Common-optical-path laser radar system and method

Abstract

The embodiment of the invention discloses a common-optical-path laser radar system and method. The system comprises a laser emitting module which responds to a driving and modulating signal to emit laser, shapes the laser and irradiates the laser to a target to be measured; the laser receiving module is used for receiving target echoes generated by the to-be-measured target to obtain a dual-band light beam; the light splitting and direction adjusting module receives the dual-band light beam, performs light splitting processing to obtain a first light beam and a second light beam, and transmits the first light beam and the second light beam to a first light path and a second light path respectively; the visible light sensor module collects the first light beam along the first light path and processes the first light beam to obtain visible light data; the depth sensor module collects a second light beam along a second light path and processes the second light beam to obtain depth data; and the fusion module is used for carrying out parallel processing on the visible light data and the depth data to obtain a pseudo-color three-dimensional image. Through an optical structure with a common optical path and a same field angle, the imaging field of view of a depth image and the imaging field of view of a visible light image are ensured to be consistent and synchronous in space and time.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and more specifically, to a common optical path laser radar system and method. Background Art

[0002] The core component of existing LiDAR is the depth sensor, which mainly provides distance information. However, in practical applications, RGB visible light image information is usually required. Generally, a separate system for collecting visible light images is equipped. Visible light grayscale data and depth data are collected through a single sensor to generate visible light images and depth images. This solution is large in size, the fields of view of the two systems are inconsistent, and the data collection speed is affected, greatly reducing the imaging frame rate. Summary of the invention

[0003] An object of the present invention is to provide a common optical path laser radar system and method to solve at least one of the problems existing in the prior art.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A first aspect of the present invention provides a common optical path laser radar system, the system comprising

[0006] A laser emission module, used for emitting laser in response to a driving and modulation signal, and shaping the laser before irradiating it onto a target to be measured;

[0007] A laser receiving module, used for receiving a target echo generated by the target to be measured to obtain a dual-band light beam;

[0008] A light splitting and direction adjustment module, used for receiving the dual-band light beam and performing light splitting processing to obtain a first light beam and a second light beam, and transmitting the first light beam and the second light beam to a first light path and a second light path respectively;

[0009] A visible light sensor module, used for collecting the first light beam along the first light path and processing the first light beam to obtain visible light data;

[0010] A depth sensor module, used for collecting the second light beam along the second light path and processing the second light beam to obtain depth data;

[0011] A fusion module is used to process the visible light data and the depth data in parallel to obtain a pseudo-color three-dimensional image.

[0012] Optionally, the laser emission module includes a laser, a laser shaping unit, a laser driving and modulation unit and a temperature control unit; wherein

[0013] The laser driving and modulation unit is used to send driving and modulation signals to the laser;

[0014] The laser is used to receive the driving and modulation signals and emit laser light;

[0015] The temperature control unit is used to send a temperature control signal to the laser and perform temperature control;

[0016] The laser shaping unit is used to receive the laser and shape it into a light beam required for laser illumination.

[0017] Optionally, the laser receiving module includes an imaging lens that matches a visible light band sensor and an infrared light band sensor, and the receiving field of view of the imaging lens is larger than the field of view of the laser illumination.

[0018] Optionally, the light splitting and direction adjustment module comprises a light splitting unit arranged on the optical path of the dual-band light beam, and a light beam direction adjustment unit arranged perpendicular to the light splitting unit; wherein

[0019] The light splitting unit is used to perform light splitting processing on the dual-band light beam to obtain a first light beam and a second light beam, and transmit the first light beam along the first light path to the visible light sensor module;

[0020] The light beam pointing adjustment unit is used to receive the second light beam and reflect and transmit the second light beam along the second light path to the depth sensor module.

[0021] Optionally, the visible light sensor module includes a first light filtering unit, a visible light sensor, a visible light data acquisition unit and a visible light data processing unit arranged along the first light path; wherein

[0022] The first filter unit is used to receive the first light beam and select a light beam in a first wavelength band to pass;

[0023] The visible light sensor is used to obtain a visible light color image according to the light beam in the first waveband;

[0024] The visible light data acquisition unit is used to process the visible light color image to obtain a first electrical signal;

[0025] The visible light data processing unit is used to receive the first electrical signal and perform data processing to obtain the visible light data.

[0026] Optionally, the depth sensor module includes a second filter unit, a depth sensor, a depth data acquisition unit and a depth data processing unit arranged along the second optical path; wherein

[0027] The second filter unit is used to receive the second light beam and select a light beam in a second wavelength band to pass;

[0028] The depth sensor is used to obtain a depth image according to the light beam in the second wavelength band;

[0029] The depth data acquisition unit is used to process the depth image to obtain a second electrical signal;

[0030] The depth data processing unit is used to receive the second electrical signal and perform data processing to obtain the depth data.

[0031] Optionally, the fusion module includes a dual-mode image fusion unit and a fusion image processing unit which are arranged in sequence; wherein

[0032] The dual-mode image fusion unit is used to receive and perform parallel processing on the visible light data and the depth data to obtain fused data;

[0033] The fused image processing unit is used to process the fused data to generate a pseudo-color three-dimensional image.

[0034] Optionally, the system further includes

[0035] Data output module, used to transmit various data to the outside through external interface;

[0036] The control module is used to store and analyze the various data and control each module.

[0037] Optionally, a pixel size of the depth sensor is larger than a pixel size of the visible light sensor.

[0038] A second aspect of the present invention provides a common optical path laser radar method, the method comprising:

[0039] Using a laser emission module, emitting laser in response to a driving and modulation signal, and shaping the laser to irradiate the target to be measured;

[0040] Using a laser receiving module, receiving a target echo generated by the target to be measured to obtain a dual-band light beam;

[0041] Using a light splitting and direction adjustment module, the dual-band light beam is received and light splitted to obtain a first light beam and a second light beam, and the first light beam and the second light beam are transmitted to a first light path and a second light path respectively;

[0042] Using a visible light sensor module, collecting the first light beam along the first light path and processing the first light beam to obtain visible light data;

[0043] Using a depth sensor module, collecting the second light beam along the second light path and processing the collected light beam to obtain depth data;

[0044] The visible light data and the depth data are processed in parallel by a fusion module to obtain a pseudo-color three-dimensional image.

[0045] The beneficial effects of the present invention are as follows:

[0046] The present invention provides a common optical path laser radar system, which has a simple structure. Through the optical structure of the common optical path and the same field of view angle, the imaging field of the depth image and the visible light image is guaranteed to be consistent, thus solving the problem of inconsistency of the imaging field of the dual sensors; at the same time, the two-dimensional image and the three-dimensional image are synchronized in space and time, thus reducing the difficulty of subsequent complex processing tasks such as registration and fusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0048] Figure 1 A schematic structural diagram of a common optical path laser radar system provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0049] In order to explain the present invention more clearly, the present invention is further described below in conjunction with embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and the protection scope of the present invention should not be limited thereto.

[0050] LiDAR is an optoelectronic remote sensing detection device that uses laser as a radiation source and uses physical parameters such as reflected light echo intensity, phase and polarization to actively measure the distance to the target, i.e. depth data. It is widely used in high-tech fields such as autonomous driving, drones, robots, landform mapping, security monitoring, smart cities, the Internet of Things and modern agriculture.

[0051] The core component of existing LiDAR is the depth sensor, which mainly provides distance information. However, in practical applications, RGB visible light image information is usually required. Generally, a separate system for collecting visible light images is equipped. Visible light grayscale data and depth data are collected through a single sensor to generate visible light images and depth images. This solution is large in size, the fields of view of the two systems are inconsistent, and the data collection speed is affected, greatly reducing the imaging frame rate.

[0052] In view of this, an embodiment of the present invention provides a common optical path laser radar system, which includes a laser emitting module, which is used to emit laser in response to a driving and modulation signal, and shape the laser and then irradiate it to a target to be measured; a laser receiving module, which is used to receive a target echo generated by the target to be measured to obtain a dual-band light beam; a spectroscopic and pointing adjustment module, which is used to receive the dual-band light beam and perform spectroscopic processing to obtain a first light beam and a second light beam, and transmit the first light beam and the second light beam to the first optical path and the second optical path respectively; a visible light sensor module, which is used to collect the first light beam along the first optical path and process it to obtain visible light data; a depth sensor module, which is used to collect the second light beam along the second optical path and process it to obtain depth data; and a fusion module, which is used to process the visible light data and the depth data in parallel to obtain a pseudo-color three-dimensional image.

[0053] Specifically, Figure 1 As shown, this embodiment discloses a common optical path dual-light fusion solid-state laser radar system, which includes a laser transmitting module 100, a laser receiving module 200 (receiving lens module), a splitting and pointing adjustment module 300, an RGB visible light sensor module 400, a depth sensor module 500, a fusion module 600, a data processing module 700 and a system control module 800 in sequence.

[0054] This embodiment adopts the dual sensor mode of "depth sensor + color visible light sensor". Through the optical structure of common optical path and same field of view, the imaging field of depth image and visible light image is guaranteed to be consistent, which solves the problem of inconsistent imaging field of dual sensors and improves the acquisition frame rate and visible light image quality. At the same time, it ensures the synchronization of two-dimensional image and three-dimensional image in space and time, reducing the difficulty of subsequent complex processing such as registration and fusion.

[0055] In a possible implementation, the laser emission module includes a laser, a laser shaping unit, a laser driving and modulation unit, and a temperature control unit; wherein the laser driving and modulation unit is used to send driving and modulation signals to the laser; the laser is used to receive the driving and modulation signals and emit laser; the temperature control unit is used to send a temperature control signal to the laser and perform temperature control; the laser shaping unit is used to receive the laser and shape it into a light beam required for laser illumination.

[0056] Specifically, Figure 1As shown, the laser emission module 100 includes a laser 101, a laser shaping unit 102, a laser driving and modulation unit 103, and a temperature control unit 104. The laser emission module 100 is used to emit infrared laser, modulate waveforms and parameters, perform shaping and beam expansion, control the position, direction and shape of the laser beam in space, irradiate the target and generate the required laser echo signal.

[0057] Furthermore, the laser 101 can be a distributed feedback semiconductor laser, an external cavity semiconductor laser, a vertical cavity surface emitting laser, a dye laser, a quantum cascade laser, a solid laser and a gas laser, etc. The laser 101 has the characteristics of narrow bandwidth, nanosecond trigger signal, high power and stable output. The selection of the specific laser emission wavelength needs to correspond to the spectral response sensitivity of the depth sensor, which is generally a near-infrared band, such as 850nm, 905nm, 940nm and 1550nm. Optionally, the laser can be a single laser or distributed in an array.

[0058] The laser shaping unit 102 shapes the light beam output by the laser. The unshaped light beam cannot meet the lighting requirements of the laser radar system, because the asymmetry of the illumination field does not match the receiving surface of the sensor, which is not conducive to fully utilizing the light energy, and the uneven distribution of light intensity in the illumination field leads to a reduction in the dynamic range available to the system. The shaping elements in the laser shaping unit 102 include diffuse reflectors, diffractive optical elements (DOE), binary diffraction gratings, liquid crystal spatial light modulators (LC-SLM), compound eye lenses, microlens arrays, optical fibers, integrating rods and tetrahedral mirrors. The laser shaping unit 102 shapes the light beam output by the laser into a light beam that meets the lighting requirements of the laser radar system, meeting the field of view matching and uniform light intensity.

[0059] The laser driving and modulation unit 103 is used to drive and control the laser, provide a stable working current for the laser, and control the laser to work in a continuous mode or a pulse mode. The modulation unit can be a signal generator, a single chip microcomputer, an FPGA, etc., which can generate precise triangle waves, sawtooth waves, rectangular waves (including square waves), and sine wave signals, etc., and can meet the high frequency (up to 100MHz) and wide range (100MHz-0.75MHz) working frequency of the sensor. The duty cycle is adjustable, and the adjustment range is 10%-90%. The duty cycle and frequency can be adjusted separately, and the two do not affect each other.

[0060] The temperature control unit 104 is used to control the temperature of the laser so that the laser works in an optimal temperature range, generally around 25 degrees Celsius.

[0061] In a possible implementation, the laser receiving module includes an imaging lens that matches a visible light band sensor and an infrared light band sensor, and the receiving field of view of the imaging lens is larger than the field of view of the laser illumination.

[0062] Specifically, the laser receiving module 200 is specifically an imaging lens group or lens. This embodiment adopts an optical path design of an imaging lens matching a dual sensor, and the imaging lens works in dual bands, including a visible light band of 400-700nm and an infrared light band of 800-1700nm (such as 850nm, 905nm, 940nm and 1550nm, etc.). The receiving field of view of the imaging lens should be larger than the laser illumination field of view to meet the requirements of two-band fusion imaging, the F number is controlled at about 2, and at a resolution of 50lp / mm, the modulation transfer function (MTF) value within 0.7 field of view is greater than 0.6, the absolute value of the full field distortion is less than 3%, and the edge relative illumination is greater than 30%.

[0063] This embodiment adopts an optical structure with a common optical path and the same field of view for both visible light and near-infrared dual bands, ensuring that the imaging fields of the visible light image and the depth image are consistent, with a compact structure, and realizing efficient and reliable integration of the laser and sensor transceiver system.

[0064] In a possible implementation, the splitting and direction adjustment module includes a splitting unit arranged on the optical path of the dual-band light beam, and a beam direction adjustment unit arranged perpendicular to the splitting unit; wherein the splitting unit is used to split the dual-band light beam to obtain a first light beam and a second light beam, and transmit the first light beam along the first light path to the visible light sensor module; the beam direction adjustment unit is used to receive the second light beam and reflect the second light beam along the second light path to the depth sensor module.

[0065] Specifically, the light splitting and direction adjustment module 300 includes a light splitting unit 301 and a light beam direction adjustment unit 302. The light splitting and direction adjustment module 300 is used to collect and image a dual-band light beam, one of which is transmitted by transmission and the other is transmitted by reflection.

[0066] Furthermore, the spectroscopic unit 301 may be a spectroscopic plate or a spectroscopic prism, which is coated with a film layer with a certain transmittance-reflection ratio, so that part of the imaging light is transmitted to the visible light sensor for imaging, and part is reflected to the depth sensor in the vertical direction to collect data, thereby realizing one lens with two sensors. The spectroscopic prism must ensure that the reflected light and the transmitted light have equal optical path, thereby ensuring the coplanarity of the sensor, the accuracy of the measurement and the imaging quality of the optical system. Optionally, the spectroscopic prism selected in this embodiment is formed by gluing two 45° right-angle prisms, and the central area of ​​the gluing surface is coated with a 50% reflection and 50% transmission neutral film to ensure equal optical path of the reflected light and the transmitted light.

[0067] The light beam pointing adjustment unit 302 may be a reflector coated with a high reflectivity of a corresponding wavelength band, and is used to adjust the light beam collected by the laser receiving module to enter a corresponding sensor.

[0068] This embodiment implements split-path imaging processing for dual-band light beams, realizes transmission imaging of the first band light beam and reflection imaging of the other band light beam, and solves the problem of inconsistent fields of view caused by parallel optical systems.

[0069] In a possible implementation, the visible light sensor module includes a first filter unit, a visible light sensor, a visible light data acquisition unit and a visible light data processing unit arranged along the first optical path; wherein the first filter unit is used to receive the first light beam and select a light beam of a first band to pass; the visible light sensor is used to obtain a visible light color image based on the light beam of the first band; the visible light data acquisition unit is used to process the visible light color image to obtain a first electrical signal; and the visible light data processing unit is used to receive the first electrical signal and perform data processing to obtain the visible light data.

[0070] Specifically, the RGB visible light sensor module (visible light sensor module) 400 includes a filter unit (first filter unit) 401, an RGB visible light sensor (visible light sensor) 402, a visible light data acquisition unit 403 and a visible light data processing unit 404, which are used to collect visible light images.

[0071] Furthermore, the filter unit 401 is coated with a 400-700nm band anti-reflection film, which is used to select the light in this band to pass through and cut off the light outside the passband to avoid interference and improve the collection effect.

[0072] The RGB visible light sensor 402 may be a CCD / CMOS sensor for collecting visible light color images, which usually has a smaller pixel size and a higher resolution. The pixel size of the depth sensor is larger than that of the visible light CMOS / CCD sensor, and the resolution of the former is smaller than that of the latter. In order to match sensors with different pixels and resolutions in a lens on the same optical path, the pixel sizes of the two sensors are generally integer multiples.

[0073] The visible light data acquisition unit 403 includes an analog-to-digital conversion chip and an amplifier, and generates an electrical signal from the collected light signal through the analog-to-digital conversion chip, and transmits the electrical signal to the visible light data processing unit 404 .

[0074] In a possible implementation, the depth sensor module includes a second filtering unit, a depth sensor, a depth data acquisition unit and a depth data processing unit arranged along the second optical path; wherein the second filtering unit is used to receive the second light beam and select a light beam of a second band to pass; the depth sensor is used to obtain a depth image based on the light beam of the second band; the depth data acquisition unit is used to process the depth image to obtain a second electrical signal; and the depth data processing unit is used to receive the second electrical signal and perform data processing to obtain the depth data.

[0075] In a possible implementation manner, a pixel size of the depth sensor is larger than a pixel size of the visible light sensor.

[0076] Specifically, the depth sensor module 500 includes a filter unit (second filter unit) 501, a depth sensor 502, a depth data acquisition unit 503 and a depth data processing unit 504, and is used to acquire a depth image.

[0077] Furthermore, the filter unit 501 is coated with an anti-reflection film in the 800-1700nm band, which selects the light in this band to pass and cuts off the light outside the passband to avoid interference and improve the collection effect. Optionally, the filter unit 501 can be a filter with high peak transmittance and high cutoff depth.

[0078] The depth sensor 502 is a key component of the laser radar system, and its characteristic parameters directly determine the imaging field of view and resolution. The depth sensor integrates a large number of matrix sensors with independent working pixels, each pixel has a complex structure, including a modulation control unit, a timing circuit, an analog-to-digital conversion unit, and a data processing unit. It measures the time difference or phase difference of the echo light received by the sensor after the sine wave or square wave periodic modulated light emitted by the laser is reflected by the measured target, and then the phase information is calculated by the proportion of the charge accumulated in different phases and then converted into the required flight time difference, and then the depth information is calculated. The depth sensor can be a CCD / CMOS sensor based on the structured light principle, the flight time principle, and the binocular vision principle, etc., wherein the resolution is 320×240 and 640×480, etc. This embodiment uses a depth sensor with a resolution of 640×480.

[0079] The depth data acquisition unit 503 includes an analog-to-digital conversion chip and an amplifier, and generates an electrical signal from the collected optical signal through the analog-to-digital conversion chip and transmits the electrical signal to the depth data processing unit.

[0080] The depth data processing unit 504 performs noise reduction and depth recovery on the collected image data, and finally presents a recovered depth image.

[0081] In a possible implementation, the fusion module includes a dual-mode image fusion unit and a fusion image processing unit arranged in sequence; wherein the dual-mode image fusion unit is used to receive and parallel process the visible light data and the depth data to obtain fusion data; and the fusion image processing unit is used to process the fusion data to generate a pseudo-color three-dimensional image.

[0082] Specifically, the fusion module 600 includes a dual-mode image fusion unit 601 and a fusion image processing unit 602, which are used to complete the parallel processing of the visible light data and depth data transmitted by the RGB visible light sensor module 400 and the depth sensor module 500, and to simultaneously collect multiple points of the target in the imaging area, so as to realize fast depth data imaging and visible light image, and to perform image fusion and reconstruct the generated fusion data to generate a pseudo-color three-dimensional image by using the features of the depth bottom image data and the visible light image detail data. The resolution interpolation and sampling of the depth image and the visible light image, the image fusion reconstruction and the pseudo-color image generation processing algorithms are realized to generate pseudo-color image data of the visible light image and the depth image fusion.

[0083] This embodiment adopts the common aperture mode to realize integrated reception, and performs multi-point synchronization on the target in the imaging area to realize the rapid acquisition of three-dimensional (depth) data and two-dimensional (color) data, thereby improving the original data acquisition speed and reducing the complexity of image registration and fusion processing.

[0084] In a possible implementation, the system further includes a data output module for transmitting various data to the outside through an external interface; and a control module for storing and analyzing the various data and controlling each module.

[0085] Specifically, the data output unit 700 is used to transmit the various processed and solved data to the outside through the external interface according to the specified protocol. The data output unit 700 integrates I2C interface, RJ45, 10 / 100M, USB virtual network and TCP / IP protocol.

[0086] In a specific example, the system control module (control module) 800 is used to store, analyze, process and transmit the collected test data, and to comprehensively control the entire system. The system control module can store and analyze the collected test data on the one hand, and can also transmit the test data, instrument operating parameters, real-time status parameters and other information to the outside through an external interface according to a specified protocol on the other hand.

[0087] Furthermore, the system control content includes the detection process control of the device, operation parameter setting, operation parameter acquisition, operation log generation, operation protection and alarm, etc.

[0088] This embodiment proposes an optical path system for matching a solid-state laser radar with an imaging lens and dual sensors (RGB visible light sensor and depth sensor), which satisfies the use of two sensors with different functions through light splitting distribution, shares a set of transmitting and receiving systems, synchronizes and parallelizes the visible light-depth data acquisition and receiving mode, and then aligns and fuses. The system has a simple structure, and through the optical structure of the same optical path and the same field of view angle, it ensures that the imaging field of the depth image and the visible light image are consistent, solving the problem of inconsistent imaging field of the dual sensors; at the same time, it ensures that the two-dimensional image and the three-dimensional image are synchronized in space and time, reducing the difficulty of subsequent complex processing such as alignment and fusion.

[0089] Another embodiment of the present invention provides a common optical path laser radar method, which includes using a laser emitting module to emit laser in response to a driving and modulation signal, and shaping the laser to irradiate the target to be measured; using a laser receiving module to receive a target echo generated by the target to be measured to obtain a dual-band light beam; using a splitting and pointing adjustment module to receive the dual-band light beam and perform splitting processing to obtain a first light beam and a second light beam, and transmitting the first light beam and the second light beam to a first optical path and a second optical path respectively; using a visible light sensor module to collect the first light beam along the first optical path and process it to obtain visible light data; using a depth sensor module to collect the second light beam along the second optical path and process it to obtain depth data; using a fusion module to parallelly process the visible light data and the depth data to obtain a pseudo-color three-dimensional image.

[0090] Furthermore, the method also includes utilizing a data output module to transmit various data to the outside through an external interface; utilizing a control module to store and analyze the various data, and controlling each module.

[0091] This embodiment proposes a light path method for matching a dual sensor (RGB visible light sensor and depth sensor) with one imaging lens of a solid-state laser radar. The method satisfies the use of two sensors with different functions through light splitting distribution, shares a set of transmitting-receiving systems, synchronizes and parallelizes the visible light-depth data acquisition and receiving modes, and then aligns and fuses. This method ensures the consistency of the imaging field of view of the depth image and the visible light image through the optical structure with the same optical path and the same field of view angle, solves the problem of inconsistent imaging field of view of the dual sensors; at the same time, it ensures the synchronization of the two-dimensional image and the three-dimensional image in space and time, reducing the difficulty of subsequent complex processing such as alignment and fusion.

[0092] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0093] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0094] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A common optical path laser radar system, characterized in that: The system includes A laser emission module, used for emitting laser in response to a driving and modulation signal, and shaping the laser before irradiating it onto a target to be measured; A laser receiving module, used for receiving a target echo generated by the target to be measured to obtain a dual-band light beam; A light splitting and direction adjustment module, used for receiving the dual-band light beam and performing light splitting processing to obtain a first light beam and a second light beam, and transmitting the first light beam and the second light beam to a first light path and a second light path respectively; A visible light sensor module, used for collecting the first light beam along the first light path and processing the first light beam to obtain visible light data; A depth sensor module, used for collecting the second light beam along the second light path and processing the second light beam to obtain depth data; A fusion module is used to process the visible light data and the depth data in parallel to obtain a pseudo-color three-dimensional image.

2. The common optical path laser radar system according to claim 1, characterized in that: The laser emission module includes a laser, a laser shaping unit, a laser driving and modulation unit and a temperature control unit; in The laser driving and modulation unit is used to send driving and modulation signals to the laser; The laser is used to receive the driving and modulation signals and emit laser light; The temperature control unit is used to send a temperature control signal to the laser and perform temperature control; The laser shaping unit is used to receive the laser and shape it into a light beam required for laser illumination.

3. The common optical path laser radar system according to claim 2, characterized in that: The laser receiving module includes an imaging lens that matches a visible light band sensor and an infrared light band sensor, and the receiving field of view of the imaging lens is larger than the field of view of the laser illumination.

4. The common optical path laser radar system according to claim 3, characterized in that: The light splitting and direction adjustment module comprises a light splitting unit arranged on the optical path of the dual-band light beam, and a light beam direction adjustment unit arranged vertically to the light splitting unit; wherein The light splitting unit is used to perform light splitting processing on the dual-band light beam to obtain a first light beam and a second light beam, and transmit the first light beam along the first light path to the visible light sensor module; The light beam pointing adjustment unit is used to receive the second light beam and reflect and transmit the second light beam along the second light path to the depth sensor module.

5. The common optical path laser radar system according to claim 4, characterized in that: The visible light sensor module includes a first light filtering unit, a visible light sensor, a visible light data acquisition unit and a visible light data processing unit arranged along the first light path; wherein The first filter unit is used to receive the first light beam and select a light beam in a first wavelength band to pass; The visible light sensor is used to obtain a visible light color image according to the light beam in the first waveband; The visible light data acquisition unit is used to process the visible light color image to obtain a first electrical signal; The visible light data processing unit is used to receive the first electrical signal and perform data processing to obtain the visible light data.

6. The common optical path laser radar system according to claim 5, characterized in that: The depth sensor module includes a second filter unit, a depth sensor, a depth data acquisition unit and a depth data processing unit arranged along the second optical path; wherein The second filter unit is used to receive the second light beam and select a light beam in a second wavelength band to pass; The depth sensor is used to obtain a depth image according to the light beam in the second wavelength band; The depth data acquisition unit is used to process the depth image to obtain a second electrical signal; The depth data processing unit is used to receive the second electrical signal and perform data processing to obtain the depth data.

7. The common optical path laser radar system according to claim 6, characterized in that: The fusion module includes a dual-mode image fusion unit and a fusion image processing unit arranged in sequence; wherein The dual-mode image fusion unit is used to receive and perform parallel processing on the visible light data and the depth data to obtain fused data; The fused image processing unit is used to process the fused data to generate a pseudo-color three-dimensional image.

8. The common optical path laser radar system according to claim 7, characterized in that: The system also includes Data output module, used to transmit various data to the outside through external interface; The control module is used to store and analyze the various data and control each module.

9. The common optical path laser radar system according to claim 8, characterized in that: A pixel size of the depth sensor is larger than a pixel size of the visible light sensor.

10. A common optical path laser radar method, characterized in that: The method includes Using a laser emission module, emitting laser in response to a driving and modulation signal, and shaping the laser to irradiate the target to be measured; Using a laser receiving module, receiving a target echo generated by the target to be measured to obtain a dual-band light beam; Using a light splitting and direction adjustment module, the dual-band light beam is received and light splitted to obtain a first light beam and a second light beam, and the first light beam and the second light beam are transmitted to a first light path and a second light path respectively; Using a visible light sensor module, collecting the first light beam along the first light path and processing the first light beam to obtain visible light data; Using a depth sensor module, collecting the second light beam along the second light path and processing the collected light beam to obtain depth data; The visible light data and the depth data are processed in parallel by a fusion module to obtain a pseudo-color three-dimensional image.

Images