WO2018014305A1 - Système d'imagerie et de détection à ondes multiples - Google Patents

Système d'imagerie et de détection à ondes multiples 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
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English (en)
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/fr
Publication of WO2018014305A1 publication Critical patent/WO2018014305A1/fr

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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.

Abstract

L'invention concerne un système d'imagerie et de détection à ondes multiples comprenant : un support (10), et un premier corps (11) et un second corps (12) reliés au support (10) de manière rotative ; un premier ensemble capteur (110) et un second ensemble capteur (120) disposés respectivement sur le premier corps (11) et sur le second corps (12) et comprenant tous deux un capteur permettant de détecter divers signaux d'onde. Le système comprend en outre : un dispositif de commande (15) et une unité de traitement de signal (16), le dispositif de commande (15) étant utilisé pour commander le réglage d'un angle entre le premier corps (11) et le second corps (12) en fonction des exigences de détection et, en même temps, pour commander le fonctionnement d'au moins un capteur, de façon à détecter un objet détecté et à obtenir des données de détection ; l'unité de traitement de signal (16) est utilisée pour traiter les données de détection, de façon à détecter des données d'image. Le système porte une pluralité de formes de détection d'images et possède une structure ajustable de manière flexible.
PCT/CN2016/090906 2016-07-21 2016-07-21 Système d'imagerie et de détection à ondes multiples WO2018014305A1 (fr)

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EP2863176A2 (fr) * 2013-10-21 2015-04-22 Sick Ag Capteur doté d'une unité de balayage se déplaçant autour d'un axe rotatif
CN105391910A (zh) * 2014-08-27 2016-03-09 莱卡地球系统公开股份有限公司 多摄像机激光扫描仪
CN105548988A (zh) * 2016-03-01 2016-05-04 北醒（北京）光子科技有限公司 一种具有多传感器的光探测与测量雷达
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CN106093928A (zh) * 2016-07-21 2016-11-09 武汉芯泰科技有限公司 一种多波探测与成像系统
CN206038901U (zh) * 2016-07-21 2017-03-22 武汉芯泰科技有限公司 一种多波探测与成像系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102132556A (zh) * 2008-08-20 2011-07-20 国立大学法人东京工业大学 长距离目标检测相机系统
CN103119469A (zh) * 2010-09-17 2013-05-22 威伯科有限公司 用于车辆的外部环境监测系统
EP2863176A2 (fr) * 2013-10-21 2015-04-22 Sick Ag Capteur doté d'une unité de balayage se déplaçant autour d'un axe rotatif
CN105391910A (zh) * 2014-08-27 2016-03-09 莱卡地球系统公开股份有限公司 多摄像机激光扫描仪
CN205220511U (zh) * 2015-12-23 2016-05-11 安徽安凯汽车股份有限公司 一种汽车安全驾驶辅助检测系统
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