Photoelectric anti-collision device

Abstract

The invention provides a photoelectric anti-collision device, which belongs to the technical field of photoelectric equipment and specifically comprises a shell, an infrared sensor assembly, a television sensor assembly and a laser radar. The infrared sensor assembly, the television sensor assembly and the laser radar are located in the shell, the field angles of the infrared sensor assembly, the television sensor assembly and the laser radar are overlapped by 60 degrees in the azimuth direction, and the field angles of the infrared sensor assembly, the television sensor assembly and the laser radar are overlapped by 45 degrees in the pitching direction; the infrared sensor assembly, the television sensor assembly and the post-processing module of the laser radar send obstacle target information to the image processing module; and the image processing module is used for processing the infrared image signal, the visible light image signal and the laser point cloud image to obtain an image superposed with obstacle information. Through the processing scheme provided by the invention, the obstacle recognition efficiency and success rate can be improved through image splicing and fusion of multiple sensors.

Description

Technical Field

[0001] The present application relates to the field of optoelectronic equipment, and in particular to an optoelectronic anti-collision device. Background Art

[0002] As a common aircraft, helicopters have the characteristics of low altitude, low speed and unchanging nose direction. In particular, they can take off and land vertically in a small area. Therefore, they are widely used in transportation, patrol, tourism, rescue and other fields. When a helicopter flies at a low altitude, it can be several meters above the ground and may encounter obstacles such as high-voltage wires, towers, buildings, plants, etc., which may affect flight safety. In order to adapt to the above complex flight environment, it is necessary to use an optoelectronic anti-collision device to detect, identify and warn obstacles to ensure flight safety. Summary of the invention

[0003] In view of this, the present application provides a photoelectric collision avoidance device, which solves the problems in the prior art and can further improve the efficiency and success rate of obstacle recognition through multi-sensor image stitching and fusion, thereby providing pilots with a more reliable obstacle warning function.

[0004] The photoelectric anti-collision device provided in this application adopts the following technical solution:

[0005] A photoelectric anti-collision device comprises a housing, an infrared sensor assembly, a television sensor assembly and a laser radar;

[0006] The shell is installed on the carrier, and the infrared sensor assembly, the television sensor assembly and the laser radar are located in the shell. The field of view angles of the infrared sensor assembly, the television sensor assembly and the laser radar overlap by 60° in azimuth, and the field of view angles of the infrared sensor assembly, the television sensor assembly and the laser radar overlap by 45° in elevation.

[0007] The infrared sensor assembly sends the infrared image signal to the image processing module via the optical fiber, the television sensor assembly sends the visible light image signal to the image processing module via the optical fiber, and the post-processing module of the laser radar sends the laser point cloud image of the obstacle target to the image processing module;

[0008] The image processing module is used to process the infrared image signal, the visible light image signal and the laser point cloud image to obtain an image superimposed with obstacle information.

[0009] Optionally, the infrared sensor assembly includes a first infrared sensor and a second infrared sensor, and the television sensor assembly includes a first television sensor and a second television sensor;

[0010] The image signals of the first infrared sensor, the second infrared sensor, the first television sensor and the second television sensor are sent to an image processing module;

[0011] The first infrared sensor and the second infrared sensor are located on both sides of the laser radar in azimuth, and the optical axes of the first infrared sensor and the second infrared sensor are symmetrical about the field of view center of the laser radar, and the field of view angles of the first infrared sensor and the second infrared sensor overlap in azimuth;

[0012] The first television sensor and the second television sensor are located on both sides of the laser radar in azimuth, and the optical axes of the first television sensor and the second television sensor are symmetrical about the field of view center of the laser radar, and the field of view angles of the first television sensor and the second television sensor overlap in azimuth.

[0013] Optionally, the azimuth field of view angle of the laser lidar is 60°.

[0014] Optionally, the azimuth viewing angles of the first infrared sensor, the second infrared sensor, the first television sensor, and the second television sensor are all less than 75°;

[0015] The field of view angles of the first infrared sensor and the second infrared sensor overlap by 2.5° in azimuth;

[0016] The field of view angles of the first television sensor and the second television sensor overlap by 2.5° in azimuth.

[0017] Optionally, the photoelectric anti-collision device also includes a mounting plate, which is mounted on the shell through a vibration absorber, and the infrared sensor assembly, the television sensor assembly and the laser radar are mounted on the mounting plate.

[0018] Optionally, a first light window, a second light window and a third light window are provided on the shell, wherein the first infrared sensor and the first television sensor share the first light window, the second infrared sensor and the second television sensor share the second light window, and the laser radar corresponds to the third light window.

[0019] Optionally, both the first infrared sensor and the second infrared sensor are long-wave infrared sensors, the operating band of the first infrared sensor and the second infrared sensor is 8 μm-12 μm, and the material of the first light window and the second light window is zinc sulfide.

[0020] Optionally, the material of the third radar window is quartz.

[0021] In summary, this application includes the following beneficial technical effects:

[0022] It provides an optoelectronic anti-collision device that integrates infrared, television and lidar imaging. It can further improve the efficiency and success rate of obstacle recognition through multi-sensor image stitching and fusion, and provide pilots with a more reliable obstacle warning function.

[0023] By using infrared sensors and television sensors, the photoelectric anti-collision device can adapt to more environments and meet the needs of day and night navigation.

[0024] By using the image stitching function, the field of view of the photoelectric collision avoidance device is further expanded, thereby providing obstacle perception capabilities with a wider coverage area.

[0025] By using laser radar, high-precision three-dimensional reconstructed images within the flight path are obtained, and fusion algorithms are used to achieve integrated processing of three-dimensional images with infrared and television images, thereby improving the detection and identification capabilities of obstacle targets.

[0026] The use of an integrated vibration reduction platform can further reduce the vibration level transmitted to each sensor on the platform, while ensuring the consistency of the optical axis position of each sensor during the vibration process, providing a basis for image stitching and image fusion functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a schematic diagram of the overall structure of the photoelectric anti-collision device of this application;

[0029] Figure 2 This is a schematic diagram of the overall structure of the photoelectric anti-collision device of the present application from another perspective;

[0030] Figure 3 A cross-sectional view of the photoelectric anti-collision device of this application;

[0031] Figure 4 A top view of the photoelectric anti-collision device of this application;

[0032] Figure 5 This is a schematic diagram of the structure of the infrared sensor assembly, TV sensor assembly and laser radar of this application;

[0033] Figure 6 This is a schematic diagram of the structure of the infrared sensor assembly, TV sensor assembly and laser radar from another perspective of this application;

[0034] Figure 7This is a schematic diagram of the internal cross-linking relationship of the photoelectric anti-collision device of the present application.

[0035] Explanation of the reference numerals in the accompanying drawings: 1. Shell; 2. Third light window; 3. First light window; 4. Second light window; 5. Cover plate; 7. Post-processing module; 8. Image processing module; 9. Control module; 10. Power supply module; 11. First fan; 12. Second fan; 13. External connector; 14. Mounting plate; 15. Shock absorber; 16. First infrared sensor; 17. First television sensor; 18. First optical fiber module; 19. Second infrared sensor; 20. Second television sensor; 21. Second optical fiber module; 22. LiDAR. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0037] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0038] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0039] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0040] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0041] An embodiment of the present application provides a photoelectric anti-collision device.

[0042] like Figures 1 to 7 As shown, a photoelectric anti-collision device includes a housing 1, an infrared sensor component, a television sensor component and a laser radar 22.

[0043] The shell 1 is installed on the carrier, and the infrared sensor assembly, television sensor assembly and laser radar 22 are located in the shell 1. The field of view angles of the infrared sensor assembly, television sensor assembly and laser radar 22 overlap by 60° in azimuth and 45° in elevation.

[0044] The infrared sensor assembly sends the infrared image signal to the image processing module 8 via optical fiber, the television sensor assembly sends the visible light image signal to the image processing module 8 via optical fiber, and the post-processing module 7 of the laser radar 22 sends the laser point cloud image of the obstacle target to the image processing module 8.

[0045] The image processing module 8 is used to process the infrared image signal, the visible light image signal and the laser point cloud image to obtain an image superimposed with obstacle information.

[0046] The infrared sensor assembly includes a first infrared sensor 16 and a second infrared sensor 19, and the television sensor assembly includes a first television sensor 17 and a second television sensor 20; image signals of the first infrared sensor 16, the second infrared sensor 19, the first television sensor 17 and the second television sensor 20 are sent to the image processing module 8; the first infrared sensor 16 and the second infrared sensor 19 are located on both sides of the laser radar 22 in azimuth, and the optical axes of the first infrared sensor 16 and the second infrared sensor 19 are symmetrical about the field of view center of the laser radar 22, and the field of view angles of the first infrared sensor 16 and the second infrared sensor 19 overlap in azimuth; the first television sensor 17 and the second television sensor 20 are located on both sides of the laser radar 22 in azimuth, and the optical axes of the first television sensor 17 and the second television sensor 20 are symmetrical about the field of view center of the laser radar 22, and the field of view angles of the first television sensor 17 and the second television sensor 20 overlap in azimuth.

[0047] The first infrared sensor 16 and the first television sensor 17 are connected to the image processing module 8 via the first optical fiber module 18, and the second infrared sensor 19 and the second television sensor 20 are connected to the image processing module 8 via the second optical fiber module 21. The infrared sensor assembly, the television sensor assembly, the laser radar 22 and the image processing module 8 of the present application are electrically connected via the control module 9, and the control module 9 controls the operation of each sensor.

[0048] In the embodiment of the present application, the function of the first optical fiber module 18 is to convert the image signals of the first infrared sensor 16 and the first television sensor 17 into optical signals, and transmit them to the image processing module 8, and the image processing module 8 converts the received optical signals into electrical signals; the function of the second optical fiber module 21 is to convert the image signals of the second infrared sensor 19 and the second television sensor 20 into optical signals and transmit them to the image processing module 8, and the image processing module 8 converts the received optical signals into electrical signals. The post-processing module 7 can receive the electrical signals of the optoelectronic module of the laser radar 22, convert them into three-dimensional dot matrix image signals and transmit them to the image processing module 8. The image processing module 8 can perform image splicing, image fusion and image recognition on the received signals, and output them to the aircraft display unit through the external connector 13. The function of the control module 9 is to receive the upper-level system instructions and distribute them to the sensors and the image processing module 8, so that they can act according to the system instructions. The power supply module 10 supplies power to the sensors, optical fiber modules, image processing module 8 and control module 9.

[0049] The azimuth field of view of the laser radar 22 is 60°.

[0050] The azimuth viewing angles of the first infrared sensor 16, the second infrared sensor 19, the first television sensor 17, and the second television sensor 20 are all less than 75°; and the pitch viewing angles of the first infrared sensor 16, the second infrared sensor 19, the first television sensor 17, and the second television sensor 20 completely overlap.

[0051] The field of view angles of the first infrared sensor 16 and the second infrared sensor 19 overlap by 2.5° in azimuth; the field of view angles of the first television sensor 17 and the second television sensor 20 overlap by 2.5° in azimuth; the images can be better stitched together, so that the photoelectric collision avoidance device has a larger field of view, and can image, detect and identify a larger range of scenes on the flight route.

[0052] The first television sensor 17 and the second television sensor 20 have the same performance parameters such as field of view, resolution, etc.

[0053] The photoelectric collision avoidance device further comprises a mounting plate 14, which is mounted on the housing 1 via a vibration damper, and the infrared sensor assembly, the television sensor assembly, the laser radar 22 and the optical fiber module are mounted on the mounting plate 14, wherein six vibration dampers 15 are provided, thereby playing a role in fixing and vibration reduction for the sensors, the laser radar 22 and the optical fiber module mounted on the mounting plate 14.

[0054] The shell 1 is provided with a first light window 3, a second light window 4 and a third light window 2, which are bonded to corresponding mounting holes of the shell 1 by silicone rubber, wherein the first infrared sensor 16 and the first television sensor 17 share the first light window 3, the second infrared sensor 19 and the second television sensor 20 share the second light window 4, and the laser radar 22 corresponds to the third light window 2.

[0055] The first infrared sensor 16 and the second infrared sensor 19 are both long-wave infrared sensors, the operating band of the first infrared sensor 16 and the second infrared sensor 19 is 8 μm-12 μm, the first light window 3 and the second light window 4 are both made of zinc sulfide, and the third radar light window is made of quartz.

[0056] In the embodiment of the present application, the bottom opening of the housing 1 is closed by a cover plate 5, and an external connector 13 is provided on the housing 1. The cover plate 5 and the external connector 13 are fixed to the housing 1 by corresponding screws; the housing 1, the cover plate 5, the first light window 3, the second light window 4 and the third light window 2 together constitute the exposed housing 1 of the photoelectric anti-collision device, providing a closed environment for the imaging sensor components and various circuit modules inside. The first fan 11 and the second fan 12 are respectively installed and fixed on the left and right sides inside the housing 1, and the air inlet and air outlet directions of the first fan 11 are opposite to those of the second fan 12, thereby forming a circulating airflow inside the housing 1, which is used to dissipate heat for the various sensors, optical fiber modules, image processing modules 8, control modules 9 and power modules 10.

[0057] During the assembly process, it is necessary to adjust the position of the optical axis of the first television sensor 17 based on the optical axis of the first infrared sensor 16 so that the two optical axes meet the parallelism index requirements; adjust the position of the optical axis of the second television sensor 20 based on the optical axis of the second infrared sensor 19 so that the two optical axes meet the parallelism index requirements; and adjust the relative position relationship between the first infrared sensor 16 and the second infrared sensor 19 on the mounting plate 14 based on the optical axis of the laser radar 22 so that the optical axes of the first infrared sensor 16 and the second infrared sensor 19 are symmetrically distributed with respect to the optical axis of the laser radar 22.

[0058] A specific embodiment of the photoelectric collision avoidance device is that when the pilot uses the photoelectric night vision collision avoidance device, the first infrared sensor 16 and the second infrared sensor 19 perform photoelectric conversion on the thermal radiation image of the scenery on the flight route and output an infrared image. The first television sensor 17 and the second television sensor 20 perform photoelectric conversion on the visible light image on the flight route and output a visible light image. The photoelectric module of the laser radar 22 performs three-dimensional imaging on the scene and target on the flight route, and the image of the obstacle target is output by the post-processing module 7 of the laser radar 22. The image processing module 8 splices the images of the first infrared sensor 16 and the second infrared sensor 19, splices the images of the first television sensor 17 and the second television sensor 20, and uses an intelligent recognition algorithm to automatically identify obstacles such as high-voltage lines, towers, buildings, plants, etc. in the images output by each sensor, and outputs prompt information; the image information output by the post-processing module 7 of the laser radar 22 is fused with the image information of the infrared sensor and the television sensor by using an image fusion algorithm, and the image information is superimposed and the image output is completed with the annotation information of the carrier aircraft to form a visual picture.

[0059] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A photoelectric anti-collision device, characterized in that: It comprises a housing (1), an infrared sensor assembly, a television sensor assembly and a laser radar (22); The housing (1) is mounted on a carrier aircraft, the infrared sensor assembly, the television sensor assembly and the laser radar (22) are located inside the housing (1), the field of view angles of the infrared sensor assembly, the television sensor assembly and the laser radar (22) overlap by 60° in azimuth, and the field of view angles of the infrared sensor assembly, the television sensor assembly and the laser radar (22) overlap by 45° in elevation; The infrared sensor assembly sends the infrared image signal to the image processing module (8) via the optical fiber, the television sensor assembly sends the visible light image signal to the image processing module (8) via the optical fiber, and the post-processing module (7) of the laser radar (22) sends the laser point cloud image of the obstacle target to the image processing module (8); The image processing module (8) is used to process the infrared image signal, the visible light image signal and the laser point cloud image to obtain an image superimposed with obstacle information.

2. The photoelectric anti-collision device according to claim 1, characterized in that: The infrared sensor assembly comprises a first infrared sensor (16) and a second infrared sensor (19), and the television sensor assembly comprises a first television sensor (17) and a second television sensor (20); The image signals of the first infrared sensor (16), the second infrared sensor (19), the first television sensor (17) and the second television sensor (20) are sent to an image processing module (8); The first infrared sensor (16) and the second infrared sensor (19) are located on both sides of the laser radar (22) in azimuth, and the optical axes of the first infrared sensor (16) and the second infrared sensor (19) are symmetrical about the field of view center of the laser radar (22), and the field of view angles of the first infrared sensor (16) and the second infrared sensor (19) overlap in azimuth; The first television sensor (17) and the second television sensor (20) are located on both sides of the laser radar (22) in azimuth, and the optical axes of the first television sensor (17) and the second television sensor (20) are symmetrical about the field of view center of the laser radar (22), and the field of view angles of the first television sensor (17) and the second television sensor (20) overlap in azimuth.

3. The photoelectric anti-collision device according to claim 1, characterized in that: The azimuth viewing angle of the laser radar (22) is 60°.

4. The photoelectric anti-collision device according to claim 2, characterized in that: The azimuth viewing angles of the first infrared sensor (16), the second infrared sensor (19), the first television sensor (17), and the second television sensor (20) are all less than 75°; The viewing angles of the first infrared sensor (16) and the second infrared sensor (19) overlap by 2.5° in azimuth; The viewing angles of the first television sensor (17) and the second television sensor (20) overlap by 2.5° in azimuth.

5. The photoelectric collision avoidance device according to claim 1, characterized in that: The photoelectric anti-collision device also includes a mounting plate (14), wherein the mounting plate (14) is mounted on the housing (1) via a vibration damper, and the infrared sensor assembly, the television sensor assembly and the laser radar (22) are mounted on the mounting plate (14).

6. The photoelectric collision avoidance device according to claim 2, characterized in that: The housing (1) is provided with a first light window (3), a second light window (4) and a third light window (2), wherein the first infrared sensor (16) and the first television sensor (17) share the first light window (3), the second infrared sensor (19) and the second television sensor (20) share the second light window (4), and the laser radar (22) corresponds to the third light window (2).

7. The photoelectric collision avoidance device according to claim 6, characterized in that: The first infrared sensor (16) and the second infrared sensor (19) are both long-wave infrared sensors, the operating waveband of the first infrared sensor (16) and the second infrared sensor (19) is 8 μm-12 μm, and the material of the first light window (3) and the second light window (4) is both zinc sulfide.

8. The photoelectric collision avoidance device according to claim 6, characterized in that: The material of the third radar window is quartz.

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