Detection method and detection system

Abstract

The invention discloses a detection method which comprises a light emitting module, a processing module and a light receiving module. The light emitting module comprises N emitting regions (wherein N is an integer greater than or equal to 2), and emitted light of every two adjacent emitting regions of the emitting regions has different polarization angles; in at least part of time periods, at least part of receiving areas in the light receiving module receive return light which is input by at least two transmitting areas, has different polarization angles and is reflected by a detected object, and the receiving module corresponds to at least part of areas of the return light with different polarization angles. The light source is only excited by the return light which is partially or completely filtered by the return light of at least one polarization angle to generate a photo-generated electric signal; and the processing module obtains the target information of the final detected object according to the processing of the photo-generated electric signal excited by the filtered return light by the receiving module, so that the effect of weakening or eliminating the multipath interference phenomenon is realized, and the accuracy of the detection result is ensured.

Description

technical field [0001] The present application relates to the technical field of laser radar detection, in particular to a detection method and a detection system. Background technique [0002] With the development of lidar technology, time of flight (TOF) has received more and more attention. The principle of TOF is to continuously send light pulses to the target, and then use the sensor to receive the light returned from the object. Light, by detecting the flight (round-trip) time of the light pulse to obtain the distance of the target object. At present, more methods are used including direct time-of-flight detection (mainly using the direct time difference between the emitted laser and the returned laser to obtain the target distance), and indirect flight Time detection (mainly to obtain the phase difference between the emitted light and the returned light, so as to use the phase difference to obtain the final time-of-flight to calculate the distance of the target), the ...

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Problems solved by technology

[0003] In the normal ranging process, the distance of the detected object can be obtained without touching the object by using the direct or indirect time-of-flight measurement method. When multi-point detection is used, it is also possible to obtain the distance of the object through the multi-point measurement setting. Shape profile, matching and post-processing can realize the output of three-dimensional images, etc. However, in the actual detection process, especially the ranging process, the emitted light of the array light source needs to have a certain diffusion angle to ensure that the field of view is sufficient. However, when the field of view is guaranteed, the emitted light projected by the light source has a large diffusion angle. In this case, the detection objects in the field of view will be more complicated. For example, there are roads, obstacles, people, etc. in the market in automatic driving. For example, in the application of sweeping robots, there are grounds, corners, obstacles, etc. in the market, and for example, there are grounds, people in corners, etc. in the field of view of security cameras. Of course, here are just a few examples. This application scenario is not limited to this

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