的范围之内， 则本发明也意图包含这些改动和变型在内。  [0087] It will be apparent to those skilled in the art that various modifications and changes can be made in the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and the modifications of the invention

Claims

权利要求书 Claim
[权利要求 1] 一种多波探测与成像系统， 其特征在于， 包括：  [Claim 1] A multi-wave detection and imaging system, comprising:
支座 (10) ；  Support (10);
关于所述支座 （10) 对称设置的第一本体 （11) 和第二本体 （12 所述第一本体 （11) 和所述第二本体 （12) 分别通过第一连接结构 （ 13) 和第二连接结构 （14) 与所述支座 （10) 可转动连接； 分别设置在所述第一本体 （11) 和所述第二本体 （12) 上、 且关于所 述支座 （10) 对称的第一传感器组件 （110) 和第二传感器组件 （120 ) ； 所述第一传感器组件 （110) 和所述第二传感器组件 （120) 均包 括用于探测多种波形信号的传感器；  a first body (11) and a second body (12 of the first body (11) and the second body (12) symmetrically disposed with respect to the support (10) respectively passing through the first connection structure (13) and a second connecting structure (14) rotatably coupled to the support (10); respectively disposed on the first body (11) and the second body (12), and with respect to the support (10) a first sensor component (110) and a second sensor component (120); the first sensor component (110) and the second sensor component (120) each include a sensor for detecting a plurality of waveform signals;
所述多波探测与成像系统还包括： 与所述第一传感器组件 （110) 、 所述第二传感器组件 （120) 、 所述第一本体 （11) 和所述第二本体 The multi-wave detection and imaging system further includes: a first sensor component (110), the second sensor component (120), the first body (11), and the second body
(12) 连接的控制器 （15) ， 与所述控制器 （15) 、 所述第一传感器 组件 （110) 和第二传感器组件 （120) 连接的信号处理单元 （16) ； 所述控制器 （15) 用于根据探测需求， 控制所述第一本体 （11) 和所 述第二本体 （12) 相对于所述支座 （10) 转动， 以调整所述第一本体(12) a connected controller (15), a signal processing unit (16) connected to the controller (15), the first sensor component (110) and the second sensor component (120); the controller (15) for controlling the rotation of the first body (11) and the second body (12) relative to the support (10) according to a detection requirement to adjust the first body
(11) 与所述第二本体 （12) 之间的角度， 同吋控制所述第一传感器 组件 （110) 和所述第二传感器组件 （120) 中的至少一传感器工作， 以对被测对象进行探测， 并获得探测数据； (11) an angle with the second body (12), simultaneously controlling at least one of the first sensor component (110) and the second sensor component (120) to operate The object is detected and the probe data is obtained;
所述信号处理单元 （16) 用于对所述探测数据进行处理， 以获得图像 数据， 并将所述图像数据输出至显示装置进行显示。  The signal processing unit (16) is configured to process the probe data to obtain image data, and output the image data to a display device for display.
[权利要求 2] 如权利要求 1所述的多波探测与成像系统， 其特征在于， 所述第一传 感器组件 （110) 和所述第二传感器组件 （120) 均至少包括： 光传感 器单元、 电磁波传感器单元和声波传感器单元。  [Claim 2] The multi-wave detection and imaging system according to claim 1, wherein the first sensor component (110) and the second sensor component (120) each include at least: a photo sensor unit, Electromagnetic wave sensor unit and acoustic wave sensor unit.
[权利要求 3] 如权利要求 1所述的多波探测与成像系统， 其特征在于， 所述第一本 体 （11) 包括： 第一子本体 （111) 、 第二子本体 （112) 和第三连接 结构 （113) ；  [Claim 3] The multi-wave detection and imaging system according to claim 1, wherein the first body (11) comprises: a first sub-body (111), a second sub-body (112), and a Three connection structure (113);
所述第一子本体 （111) 通过所述第一连接结构 （13) 与所述支座 （1 0) 连接， 所述第二子本体 （112) 通过所述第三连接结构 （113) 与 所述第一子本体 （111) 可转动连接。 The first sub-body (111) passes through the first connecting structure (13) and the support (1) 0) The second sub-body (112) is rotatably connected to the first sub-body (111) through the third connection structure (113).
[权利要求 4] 如权利要求 3所述的多波探测与成像系统， 其特征在于， 所述第二本 体 （12) 包括： 第三子本体 （121) 、 第四子本体 （122) 和第四连接 结构 （123) ； [Claim 4] The multi-wave detection and imaging system according to claim 3, wherein the second body (12) comprises: a third sub-body (121), a fourth sub-body (122), and a Four connection structure (123);
所述第三子本体 （121) 通过所述第二连接结构 （14) 与所述支座 （1 0) 连接， 所述第四子本体 （122) 通过所述第四连接结构 （123) 与 所述第三子本体 （121) 可转动连接。  The third sub-body (121) is connected to the support (10) through the second connection structure (14), and the fourth sub-body (122) is connected to the fourth connection structure (123) The third sub body (121) is rotatably connected.
[权利要求 5] 如权利要求 4所述的多波探测与成像系统， 其特征在于， 所述第二子 本体 （112) 通过所述第三连接结构 （113) 相对于所述第一子本体 ( 111) 的转动范围为 0°~ 360°， 所述第四子本体 （122) 通过所述第四 连接结构 （123) 相对于所述第三子本体 （121) 的转动范围为 0°~ 360。。 [Claim 5] The multi-wave detection and imaging system according to claim 4, wherein the second sub-body (112) is opposite to the first sub-body by the third connection structure (113) The rotation range of the (111) is 0° to 360°, and the rotation range of the fourth sub-body (122) relative to the third sub-body (121) by the fourth connection structure (123) is 0°~ 360. .
[权利要求 6] 如权利要求 1所述的多波探测与成像系统， 其特征在于， 所述第一本 体 （11) 通过所述第一连接结构 （13) 相对于所述支座 （10) 的转动 范围为 0°~ 180°， 所述第二本体 （12) 通过所述第二连接结构 （14) 相对于所述支座 （10) 的转动范围为 0°~ 180°。  [Claim 6] The multi-wave detection and imaging system according to claim 1, wherein the first body (11) is opposite to the support (10) by the first connection structure (13) The rotation range of the second body (12) relative to the support (10) by the second connecting structure (14) is 0°~180°.
[权利要求 7] 如权利要求 3所述的多波探测与成像系统， 其特征在于， 所述第一本 体 （11) 还包括： 至少一个第五连接结构 （114) 和至少一个第五子 本体 （115) ；  [Claim 7] The multi-wave detection and imaging system according to claim 3, wherein the first body (11) further comprises: at least one fifth connection structure (114) and at least one fifth sub-body (115);
所述至少一个第五子本体 （115) 通过所述至少一个第五连接结构 （1 14) 与所述第一子本体 （111) 或所述第二子本体 （112) 可转动连接  The at least one fifth sub-body (115) is rotatably connected to the first sub-body (111) or the second sub-body (112) by the at least one fifth connection structure (1 14)
[权利要求 8] 如权利要求 7所述的多波探测与成像系统， 其特征在于， 所述第二本 体 （12) 还包括： 至少一个第六连接结构 （124) 和至少一个第六子 本体 （125) ； The multi-wave detection and imaging system according to claim 7, wherein the second body (12) further comprises: at least one sixth connection structure (124) and at least one sixth sub-body (125);
所述至少一个第六子本体 （125) 通过所述至少一个第六连接结构 （1 24) 与所述第三子本体 （121) 或所述第四子本体 （122) 可转动连接 [权利要求 9] 如权利要求 1所述的多波探测与成像系统， 其特征在于， 所述第一传 感器组件 （110) 和所述第二传感器组件 （120) 分别包括多种微波传 感器单元， 且所述多种微波传感器单元一一对应包括多种四分之一波 长的天线。 The at least one sixth sub-body (125) is rotatably connected to the third sub-body (121) or the fourth sub-body (122) by the at least one sixth connection structure (1 24) [Claim 9] The multi-wave detection and imaging system according to claim 1, wherein the first sensor component (110) and the second sensor component (120) respectively comprise a plurality of microwave sensor units, And the plurality of microwave sensor units are in one-to-one correspondence including a plurality of quarter-wavelength antennas.
PCT/CN2016/090906 2016-07-21 2016-07-21 Multi-wave detection and imaging system WO2018014305A1 (en)

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