Low-cost multi-view-field optical detection device

Abstract

The invention discloses a low-cost multi-view-field optical detection device which comprises a light-transmitting cover arranged at the top end of a rack, a rolling support is arranged on the rack, the rolling support is connected with a rolling driver and assembled on the rack, and a pitching driver drives a pitching support to be rotationally assembled at the end of the rolling support; the central line of the detection unit 1 is arranged near the rotating central axis of the rolling bracket and is parallel to the central axis, the shooting frame rate is A, and the detection unit corresponds to a field of view alpha; the detection unit 2 is arranged on the pitching support, the shooting frame rate of the detection unit 2 is B, and the detection unit 2 corresponds to a field of view beta; the reflector 1 is a half reflector or a total reflector and is located on the front side of the lens of the detection unit 1, and an incident beam is transmitted to the lens 2 and the detector 2 after being reflected by the reflector 1 and the reflector 2; according to the design, a large view field and a small view field coexist through a commercially available camera.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical detection, and in particular relates to a low-cost multi-field optical detection device. Background Art

[0002] Guidance devices are typically mounted at the front end of a mobile vehicle. They measure key motion parameters of a target, such as image size and azimuth, in real time. Based on these parameters, they generate guidance information to precisely guide the vehicle to its designated destination. These devices receive energy radiated or reflected by the target (such as infrared, laser, or radio waves) to determine the target's relative position relative to the vehicle and generate corresponding guidance commands. The effectiveness of the guidance system is highly dependent on the performance of the guidance device, particularly in terms of high precision and rapid response.

[0003] In the existing technology, there are some solutions that attempt to solve the problem of switching between large and small fields of view: Authorized Chinese invention patent CN201911098004.7 proposes an optical system with scanning functionality. This system modifies the optical path of a Cassegrain telescope by inserting or removing a reflector. This system enables switching between a refracting telescope and a reflecting telescope, thereby converting between a large field-of-view scanning system and a small field-of-view cassegrain system. However, while feasible, this approach cannot simultaneously maintain both large and small fields of view. Only one field-of-view mode can be selected at a time, limiting the system's real-time performance and versatility.

[0004] Authorized Chinese patent CN202210463986.0 describes a common-aperture, multi-field-of-view optical system. This system utilizes the unobstructed edge of the Cassegrain primary mirror to achieve a medium-wave infrared (MWIR) large-field-of-view, short-focus system, while utilizing the obstructed Cassegrain primary optical path to achieve a small-field-of-view, long-focus system. This design allows the two optical systems to alternate between different needs. While addressing the issue of switching between large and small fields of view within a single wavelength band, it remains limited to single-band operation and lacks true multimode detection capabilities, i.e., simultaneous processing of visible and infrared light.

[0005] Neither of the above solutions can achieve the coexistence and simultaneous operation of large and small field-of-view systems, nor can they support multimodal detection. In particular, when trying to simultaneously meet the refraction requirements of visible light and medium-wave / long-wave infrared, the optical path design places extremely high bandwidth requirements, increasing the difficulty of selecting lens materials. As a result, the corresponding imaging camera development and production costs are very high, making it difficult to play a role in the development of the low-altitude economy.

[0006] The inventor's patent application CN202410616422.5 attempts to achieve both a large and small field of view through the design of an offset beamsplitter. However, this approach faces challenges in material selection, as it requires materials that can refractively capture both visible and infrared light over a wide bandwidth. Consequently, the development and production costs of the corresponding imaging camera are high, making it difficult to effectively utilize in the low-altitude economic development.

[0007] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0008] The object of the present invention is to provide a low-cost multi-field optical detection device, thereby overcoming the above-mentioned defects in the prior art.

[0009] To achieve the above-mentioned objectives, the present invention provides a low-cost multi-field-of-view optical detection device, including a roll bracket (a pitch motor, used to connect and drive the pitch bracket to deflect around the pitch axis; a roll motor or a roll motor and a transmission pair, used to connect the roll bracket and the frame, and drive the roll bracket to rotate around the central axis;), the roll bracket is connected to a roll driver assembled on the frame, and the pitch driver drives the pitch bracket to rotate and is assembled at the end of the roll bracket; and also includes a detection unit 1 and at least one detection unit 2.

[0010] The center line of the detection unit 1 is set near the central axis of rotation of the roll bracket and is parallel to the central axis. The shooting frame rate is A, corresponding to the field of view α. The detection unit 1 includes a lens 1 and a detector 1 arranged in the order of the optical path. The lens 1 and the detector 1 are mounted on the pitch bracket. The detection unit 2 is selected from one of the following structures: a structure 1 comprising the following components, wherein the reflector 1, the reflector 2, the lens 2 and the detector 2 are arranged on a pitch bracket; or a structure 1 comprising the following components, wherein the lens 2 and the detector 2 are arranged on a pitch bracket; The structure 2 includes the following components, wherein the reflector 1 is arranged on a pitch bracket, and the reflector 2, the lens 2 and the detector 2 are arranged on a roll bracket.

[0011] This configuration reduces the inertia of the pitch bracket by reducing the weight of the reflector 2, lens 2, and detector 2 of the detection unit 2, thereby increasing the deflection acceleration. At this point, the centerline of the light beams from the reflector 2, lens 2, and detector 2 are all parallel to the centerline of the detector 1, and the centerline of the light beam between the reflectors 1 and 2 is parallel to the extension of the centerline of the pitch axis.

[0012] The shooting frame rate of the detection unit 2 is B, corresponding to the field of view β; when the structure 1 of the detection unit 2 includes the lens-2 and the detector 2, the lens-2 is located in front of the lens 1 of the detection unit 1; when the detection unit 2 includes the reflector 1, the reflector 2, the lens 2 and the detector 2, when the reflector 1 is a half-reflector or a full-reflector, it is located in front of the lens 1 of the detection unit 1, and the incident light beam is reflected by the reflector 1 and the reflector 2 and then transmitted to the lens 2 and the detector 2; when the reflector-1 is a half-reflector, the reflector-1 reflects the light beam in the band where the lens-2 and the detector-2 are located and transmits the light beam in the band where the lens 1 and the detector-1 are located.

[0013] When reflector-1 is a total reflector, the diameter of lens-1 of detection unit 1 is D, and the diameter of the orthographic projection of reflector-1 of detection unit 2 on lens-1, with lens-1 as the projection surface, is d, where d ≤ 40% * D. At this point, the field of view angle α of detection unit 1 is smaller than the field of view angle β of detection unit 2.

[0014] A low-cost multi-field-of-view optical detection device includes a roll bracket provided on a frame, the roll bracket is connected to a roll driver and assembled on the frame, and the pitch driver drives the pitch bracket to rotate and is assembled on the end of the roll bracket; it also includes a detection unit 1, a detection unit 2 and a detection unit 3.

[0015] The detection unit 2 and the detection unit 3 are selected from one of the following structures: a structure 1 comprising the following components, wherein the reflectors 1 and 3, the reflectors 2 and 4, the lenses 2 and 3, and the detectors 2 and 3 are all arranged on a pitch bracket, and in this case, the reflectors 1 and 3 are located in front of the lens 1 of the detection unit 1; Structure 2 comprising the following components: lens 2, detector 2, reflector 3, reflector 4, and detector 3 are all arranged on a rolling bracket, wherein lens 2 and reflector 3 are located in front of lens 1 of detection unit 1; Structure 3 includes the following devices: reflectors 3, 4 and detector 3 are arranged on a pitch bracket, while reflectors 1, 2 and lens 2 of the detection unit 2 and detector 2 are arranged on a roll bracket, and reflectors 1 and 3 are located in front of the lens 1 of the detection unit 1.

[0016] Such an arrangement reduces the inertia of the pitch bracket by reducing the weight of the reflector 2 , the lens 2 and the detector 2 of the detection unit 2 , thereby increasing the acceleration of the deflection.

[0017] At this time, the center line of the light beam of the reflector 2, lens 2 and detector 2 is parallel to the center line of the detector 1. The center line of the light beam between the reflector 1 and the reflector 2 is parallel to the extension line of the center axis of the pitch axis.

[0018] The shooting frame rate of the detection unit 2 is B, corresponding to the field of view β.

[0019] The shooting frame rate of the detection unit 3 is C, corresponding to the field of view γ.

[0020] The reflector 3 is a semi-reflective mirror, which is located in front of the lens 1 of the detection unit 1 and the reflector 1 of the detection unit 2. The reflector 3 reflects the light beam in the wavelength band of the lens-3 and the detector-3 and transmits the light beam in the wavelength band of the lens 1 and the detector-1 as well as the lens 2 and the detector 2.

[0021] Reflector 1 is a half-reflective mirror or a full-reflective mirror, located in front of lens 1 of detection unit 1. The incident light beam is reflected by reflector 1 and reflector 2 and then transmitted to lens 2 and detector 2. When reflector-1 is a half-reflective mirror, it reflects the light beam in the wavelength band of lens-2 and detector-2 and transmits the light beam in the wavelength band of lens 1 and detector-1.

[0022] When reflector-1 is a total reflector, the diameter of lens-1 of detection unit 1 is D, and the diameter of the orthographic projection of reflector-1 of detection unit 2 on lens-1, with lens-1 as the projection surface, is d, where d ≤ 40% * D. In this case, the field of view angle α of detection unit 1 is smaller than the field of view angle β of detection unit 2.

[0023] Further preferably, the reflector 1 of the detection unit 2 is mounted on a pitch bracket, and the reflector 2, lens 2 and detector 2 are mounted on a roll bracket, the reflector 1 and the reflector 2 are arranged in sequence near the axis of the pitch axis, and the center line of the light beam between the reflector 1 and the reflector 2 is parallel to and coincides with the extension line of the pitch axis, thereby reducing the load of the pitch motor and increasing the speed of pitch deflection.

[0024] More preferably, the system further includes a light-transmitting cover arranged at the top of the rack, and an image processing board communicatively connected to the detector 1 and the detector 2 for processing the image data of the detector 1 and the detector 2.

[0025] Further preferably, it further includes a light-transmitting cover arranged at the top of the rack, and an image processing board communicatively connected to the detectors 1 , 2 and 3 for processing the image data of the detectors 1 , 2 and 3 .

[0026] Further preferably, a slip ring is included, which is arranged on the outer periphery of the rolling bracket or is sleeved on the central axis of the rolling bracket. The signals of detectors 1 and 2 are transmitted to the slip ring through the image processing board and then transmitted to the image processing board.

[0027] Further preferably, it also includes a merge ring, which is arranged on the outer periphery of the rolling bracket or is sleeved on the central axis of the rolling bracket. The signals of detectors 1, 2 and 3 are transmitted to the merge ring through the image processing board and then transmitted to the image processing board.

[0028] Further preferably, the rolling drive includes a hollow motor or a rotary motor and a transmission pair to produce continuous rotation or step rotation, or the transmission pair is driven by the rolling motor to produce step rotation or intermittent rotation, and then drives the rolling bracket to perform continuous rotation and / or intermittent rotation, and the frequency of its intermittent motion during step rotation or intermittent rotation is D; when the rolling bracket performs step rotation or intermittent rotation, the intermittent motion frequency D of the rolling bracket is coordinated with the frame rate A\B of the detection unit 1 and the detection unit 2, so that at least one clear photo can be obtained during the pause of the step motion or intermittent motion, thereby realizing detection of the external space; when the rolling bracket rotates continuously, the detection unit 1 and the detection unit 2 do not shoot the external space to achieve rapid detection and positioning.

[0029] Further preferably, the rolling drive includes a hollow motor or a rotary motor and a transmission pair to produce continuous rotation or step rotation, or the transmission pair is driven by the rolling motor to produce step rotation or intermittent rotation, and then drives the rolling bracket to perform continuous rotation and / or intermittent rotation, and the frequency of its intermittent motion during step rotation or intermittent rotation is D; when the rolling bracket performs step rotation or intermittent rotation, the intermittent motion frequency D of the rolling bracket is coordinated with the frame rate A\B\C of the detection unit 1, the detection unit 2 and the detection unit 3, so that at least one clear photo can be obtained during the pause of the step motion or intermittent motion, thereby realizing detection of the external space; when the rolling bracket rotates continuously, the detection unit 1, the detection unit 2 and the detection unit 3 do not shoot the external space to achieve rapid detection and positioning.

[0030] Further preferably, the transmission pair of the rolling drive is one of a grooved wheel mechanism, an incomplete gear mechanism and other conventional gap transmission mechanisms.

[0031] Further preferably, the pitch driver includes a hollow motor, a rotary motor and a pitch transmission pair, which generate deflection of the pitch bracket around the pitch axis, and the transmission pair is a gear or belt transmission pair.

[0032] Further preferably, the transmission pair of the rolling drive includes a continuous belt or gear transmission and a gap mechanism, and the gap mechanism includes but is not limited to a grooved wheel mechanism, an incomplete gear mechanism and other common gap transmission mechanisms, which are used to accurately control the rotation movement of the rolling bracket.

[0033] Further preferably, the frame rate of detection unit 1 is A, A is 5-60Hz, the frame rate of detection unit 2 is B, B is 5-60Hz, the minimum of the two frame rates is M, the exposure time is 0.5*1 / M, the operating frequency of the stepping motor or the gap mechanism is C, the duty cycle is greater than 50%, and C≤2M is satisfied; such an arrangement enables at least one image in the image corresponding to the continuous exposure shooting of the detector to be exposed within the gap pause time, thereby ensuring the stability of the exposure and ensuring that a clear image can be obtained when the roll motor or the roll motor drives the roll bracket to rotate for detection.

[0034] Further preferably, the frame rate of the detection unit 1 is A, A is 5-60Hz, the frame rate of the detection unit 2 is B, B is 5-60Hz, the frame rate of the detection unit 3 is C, C is 5-60Hz, the minimum value of the three frame rates is M, the exposure time is 0.5*1 / M, the operating frequency of the stepping motor or the gap mechanism is C, the duty cycle is greater than 50%, and C≤2M is satisfied; such an arrangement enables at least one image in the image corresponding to the continuous exposure shooting of the detector to be exposed within the gap pause time, thereby ensuring the stability of the exposure and ensuring that a clear image can be obtained when the roll motor or the roll motor drives the roll bracket to rotate for detection.

[0035] Further preferably, when the detection unit 3 is a laser ranging unit, the frame rate is C, C is 1-100 Hz, and is adjusted according to the detection distance. At this time, M takes the minimum value of the two frame rates A and B, satisfying C≤2M.

[0036] Further preferably, α is smaller than β; detector 1 is a medium-wave infrared or long-wave infrared detector, corresponding to a field of view angle α of 4-25°; detector 2 is a visible light detector, corresponding to a field of view angle β of 4-50°.

[0037] Further preferably, α is smaller than β, and β is greater than γ; detector 1 is a medium-wave infrared or long-wave infrared detector, corresponding to a field of view angle α of 4-25°; detector 2 is a visible light detector, corresponding to a field of view angle β of 4-50°, and detector 3 is a laser rangefinder, corresponding to a field of view of 0.02-0.5°, so as to realize the combination of multi-mode, multi-field of view and distance detection.

[0038] Further preferably, the objective lens diameter of the detector 1 is D, and the projection diameters of the reflector 1 and the reflector 3 of the detector 2 on the plane perpendicular to the central axis are d, wherein d is less than 30% of D.

[0039] Compared with the prior art, the present invention has the following beneficial effects: ① It can realize the imaging requirements of multi-mode beams in a narrow space similar to that of a seeker, meeting the imaging or detection requirements of 450nm-650nm visible light, as well as medium-wave infrared (3-5μm) and / or long-wave infrared (8-12μm); ② Assigning the infrared band to detector-1 reduces design difficulty and meets the requirement of a large lens diameter for infrared energy detection, thus achieving the goal of coexisting a large and a small field of view; The visible light band is allocated to detector-2, and a refractive optical system is used to process the visible light band, which reduces the design difficulty and the requirements for the optical system bandwidth. At the same time, it fully utilizes the characteristics of visible light with a relatively small field of view angle during long-focus detection and a large field of view angle during short-focus detection. At the same time, the small size of visible light devices and the low requirement for lens diameter are utilized to reduce the size of the device to a limited extent. In addition, the characteristics of infrared light energy imaging are utilized to set a visible light detector in front of its mirror without affecting the characteristics of infrared energy imaging, thus realizing the combination of visible light and infrared detection. ③ The reflector 1 of detection unit 1 and detection unit 2 is simultaneously set on the pitch axis and driven to rotate by the pitch motor to achieve pitch angle (0-90°) scanning. The other optical path components of detection unit 2 are fixed to the roll bracket, which reduces the load of the pitch motor and increases the acceleration of pitch deflection. At the same time, detection unit 1 and detection unit 2 use the roll bracket to rotate 360° around the central axis. The combination of the two realizes scanning detection of the hemispherical range of external space; ④ More importantly, this case can use commercially available visible light cameras and infrared modules to form the detection units 1, 2, and 3 of this case. There is no need to redevelop lenses and cameras for the three bands. The three are combined to achieve detection in their respective bands, making this device low-cost (for example, the visible light camera uses an 8-megapixel camera module with 20x optical zoom produced by a Shenzhen company sold online or a mobile phone lens module, the infrared camera uses an 8-12 micron thermal imaging module with a maximum focal length of 50mm sold online by a Hangzhou company, and the laser ranging uses a commercially available 808 or 980 laser ranging unit). All three devices can achieve the optical combination in this case and are all produced by private suppliers, with the characteristics of low price and large supply; ⑤ Using a roll stepper motor or a combination of a roll motor and a transmission pair to achieve continuous or step rotation of the roll bracket and thus achieve rapid positioning and rotation detection; At the same time, the movement frequency of the roll motor and the gap transmission mechanism is coordinated with the frame rate of the detection unit camera, so that the detection unit will not produce image tailing, image blur, etc. caused by rotation when shooting, thereby reducing the setting of complex phase shift or phase rotation compensation mechanisms such as electromechanical servo or fast reflex mirrors, and further reducing the cost of this case. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1a.1 、 Figure 1a.2 、 Figure 1a.3 Schematic diagram of different rolling structures; Figure 1b.1 and Figure 1b.2 Schematic diagram of different matching relationships between detection unit 1 and detection unit 2; Figure 2 is a schematic diagram of a sheave mechanism and an incomplete gear mechanism; Figure 3.1 and Figure 3.2 and Figure 3.3 Schematic diagram of the coordination among detection unit 1, detection unit 2 and detection unit 3; Figure 4 Schematic diagram of the detector exposure cycle and motion gap electrical control signal; Figure 5 Schematic diagram of detector size; Figure 6a 、 Figure 6b This is a schematic structural diagram of Example 2; Figure 7a 、 Figure 7b Schematic diagram of the drive system and signal transmission of Example 2; Figure 8 Schematic diagram of the obstruction; Figure 9.1 The image is obtained for 0% occlusion rate; Figure 9.2 The image is obtained for 12% occlusion rate; Figure 9.3 The image is obtained for 18% occlusion rate; Figure 9.4 Get the image for 25% occlusion rate; Figure 9.5 Obtain images for 30% occlusion rate; Figure 9.6 Obtain images for 40-70% occlusion rate; Figure 10 and Figure 11 For statistical charts. DETAILED DESCRIPTION

[0041] The specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0042] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations such as "include" or "comprising", etc., will be understood to include the stated elements or components but not to exclude other elements or other components. Example

[0043] Device structure The low-cost multi-field optical detection device of this embodiment is mainly composed of the following parts: Mechanical structure: Frame and bracket: The frame is equipped with a roll bracket, which is connected to the frame through a roll drive and can rotate around the central axis; the pitch motor is connected and drives the pitch bracket to deflect around the pitch axis, and the pitch bracket is assembled at the end of the roll bracket.

[0044] Drive: The roll drive includes a hollow motor or a rotary motor and a transmission pair, which can produce continuous rotation or step-by-step rotation. The transmission pair is driven by the roll motor and can also produce step-by-step or intermittent rotation. For example, conventional intermittent transmission mechanisms such as grooved wheel mechanisms and incomplete gear mechanisms are used to accurately control the rotation of the roll bracket; the pitch drive includes a hollow motor, a rotary motor and a pitch transmission pair (gear or belt transmission pair) to realize the deflection of the pitch bracket around the pitch axis.

[0045] Detection unit: Detection Unit 1: Its centerline is located near and parallel to the roll bracket's rotation axis. Its capture frame rate A is 5-60 Hz, corresponding to a field of view α ranging from 4-25°. Detector 1 uses a medium-wave infrared or long-wave infrared detector. This unit consists of a lens 1 and a detector 1, arranged sequentially along the optical path, both mounted on the pitch bracket.

[0046] Detection Unit 2: Available in various configurations. In Configuration 1, reflector 1, reflector 2, lens 2, and detector 2 are all mounted on the pitch bracket, or lens 2 and detector 2 are mounted on the pitch bracket. In Configuration 2, reflector 1 is mounted on the pitch bracket, while reflector 2, lens 2, and detector 2 are mounted on the roll bracket. This configuration reduces the pitch bracket's inertia and increases deflection acceleration. The beam centerline of reflector 2, lens 2, and detector 2 is parallel to the centerline of detector 1. The beam centerline between reflectors 1 and 2 is parallel to the extension of the pitch axis. Detection Unit 2 has a frame rate B of 5-60 Hz, corresponding to a field of view β ranging from 4-20°. Detector 2 is a visible light detector.

[0047] Reflector Characteristics: Reflector 1 is located in front of the lens of Detector Unit 1. If it is a semi-reflector, it reflects the light beam in the wavelength band of Lens 2 and Detector 2, and transmits the light beam in the wavelength band of Lens 1 and Detector 1. If it is a fully reflective mirror, with Lens 1 as the projection surface, the diameter d of the orthographic projection of Reflector 1 of Detector Unit 2 on Lens 1 satisfies d ≤ 40% * D, preferably d is less than 30% of D. In this case, the field of view angle α is greater than the field of view angle β. When Reflector 1 and Reflector 2 are arranged in sequence near the pitch axis, with the beam centerline between them parallel and coinciding with the extended pitch axis, the pitch motor load is reduced, and the pitch deflection speed is increased.

[0048] Signal processing: Image processing board: communicates with detector 1 and detector 2 and processes the image data of the two.

[0049] Slip ring: It is installed on the outer periphery of the rolling bracket or is sleeved on the central axis of the rolling bracket. The signals of detector 1 and detector 2 are transmitted to the slip ring through the image processing board and then transmitted to the image processing board.

[0050] Parameter coordination: Set the minimum value of frame rates A and B to M, the exposure duration to 0.5*1 / M, the stepper motor or gap mechanism operating frequency to C, and a duty cycle greater than 50%, with C ≤ 2M. This ensures stable exposure during the gap pause time for the detector, allowing for clear images. When the rolling bracket steps or gap rotates, its gap motion frequency D is coordinated with frame rates A and B to obtain clear images during the pause period for spatial detection. During continuous rotation, detection units 1 and 2 do not capture images, enabling rapid detection and positioning. Example

[0051] Device structure Mechanical structure: Similar to Example 1, including a frame, a roll bracket, a roll drive, a pitch bracket and a pitch drive, and the types and functions of the drives are consistent.

[0052] Detection unit: Detection unit 1: The parameters are the same as those in Example 1.

[0053] Detection Unit 2 and Detection Unit 3: Multiple configurations are available. In Configuration 1, reflectors 1 and 3, reflectors 2 and 4, lenses 2 and 3, and detectors 2 and 3 are all mounted on the pitch bracket. In Configuration 2, lens 2 and detector 2, reflector 3, and reflector 4 and detector 3 are all mounted on the roll bracket. In Configuration 3, reflectors 3 and 4, as well as detector 3, are mounted on the pitch bracket, while reflector 1, reflector 2, lens 2, and detector 2 of detection unit 2 are mounted on the roll bracket. This reduces the pitch bracket's inertia and increases deflection acceleration.

[0054] Reflector characteristics: Reflector 3 is a semi-reflective mirror, located in front of lens 1 of detection unit 1 and reflector 1 of detection unit 2. It can reflect the light beams in the band of lens-3 and detector-3, and transmit the light beams in the band of lens 1 and detector-1, as well as lens 2 and detector 2. Reflector 1 is a semi-reflective mirror or a fully reflective mirror, and its characteristics are consistent with those of reflector 1 in Example 1.

[0055] Field of View and Frame Rate: Detection unit 2 captures at a frame rate B of 5-60Hz, corresponding to a field of view β ranging from 4-20°. Detection unit 3 captures at a frame rate C of 5-60Hz (for laser ranging units, the frame rate C is 1-100Hz, adjusted based on the detection distance), corresponding to a field of view γ ranging from 0.02-0.5°. The field of view angle relationship is: α is greater than β, and β is greater than γ.

[0056] Signal processing: The image processing board is communicatively connected to detectors 1, 2, and 3 to process image data; the slip ring transmits the signals of detectors 1, 2, and 3, similar to Example 1.

[0057] Parameter coordination: Set the minimum value of frame rates A, B, and C to M (if detection unit 3 is a laser ranging unit, M is the minimum of A and B). The exposure duration is 0.5*1 / M. The operating frequency C of the stepper motor or gap mechanism must satisfy a duty cycle greater than 50% and C ≤ 2M. The coordination of the rolling bracket rotation and frame rate is the same as in Example 1.

[0058] Imaging inspection, image analysis and effect verification.

[0059] In order to explore the influence of the infrared lens front reflector on the infrared camera imaging, the following experiments were conducted: Test equipment: An 8-12μm long-wave infrared lens and a matching camera (50mm fixed-focus lens with autofocus) from Changchun Zhongyou Company were used. A DJI Phantom drone was used as the target, and the camera output was connected to a computer via an Ethernet port. The ambient temperature was 6-10°C, and the weather was clear.

[0060] Testing Method: Use tweezers to hold a square piece of black cardboard 20mm in front of the camera lens. Test drone imaging at a distance of 200m. By folding the cardboard to change its surface area, the imaging effect and pixel values under varying degrees of obstruction were measured and statistically analyzed. Images 9.1 to 9.6 were acquired at no obstruction, 12% obstruction, 18% obstruction, 25% obstruction, 30% obstruction, and 40-70% obstruction.

[0061] Analysis Method: Statistical image 10 uses grayscale as the horizontal axis and pixel count as the vertical axis; statistical image 11 uses occlusion ratio as the horizontal axis and sharpness as the vertical axis. Sharpness is measured by calculating the image gradient (Gaussian blur is first used to reduce noise, then the Sobel operator is used to calculate the gradient, and the sum of the gradients is used to measure sharpness).

[0062] Test conclusion: When there is no occlusion, the grayscale value is concentrated. After occlusion, the grayscale value becomes more dispersed and the number of pixels decreases.

[0063] When the occlusion rate is less than 18%, the target can be identified even though the outline is not clear enough; when it is greater than 25%, the unclear outline has a greater impact on the pixel value.

[0064] Assume that the diameter of lens 1 is D and the diameter of the reflector is d, and the occlusion rate is (d / D)²≤18%, d / D=42%, and the maximum ratio is 40%.

[0065] In summary, this embodiment demonstrates the feasibility and effectiveness of the devices in structural design, parameter configuration, and practical application through the construction and imaging verification of two low-cost multi-field optical detection devices.

[0066] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A low-cost multi-field optical detection device, characterized in that: include: A frame, on which a rolling bracket is provided, and the rolling bracket is connected to a rolling drive and assembled on the frame; A pitch driver drives the pitch bracket to rotate and is assembled on the end of the roll bracket; Detection unit 1, the centerline of which is arranged near and parallel to the central axis of rotation of the roll bracket, with a shooting frame rate of A corresponding to a field of view α; comprising lens 1 and detector 1 arranged in the order of the optical path, and lens 1 and detector 1 mounted on the pitch bracket; The detection unit 2 is selected from one of the following structures: Structure 1, comprising a reflector 1, a reflector 2, a lens 2 and a detector 2 arranged on a pitch bracket; Structure 2, comprising a lens 2 and a detector 2 arranged on a pitch bracket; Structure 3, reflector 1 is set on the pitch bracket, reflector 2, lens 2 and detector 2 are set on the roll bracket. In this case, the center lines of the light beams of reflector 2, lens 2 and detector 2 are parallel to the center line of detector 1, and the center line of the light beam between reflectors 1 and 2 is parallel to the extension line of the center axis of the pitch axis; The shooting frame rate of the detection unit 2 is B, corresponding to the field of view β; When the structure 1 of the detection unit 2 includes a lens 2 and a detector 2, the lens 2 is located in front of the lens 1 of the detection unit 1; When the detection unit 2 includes a reflector 1, a reflector 2, a lens 2 and a detector 2, the reflector 1 is a half-reflector or a full-reflector, and is located in front of the lens 1 of the detection unit 1. The incident light beam is reflected by the reflector 1 and the reflector 2 and then transmitted to the lens 2 and the detector 2. When the reflector-1 is a semi-reflective mirror, the reflector-1 reflects the light beam in the wavelength band of the lens-2 and the detector-2 and transmits the light beam in the wavelength band of the lens-1 and the detector-1; When the reflector-1 is a total reflector, the diameter of the lens-1 of the detection unit 1 is D, and the diameter of the positive projection of the reflector-1 of the detection unit 2 on the lens-1 with the lens-1 as the projection surface is d, and d≦40%*D; at this time, the field of view angle of the detection unit 1 is α, and the field of view angle of the detection unit 2 is β.

2. The optical detection device according to claim 1, characterized in that The system also includes a light-transmitting cover arranged on the top of the rack, and an image processing board connected to the detector 1 and the detector 2 for processing the image data of the detector 1 and the detector 2.

3. The optical detection device according to claim 1, characterized in that It also includes a slip ring, which is arranged on the outer periphery of the rolling bracket or sleeved on the central axis of the rolling bracket. The signals of detectors 1 and 2 are transmitted to the slip ring through the image processing board and then transmitted to the image processing board.

4. The optical detection device according to claim 1, characterized in that The roll drive includes a hollow motor or a rotary motor and a transmission pair to generate continuous rotation or step-by-step rotation, or the transmission pair is driven by the roll motor to generate step-by-step rotation or intermittent rotation, thereby driving the roll bracket to perform continuous rotation and / or intermittent rotation, and the frequency of the intermittent motion during the step-by-step rotation or intermittent rotation is D; When the rolling bracket performs step-by-step or intermittent rotation, the intermittent motion frequency D of the rolling bracket cooperates with the frame rates A and B of the detection unit 1 and the detection unit 2, so that at least one clear picture can be obtained during the pause of the step-by-step motion or the intermittent motion, thereby realizing the detection of the external space; When the rolling bracket rotates continuously, the detection unit 1 and the detection unit 2 do not take pictures of the external space, so as to achieve rapid detection and positioning.

5. The optical detection device according to claim 4, characterized in that The transmission pair of the rolling drive is one of a grooved wheel mechanism, an incomplete gear mechanism and other conventional gap transmission mechanisms.

6. The optical detection device according to claim 1, characterized in that α is smaller than β; detector 1 is a medium-wave infrared or long-wave infrared detector, and the corresponding field of view angle α is 4-25°; detector 2 is a visible light detector, and the corresponding field of view angle β is 4°-50°.

7. The optical detection device according to claim 1, characterized in that The frame rate of the detection unit 1 is A, A is 5-60 Hz, the frame rate of the detection unit 2 is B, B is 5-60 Hz, the minimum frame rate is M, the exposure time is 0.5*1 / M, the operating frequency of the stepping motor or gap mechanism is C, the duty cycle is greater than 50%, and C≤2M is satisfied.

8. A low-cost multi-field optical detection device, characterized in that: include: A frame, on which a rolling bracket is provided, and the rolling bracket is connected to a rolling drive and assembled on the frame; A pitch driver drives the pitch bracket to rotate and is assembled on the end of the roll bracket; Detection unit 1; Detection unit 2 and detection unit 3 are selected from one of the following structures: Structure 1, comprising reflectors 1 and 3, reflectors 2 and 4, lenses 2 and 3, and detectors 2 and 3, which are arranged on a pitch bracket. In this case, reflectors 1 and 3 are located in front of lens 1 of detection unit 1. Structure 2, comprising lens 2, detector 2, reflector 3, reflector 4 and detector 3, all of which are arranged on a rolling bracket. In this case, lens 2 and reflector 3 are located in front of lens 1 of detection unit 1. Structure 3, reflectors 3 and 4, and detector 3 are mounted on a pitch bracket, while reflectors 1, 2, lens 2, and detector 2 of detection unit 2 are mounted on a roll bracket. In this case, reflectors 1 and 3 are located in front of lens 1 of detection unit 1. The centerline of the light beams from reflector 2, lens 2, and detector 2 is parallel to the centerline of detector 1, and the centerline of the light beam between reflectors 1 and 2 is parallel to the extension of the centerline of the pitch axis. The shooting frame rate of the detection unit 2 is B, corresponding to the field of view β; The shooting frame rate of the detection unit 3 is C, corresponding to the field of view γ; The reflector 3 is a semi-reflective mirror, which is located in front of the lens 1 of the detection unit 1 and the reflector 1 of the detection unit 2. The reflector 3 reflects the light beams in the wavelength band of the lens 3 and the detector 3 and transmits the light beams in the wavelength bands of the lens 1 and the detector 1 as well as the lens 2 and the detector 2. The reflector 1 is a half reflector or a full reflector, and is located in front of the lens 1 of the detection unit 1. The incident light beam is reflected by the reflector 1 and the reflector 2 and then transmitted to the lens 2 and the detector 2. When the reflector-1 is a semi-reflective mirror, the reflector-1 reflects the light beam in the wavelength band of the lens-2 and the detector-2 and transmits the light beam in the wavelength band of the lens-1 and the detector-1; When the reflector-1 is a total reflector, the diameter of the lens-1 of the detection unit 1 is D, and the diameter of the orthographic projection of the reflector-1 of the detection unit 2 on the lens-1 with the lens-1 as the projection surface is d, and d≦40%*D; at this time, the field of view angle α of the detection unit 1 is smaller than the field of view angle β of the detection unit 2.

9. The optical detection device according to claim 8, characterized in that It also includes a light-transmitting cover arranged on the top of the rack, and an image processing board communicatively connected to detector 1, detector 2 and detector 3, for processing the image data of detector 1, detector 2 and detector 3.

10. The optical detection device according to claim 8, characterized in that It also includes a slip ring, which is arranged on the outer periphery of the rolling bracket or sleeved on the central axis of the rolling bracket. The signals of detectors 1, 2 and 3 are transmitted to the slip ring through the image processing board and then transmitted to the image processing board.

11. The optical detection device according to claim 8, characterized in that The roll drive includes a hollow motor or a rotary motor and a transmission pair to generate continuous rotation or step-by-step rotation, or the transmission pair is driven by the roll motor to generate step-by-step rotation or intermittent rotation, thereby driving the roll bracket to perform continuous rotation and / or intermittent rotation, and the frequency of the intermittent motion during the step-by-step rotation or intermittent rotation is D; When the rolling bracket performs step-by-step or intermittent rotation, the intermittent motion frequency D of the rolling bracket cooperates with the frame rates A, B, and C of the detection units 1, 2, and 3 so that at least one clear picture can be obtained during the pauses of the step-by-step or intermittent motion, thereby realizing detection of the external space; When the rolling bracket rotates continuously, the detection unit 1, the detection unit 2 and the detection unit 3 do not take pictures of the external space, so as to achieve rapid detection and positioning.

12. The optical detection device according to claim 11, characterized in that The transmission pair of the rolling drive is one of a grooved wheel mechanism, an incomplete gear mechanism and other conventional gap transmission mechanisms.

13. The optical detection device according to claim 8, characterized in that The frame rate of the detection unit 1 is A, A is 5-60 Hz, the frame rate of the detection unit 2 is B, B is 5-60 Hz, and the frame rate of the detection unit 3 is C, C is 5-60 Hz. The minimum value of the three frame rates is M, the exposure time is 0.5*1 / M, the operating frequency of the stepping motor or the gap mechanism is C, the duty cycle is greater than 50%, and C≤2M is satisfied.

14. The optical detection device according to claim 13, characterized in that When the detection unit 3 is a laser ranging unit, the frame rate is C, which is 1-100Hz and is adjusted according to the detection distance. At this time, M takes the minimum value of the two frame rates A and B, satisfying C≤2M.

15. The optical detection device according to claim 8, characterized in that α is greater than β, and β is greater than γ; detector 1 is a medium-wave infrared or long-wave infrared detector, corresponding to a field of view angle α of 4-25°; detector 2 is a visible light detector, corresponding to a field of view angle β of 4-50°; detector 3 is a laser rangefinder, corresponding to a field of view of 0.02-0.5°, to achieve the combination of multi-mode, multi-field of view and distance detection.

16. The optical detection device according to claim 1 or 8, characterized in that: The reflector 1 of the detection unit 2 is mounted on a pitch bracket, and the reflector 2, lens 2 and detector 2 are mounted on a roll bracket. The reflector 1 and the reflector 2 are arranged in sequence near the axis of the pitch axis, and the center line of the light beam between the reflector 1 and the reflector 2 is parallel to and coincides with the extension line of the pitch axis.

17. The optical detection device according to claim 1 or 8, characterized in that: The pitch driver includes a hollow motor, a rotary motor and a pitch transmission pair, which generates deflection of the pitch bracket around the pitch axis. The transmission pair is a gear or belt transmission pair.

18. The optical detection device according to claim 1 or 8, characterized in that: The transmission pair of the rolling drive includes a continuous belt or gear transmission and a gap mechanism, and the gap mechanism includes but is not limited to a groove wheel mechanism, an incomplete gear mechanism and other common gap transmission mechanisms, which are used to accurately control the rotation movement of the rolling bracket.

19. The optical detection device according to claim 1 or 8, characterized in that: The objective lens diameter of the detector 1 is D, and the projection diameter of the reflector 1 and the reflector 3 of the detector 2 on the plane perpendicular to the central axis is d, where d is less than 30% of D.

Images