An imaging system and apparatus resistant to harsh interference

Abstract

The application relates to the field of detection imaging, in particular to an imaging system and equipment resistant to severe interference. The system comprises an infrared imaging module, a laser radar module, a single-photon radar module and a data processing unit; the data processing unit is used for acquiring first detection data, second detection data and third detection data; adjusting the confidence weight of the first detection data, the fusion weight of the second detection data and the third detection data according to the environmental parameters of a target environment; generating a first contour feature based on the first detection data, and filtering the second detection data and the third detection data according to the first contour feature and a preset error threshold to obtain target second detection data and target third detection data; the preset error threshold is determined according to the confidence weight; and the target second detection data and the target third detection data are fused based on the fusion weight to generate a target image. High-robustness target perception capability is realized in a complex interference environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of detection imaging, and in particular to an imaging system and device resistant to severe interference. BACKGROUND

[0002] Laser radar is a radar monitoring technology that realizes high-precision ranging, three-dimensional modeling and dynamic target perception by emitting a laser pulse light beam and receiving the echo signal reflected by the target. Its core principle is to use the coherence, directivity and high energy density of laser to obtain target information through time flight method (ToF) or Doppler effect. Laser radar is widely used in automatic driving, military reconnaissance, security monitoring and other fields.

[0003] For example, the patent application with the publication number CN112731443A discloses a single-photon laser radar and short-wave infrared image fusion three-dimensional imaging system and method. The system includes a laser light source, a single-photon detector, an optical system, a signal control unit, and a short-wave infrared camera. The laser light source includes a laser controller connected to the single-photon detector. The optical system is a transceiver coaxial optical system, including a transmitting optical path and a receiving optical path. The signal control unit is connected to the single-photon detector and the laser light source, and is used to send control signals.

[0004] For another example, the patent application with the publication number CN119618194A discloses a perception device and method based on multi-modal sensor integration and synchronization. The processing unit and the power supply unit are arranged inside the main support, and the processing unit is installed above the power supply unit. One end of the main support is provided with a display unit, and the top of the main support is provided with a sensor unit. One side of the sensor unit is provided with a sensor synchronization module. The power supply unit is electrically connected to the processing unit, and the processing unit is electrically connected to the sensor unit, the display unit and the sensor synchronization module. A hardware trigger circuit is designed to trigger the laser radar, the visible light camera and the infrared camera to collect data at the same time. Then, the memory sharing method is used to align the timestamps of each frame of data of the three, and the integration of the laser radar, the visible light camera and the infrared camera and the high-precision time synchronization method provide comprehensive and high-quality data input for the SLAM system.

[0005] However, there are various interferences in severe environments, and the performance of various detection modules is easily affected by these interferences, resulting in insufficient adaptability and reliability of existing imaging technology in severe environments. SUMMARY

[0006] The main purpose of the present application is to provide an imaging system and device resistant to severe interference. In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0007] The first aspect of the present application is to provide an anti-severe interference imaging system, the system comprising an infrared imaging module, a laser radar module, a single-photon radar module and a data processing unit;

[0008] The data processing unit is configured to:

[0009] acquire first detection data collected by the infrared imaging module, second detection data collected by the laser radar module and third detection data collected by the single-photon radar module;

[0010] adjust the weights among the first detection data, the second detection data and the third detection data according to the environmental parameters of the target environment, wherein the weights comprise a confidence weight of the first detection data and a fusion weight of the second detection data and the third detection data;

[0011] generate a first contour feature based on the first detection data, and filter the second detection data and the third detection data according to the first contour feature and a preset error threshold to obtain target second detection data and target third detection data, wherein the preset error threshold is determined according to the confidence weight;

[0012] fuse the target second detection data and the target third detection data based on the fusion weight to generate a target image.

[0013] The second aspect of the present application is to provide an anti-severe interference imaging device, which is applied to the anti-severe interference imaging system provided in any embodiment of the present application, and the device comprises:

[0014] an infrared imaging module configured to collect first detection data corresponding to a target environment;

[0015] a laser radar module configured to collect second detection data corresponding to the target environment;

[0016] a single-photon radar module configured to collect third detection data corresponding to the target environment.

[0017] Advantages:

[0018] The embodiments of the present application provide an anti-severe interference imaging system and device, which acquires heterogeneous and complementary detection data through triple detection of infrared imaging, laser radar and single-photon radar, and proposes a multi-dimensional and highly collaborative layered filtering mechanism based on multi-modal modules. In the early stage of collection, the basic interference filtering is realized through the cooperation of physics and algorithms, and in the data processing stage, a closed-loop filtering of dynamic weights is constructed, thereby realizing high-robustness target perception ability in a complex interference environment.

[0019] First, the basic filtering in the early stage of collection. The single-photon radar module locks the core time window of the target echo through main peak detection, only receives the photon signals in this period, and suppresses the interference of scattering noise and environmental noise; the polarizing beam splitter separates the emitted laser and echo signals by adjusting the wave plate angle, further improving the anti-interference ability. The laser radar module receives the corresponding point cloud data by means of the shared time window, excluding a large number of useless background or noise point interference; at the same time, the laser radar and the infrared imaging module are integrated with optical phase change materials (such as vanadium dioxide), which dynamically reduce the transmittance of the corresponding waveband when the incident signal intensity is abnormal, and suppress the strong light interference. In addition, the timing controller synchronizes the trigger signals of the three types of sensors, ensuring the alignment of the data in the time and space dimensions, and laying the foundation for subsequent fusion processing.

[0020] Second, dynamic weight filtering in the processing stage. The system dynamically adjusts the confidence weight and fusion weight of the detection data according to the environmental parameters, adapts to the adaptability of different modules in different harsh environments, and then sets the dynamic error threshold corresponding to the confidence weight based on the contour generated by the infrared data, and checks and filters the laser and single-photon point clouds. Further, the anti-verification and compensation mechanism is introduced: for the continuous contour with abnormal missing, the error threshold is temporarily relaxed, and the suspicious data is re-verified and the reasonable contour is completed. The closed-loop strategy of "filtering-verification-compensation" not only retains the key target information, but also avoids the introduction of interference data, and finally realizes reliable target reconstruction in complex interference environment. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. In all the drawings, similar elements or parts are generally identified by similar reference signs. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creating any inventive labor.

[0022] Figure 1 is a schematic diagram of an anti-harsh interference imaging system provided by an embodiment of the present application;

[0023] Figure 2 is a structural schematic diagram of an anti-harsh interference imaging system provided by an embodiment of the present application;

[0024] Figure 3 is a flow schematic diagram of data processing by a data processing unit provided by an embodiment of the present application;

[0025] Figure 4is a flowchart of another data processing unit provided by an embodiment of the present application for data processing. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0027] The flowchart shown in the drawings is only an example and does not necessarily include all the contents and operations / steps, nor does it necessarily be executed in the described order. For example, some operations / steps can be further decomposed, combined or partially merged, so that the actual execution order can be changed according to the actual situation.

[0028] In this document, the suffixes such as "module", "part" or "unit" used to represent elements are only for the convenience of description of the present application and do not have specific meanings. Therefore, "module", "part" or "unit" can be used interchangeably.

[0029] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description of the present application and simplification of the description, and do not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0030] In this document, unless otherwise explicitly specified and limited, the terms "mount", "provided with", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be directly connected, can be indirectly connected through an intermediate medium, or can be the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0032] In this document, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0033] As used herein, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0034] As used herein, the harsh environment refers to the external environmental conditions that have a significant negative impact on the performance of the detection system, mainly including: harsh weather interference, light pollution interference, electromagnetic interference and thermal radiation interference environment. The harsh weather environment refers to rain, snow, fog, dust and other high-scattering environments that cause the atmospheric scattering and absorption effect to be enhanced, among which the particles cause Mie scattering of the laser signal, causing signal attenuation, noise increase and target feature degradation, and the influence degree is closely related to the particle size, concentration and atmospheric visibility. The light pollution interference environment includes strong light direct radiation, artificial light sources such as urban lighting, which cover the detection waveband and cause the sensor to be saturated or introduce false echoes; the electromagnetic interference environment is composed of electromagnetic radiation generated by radars, motors, wireless communication devices, etc., which can cause system signal distortion or signal-to-noise ratio decrease. The thermal radiation interference environment refers to a scene with strong infrared radiation sources such as heat-seeking missiles and high-temperature backgrounds, which can mask the thermal features of real targets.

[0035] As used herein, the target environment refers to the specific external environment that the current detection system needs to detect, and the environmental state of the target environment directly affects the detection performance of each sensor. The environmental parameters of the target environment refer to physical quantities or characteristic information used to characterize the influence of the external environment on the quality of the detection data, and at least one or more of the following: atmospheric visibility, illumination intensity, background thermal radiation level, electromagnetic noise intensity, precipitation intensity, aerosol concentration, wind speed and environmental temperature and humidity. The environmental parameters can be obtained by special sensors integrated in the system, multi-modal detection data inversion or external information sources. For example, the atmospheric visibility is obtained by a meteorological sensor or based on the laser radar echo attenuation rate; the illumination intensity is determined by the background brightness statistical value of the ambient light sensor or the infrared imaging module; the aerosol concentration can be obtained by inputting the air quality data provided by the environmental monitoring station; the wind speed and the environmental temperature and humidity are directly collected by the anemometer, temperature sensor and humidity sensor in the built-in meteorological micro station. The environmental parameters can be used alone or in combination for analysis to dynamically evaluate the reliability of each module in the current environment.

[0036] An anti-harsh interference imaging device is provided in the embodiments of the present application, which is applied to the anti-harsh interference imaging system provided in any embodiment of the present application. The device comprises an infrared imaging module, a laser radar module and a single-photon radar module, which work cooperatively to realize multi-dimensional data acquisition and analysis of the target environment.

[0037] The infrared imaging module is configured to collect first detection data of the target environment, and the first detection data comprises thermal radiation distribution information of the target region, which can also be referred to as infrared imaging data or infrared radiation image. The infrared imaging module is a device capable of detecting infrared radiation emitted by an object and converting it into a visible image. For example, the infrared imaging module can include an infrared detector, an optical system, and a signal processing unit: the infrared detector is configured to receive infrared radiation emitted by the target object and convert it into an electrical signal; the optical system includes an infrared lens and other optical components, and is configured to collect and focus infrared radiation emitted by the object, and can cover near-infrared, mid-infrared, or long-wave infrared bands; and the signal processing unit is configured to amplify, filter, and digitize the electrical signal output by the detector, and generate an infrared radiation image.

[0038] The laser radar module is configured to collect second detection data of the target environment, and the second detection data comprises three-dimensional spatial information and distance data of the target region, which can also be referred to as three-dimensional point cloud data. For example, the laser radar module includes a laser emitting unit, a receiving unit, and a data processing unit. The laser emitting unit emits pulsed laser of a specific wavelength, and covers the target region through a scanning device. The receiving unit includes a photodetector and a time-to-digital converter, and is configured to receive reflected laser and calculate time of flight, so as to determine the target distance. The data processing unit is configured to further generate three-dimensional point cloud data.

[0039] The single-photon radar module is configured to collect third detection data of the target environment, and the third detection data comprises high-sensitivity photon-level detection information of the target region, and is particularly suitable for low-light or weak-reflection scenes. For example, the single-photon radar module includes a single-photon emitting unit, a single-photon detecting unit, and a data processing unit. The single-photon emitting unit emits single-photon pulsed signals. The single-photon detecting unit records the time stamp and intensity of the single-photon reflected signal through a time-correlated single-photon counting technology. The data processing unit generates a time-correlated single-photon counting (TCSPC) histogram.

[0040] It should be noted that the specific structures of the infrared imaging module, the laser radar module, and the single-photon radar module can be referred to related technologies, and are not limited herein.

[0041] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the following examples and features in the examples can be combined with each other.

[0042] Please refer to Figure 1 , Figure 1 is a schematic diagram of an imaging system provided by an embodiment of the present application. As shown in FIG. 1, the imaging system includes an infrared imaging module 1, a laser radar module 2, and a single-photon radar module 3.Figure 1 As shown, the anti-interference imaging system provided by the embodiment of the application comprises an infrared imaging module, a laser radar module, a single-photon radar module and a data processing unit. The infrared imaging module, the laser radar module and the single-photon radar module in the anti-interference imaging device are connected to the data processing unit through a system bus.

[0043] In some embodiments, the system further comprises a timing controller for synchronizing the trigger signals of the single-photon radar module, the laser radar module and the infrared imaging module, so that the single-photon radar module, the laser radar module and the infrared imaging module are aligned in pulse sequences.

[0044] Specifically, the timing controller is a hardware unit for generating and distributing synchronization signals. It generates a unified trigger signal through a master clock and sends a start instruction to each module, so that the emission laser pulses of the unified single-photon radar module, the emission laser pulses of the laser radar module and the exposure of the infrared imaging module are highly aligned in time (i.e., aligned in pulse sequences). The pulse sequences of each module are highly aligned in time, which realizes the spatiotemporal synchronization of various data, makes a frame of laser point cloud correspond to a frame of infrared image, avoids inter-frame aliasing, and thus realizes collaborative perception and provides a consistent basis for subsequent multi-modal data fusion.

[0045] The embodiment of the application preliminarily filters conventional and easily identifiable interference from the physical layer and the algorithm layer when a single module collects data.

[0046] In some embodiments, the single-photon radar module comprises a plurality of laser light sources, each of which is used to emit an outgoing laser signal of a preset waveband; each of the laser light sources is provided with a corresponding dichroic mirror, which is used to reflect the corresponding outgoing laser signal into a polarization beam splitter; the polarization beam splitter is used to form a laser combined signal from a plurality of outgoing laser signals and emit the laser combined signal after being deflected by a first preset polarization angle based on a preset wave plate; when receiving a reflected laser signal generated after the laser combined signal is shot at a target, the polarization beam splitter is further used to deflect the reflected laser signal by a second preset polarization angle based on the preset wave plate and reflect the reflected laser signal to a corresponding single-photon detection unit based on a preset waveband; and the single-photon detection unit is used to record the time of each returned photon to obtain the third detection data.

[0047] Specifically, in the emission phase, each light source emits a preset waveband of laser signals, and different wavebands of laser are selectively reflected by a dichroic mirror to a polarizing beam splitter (PBS). The PBS combines the multiple laser beams into one beam, and adjusts the polarization direction through a preset wave plate in the PBS, so that the combined laser beam is emitted to the target environment at a first preset polarization angle; in the receiving phase, the reflected laser signals reflected by the target pass through the preset wave plate again, are deflected to a second preset polarization angle, and are split into corresponding single-photon detection units according to the waveband characteristics. The single-photon detector records the arrival time of each returned photon with picosecond-level precision, and extracts the target distance information by statistically analyzing the time-of-flight histogram of a large number of pulses.

[0048] In some embodiments, the number of laser light sources can be flexibly configured according to the detection accuracy requirement and the system cost. For example, it can be set to 3 to balance performance and economy, and different wavelengths of laser exhibit differentiated detection capabilities in different environmental conditions. In a normal environment with long distance and low interference, the visible light waveband helps to obtain the texture details of the object surface; and in a complex or harsh environment, a specific infrared waveband exhibits stronger adaptability.

[0049] Preferably, the preset wavebands of the laser light sources can be 1550 nm, 2050 nm and 3500 nm respectively. Among them, 1550 nm belongs to the mid-infrared waveband, has good atmospheric penetration ability, and is suitable for high-scattering environments such as rain, fog and smoke; the 2050 nm waveband helps to distinguish the reflection characteristics of different materials, improving the target material identification capability; the 3500 nm wavelength has stronger penetration and better scattering suppression performance, and is suitable for stable detection in extremely harsh conditions. Through the cooperative work of multiple wavebands, the system can dynamically optimize the detection effect in diversified task scenarios.

[0050] In some embodiments, the preset wave plate is used to apply specific polarization angle regulation to the emitted light beam and the returned light beam, so that the light signals in the emission direction and the receiving direction are orthogonal or distinguished in the polarization state. For example, the preset wave plate can be a 1 / 2 wave plate, in which case the optical axis is at 45° to the polarization direction of the incident light. If the incident angle is α, and the original polarization angle of α here is 0°, the output light polarization angle obtained after passing through the PBS is 2×45°-α=90°, realizing the separation of the incident light and the reflected light.

[0051] In some embodiments, a narrow-band filter is arranged at the entrance pupil of the single-photon radar module, which can effectively cope with strong light interference and rain and snow scattering interference scenarios, and greatly improve the noise resistance performance.

[0052] Thus, the outgoing laser and the echo signal are effectively separated by polarization beam splitting technology, and the crosstalk of stray light and environmental background light is suppressed at the physical level by setting a narrow-band filter, thereby reducing noise interference and improving the effectiveness of the signal during the acquisition stage.

[0053] In some embodiments, an optical phase change module is arranged at the incident signal receiving position of the laser radar module and the infrared imaging module; when the power of the incident signal exceeds the corresponding anti-interference threshold, the optical phase change module changes the physical state to reduce the transmittance of the corresponding waveband signal.

[0054] Specifically, an optical phase change module is integrated at the signal receiving position of the laser radar module and the infrared imaging module in the imaging device. When external strong light or interference sources cause the power of the incident signal to exceed the anti-interference threshold, the module quickly responds and changes the physical state, reducing the transmittance of a specific waveband, thereby suppressing the saturation or noise surge caused by the excessive signal entering the detector.

[0055] The optical phase change module is an optical control component based on phase change materials, which can undergo reversible physical state changes under external stimuli (such as temperature and light intensity), thereby dynamically adjusting the transmittance of specific waveband light signals. Correspondingly, the anti-interference threshold is the critical value of the state change of the selected optical phase change module.

[0056] In some embodiments, the optical phase change module is a vanadium dioxide phase change module, which changes its physical state from an insulator phase to a metal phase when the power of the incident signal exceeds the corresponding anti-interference threshold.

[0057] The vanadium dioxide phase change module is in an insulator phase at room temperature. When the power density of the incident signal exceeds the anti-interference threshold, the temperature inside the module rapidly rises, triggering a change in the physical state from an insulator phase to a metal phase, resulting in changes in parameters such as transmittance and reflectance, thereby changing its optical properties. Moreover, the phase change process is reversible, and when the power of the incident signal is below the anti-interference threshold, the vanadium dioxide phase change module can return to the initial insulator phase. The corresponding anti-interference threshold of vanadium dioxide is the phase change temperature, such as 65-75℃.

[0058] In some embodiments, the vanadium dioxide phase change module is pre-processed with a metasurface design. When the laser power is too high, the vanadium dioxide will undergo a phase change, and at the same time, it will reflect strong light interference, improving the resistance to strong light interference.

[0059] In some embodiments, the optical phase change module can also be materials with reversible phase change characteristics such as chalcogenide compounds or nickel oxide. These materials can also achieve rapid switching from a transparent state to a shielding state under external stimuli such as temperature and light intensity.

[0060] Thus, by adaptive adjustment of the optical phase change module, passive optical protection is achieved without relying on external control, and at the physical level, the interference of burst strong light, direct sunlight and other strong interference signals on the laser radar module and infrared imaging module is blocked.

[0061] In some embodiments, the data processing unit is further configured to: perform main peak detection on the third detection data to determine an effective time window corresponding to a main reflection peak in the third detection data; receive third detection data of the single-photon radar module based on the effective time window; and / or determine a target distance range based on the effective time window; filter the second detection data according to the target distance range, and retain second detection data within the target distance range.

[0062] Specifically, main peak detection is performed on prior detection data collected by the single-photon radar module, and the strongest signal peak, i.e., the main reflection peak, is identified from the TCSPC histogram of the single-photon radar, which corresponds to the return signal of the main object in the target environment, and the time coordinate of the main reflection peak represents the time of flight of the photons. The effective time window is determined according to the time coordinate range of the main reflection peak.

[0063] For the single-photon radar module, subsequent third detection data can be limited to be received within this effective time window. It should be understood that by dynamically constructing the effective time window based on main peak detection, only the third detection data within the time range highly related to the main object is retained, thereby effectively filtering out the interference of forward and backward scattering photons, multi-path reflections, and random noise photons in the environment background on the single-photon radar module.

[0064] For the laser radar module, the target distance range between the main object and the imaging device can be converted based on the flight time corresponding to the effective time window, and the second detection data is screened according to this distance range, and only point cloud data within this range is retained, thereby filtering out irrelevant noise points and improving the effectiveness of the point cloud data.

[0065] In some embodiments, in the initial detection phase of system startup or unknown target environment, a wider time window can be set to ensure the capture of complete echo signals, thereby fully acquiring third detection data and accurately completing main peak positioning.

[0066] In some embodiments, a preset expansion length is introduced as a reference parameter for time window expansion based on the position of the main reflection peak, and its initial value can be flexibly set according to the complexity of the actual detection environment and the strictness of data filtering. By superimposing the preset expansion length on the coordinate range of the main reflection peak, an initial effective time window is formed. On this basis, an iterative optimization mode is entered, and the preset expansion length is gradually reduced in subsequent detection periods, so that the effective time window is gradually limited to the main peak region, thereby gradually excluding backscattered photons and other non-target period noise interference and avoiding false filtering of effective data.

[0067] In some embodiments, the first round is based on the initial ranging results of the classical laser radar to initialize the time window; the single-photon radar performs peak detection on the TCSPC histogram within the time window to find the time point with the highest photon number, which is recorded as the main peak, and then adjusts the window based on the position of the main peak to align the window start time with the main peak to ensure that the time window contains the main peak. According to the requirements, the main peak is refitted or the window width is further contracted based on the distribution of signal photons within the window, and the subsequent iteration is completed.

[0068] In some embodiments, in the spatial dimension, the receiving field of view can be limited by controlling the pointing angle of the scanning lens to only collect photon signals from the target direction, further suppressing stray light and background noise from other directions.

[0069] Thus, through the cooperation between modules at the algorithm level, the effectiveness of the detection data collected by the laser radar module and the single-photon radar module is improved, and the precise filtering of interference signals is realized.

[0070] Please refer to Figure 2 , Figure 2 is another anti-severe interference imaging system provided by the embodiment of the present application. As Figure 2As shown, in the anti-interference imaging system 100, the infrared imaging module can be a long-wave infrared imaging module 10, mainly composed of an infrared camera 11, a variable-focus infrared lens 12, and a phase-change module 40 resistant to strong light interference. The variable-focus infrared lens 12 is the optical system of the infrared imaging module; by adjusting the focal length, it clearly captures the infrared information of objects at different distances, improving detection flexibility and imaging quality. The lidar module can be a classic lidar module 20, including a classic lidar and a phase-change module 40 resistant to strong light interference. The single-photon radar module is a single-photon-level ultrafast lidar module 30, mainly composed of: three small picosecond laser sources of different wavelengths LD1, LD2, and LD3; three coated dichroic mirrors DM1, DM2, and DM3 corresponding to the wavelengths on three sides; a polarization beam splitter PBS; a two-dimensional scanning prism GS; a broadband high-reflection mirror BM; three narrowband filters OF corresponding to the wavelengths; and three time-dependent counter-coupled time-shutter single-photon avalanche diode (SPAD) cameras TSC.

[0071] During the detection process, the timing controller 50 sends trigger signals to the long-wave infrared imaging module 10, the classical lidar module 20, and the single-photon-level ultrafast lidar module 30 respectively to align the pulse sequence and unify the t0 timestamp.

[0072] In the long-wave infrared imaging module 10, the variable-focus infrared lens 12 receives the thermal signal radiated by the target. The timing controller 50 triggers the detector FPA (Focal Plane Array) to start exposure. The exposure time is synchronized with the pulse period of the classic lidar 20. The long-wave infrared imaging module 10 collects the thermal radiation signal after passing through the phase change module 40 which is resistant to strong light interference, completes the exposure, and generates an infrared image with a timestamp t0 (i.e., the first detection data), which is synchronously transmitted to the data processing unit 60 (such as an edge computing unit).

[0073] In the classic lidar module 20, a pulsed laser source emits a laser beam, which is scanned horizontally and vertically by a scanning lens to form a fan-shaped detection beam directed towards the target scene. The flight time of the laser pulse is marked as time t0 by the timing controller 50. The echo signal of the classic lidar first passes through the phase transition module 40, which is designed to resist strong light interference. When the incident laser power increases to the anti-interference threshold, it rapidly transforms into a metallic state within an ultra-short time of less than picoseconds, causing the transmittance of the corresponding wavelength band to drop rapidly by nearly 10 orders of magnitude. This prevents the sensor from oversaturating, thereby achieving the purpose of anti-interference and protection. The remaining signal is focused by the receiving lens, converted into an electrical signal by the APD detector, and the laser flight time Δt is measured by a time-to-digital converter. Combined with the scanning galvanometer angle, the three-dimensional coordinates of the target are calculated to generate point cloud data (i.e., the second detection data) and marked with a timestamp of t0+Δt.

[0074] In the single-photon-level ultrafast laser radar module 30, three picosecond laser light sources LD1, LD2, and LD3 emit laser light at the same time, the laser light is reflected into the emission light path through dichroic mirrors DM1, DM2, and DM3, and is combined by an input polarization beam splitter PBS. The single-photon laser combined light beam is emitted to the target environment after passing through a 1 / 2 wave plate. The target environment reflected light passes through the 1 / 2 wave plate again, the polarization state is rotated by 90°, and is reflected by the polarization beam splitter PBS to the single-photon detector SPAD array. Different wavelength echoes are separated by a wavelength separation prism, the time stamp and spatial position of the photon event are recorded, and the third detection data is obtained.

[0075] Through the cooperative work of the above-mentioned modules, the system can realize multi-dimensional and all-weather monitoring of the target in a complex environment by combining the thermal radiation characteristics of the infrared imaging module, the three-dimensional spatial perception ability of the laser radar module, and the high-sensitivity detection of the single-photon radar module. It should be understood that in high-scattering environments such as rain, fog, and dust, the detection distance and accuracy of the laser radar and the single-photon radar will decrease, but the infrared imaging based on thermal radiation is less affected and can provide a stable target profile; when facing light pollution such as sunlight and searchlights, the specific band signals of the laser radar and the single-photon radar are easily overwhelmed by noise, but the mid-long wave band of the infrared imaging is less disturbed and can provide background information; when encountering thermal decoys and other thermal radiation interference, the infrared image may be deceived, but the accurate three-dimensional point cloud data provided by the laser radar and the single-photon radar are completely different in detection mechanism and are not affected by thermal radiation, which can effectively identify true and false targets. This multi-source nature enables the system to still obtain key information through other sensors when any one of the sensors fails, fundamentally improving the robustness.

[0076] Further, the first detection data collected by the infrared imaging module, the second detection data collected by the laser radar module, and the third detection data collected by the single-photon radar module are transmitted to the data processing unit 60 for dynamic weight filtering and imaging in the processing stage.

[0077] Please refer to Figure 3 , Figure 3 is a flow chart of data processing by a data processing unit provided in an embodiment of the present application, as Figure 3 shown, the data processing unit in the imaging system in the embodiment of the present application is used to execute steps S201 to S204.

[0078] S201, acquiring the first detection data collected by the infrared imaging module, the second detection data collected by the laser radar module, and the third detection data collected by the single-photon radar module.

[0079] S202, adjusting the weight between the first detection data, the second detection data and the third detection data according to the environmental parameter of the target environment; wherein the weight comprises a confidence weight of the first detection data, and a fusion weight of the second detection data and the third detection data.

[0080] Specifically, under different harsh environments, the interference degrees of the infrared imaging module, the single-photon radar module and the laser radar module are different, and the weight between the first detection data, the second detection data and the third detection data is dynamically adjusted according to the environmental parameter of the target environment, so as to realize the optimization of the fusion imaging effect.

[0081] In some embodiments, the reliability of the first detection data output by the infrared imaging module is evaluated according to the target environmental parameter, and a corresponding confidence weight is given. For example, in a strong light or electromagnetic interference environment, if the infrared image is clear and stable, the confidence weight is maintained at a high level, and when there is heat interference such as heat decoy, the weight is reduced.

[0082] In some embodiments, the confidence weight of the first detection data is not set independently, but is cooperatively configured in combination with the relative reliability relationship between the second detection data and the third detection data. Based on the weight distribution, the preset error threshold corresponding to the second detection data and the third detection data can be adaptively fine-tuned according to the respective weight proportion, and is independently set. For example, when the confidence weight of the third detection data is higher than the standard weight value, the preset error threshold is correspondingly reduced, and the filtering strategy is relatively loose, while the confidence weight of the second detection data is relatively lower than the standard weight value, the preset error threshold is increased, and the filtering strategy is relatively strict.

[0083] In some embodiments, an association mapping table of environmental parameters and weights is set in advance according to prior data, and the initial standard weight value is adaptively optimized for different environmental parameters of the target environment.

[0084] For example, the standard weight value can be configured as: "first detection data: second detection data: third detection data = 0.1:0.5:0.4".

[0085] For example, the atmospheric visibility is lower than the preset threshold, indicating that there is dense aerosol phenomenon such as dense fog, haze or dust, and the rain sensor shows moderate to heavy rain level, and the environmental parameter points to a harsh weather interference environment. At this time, the scattering of short-wavelength light signals is enhanced, causing the distance deviation of the single-photon radar module to increase, and the confidence to decrease, while the point cloud continuous point information of the laser radar module and the infrared imaging data of the infrared imaging module still have high reliability, but the infrared imaging data as an auxiliary criterion, the weight should not be too high, and the confidence weight can be configured as: "first detection data: second detection data: third detection data = 0.1:0.55:0.35".

[0086] For example, the light intensity is significantly higher than the normal level, and the environmental parameters indicate that the environment is disturbed by light pollution. The external strong light source (such as direct sunlight, city searchlight) partially overlaps with the single photon and laser waveband, resulting in a sharp increase in single photon detector noise, easy submersion of laser radar weak signal points, and a decrease in the confidence of both single photon radar module and laser radar module, and the weight is correspondingly down-regulated. At this time, the confidence weight can be configured as: “first detection data: second detection data: third detection data = 0.2: 0.45: 0.35”.

[0087] For example, there is electromagnetic noise in the environment that exceeds the normal background level, and the noise has a high field strength in a specific frequency band (such as radio frequency, intermediate frequency or power frequency), and the environmental parameters indicate that the environment is disturbed by electromagnetic interference. Electromagnetic radiation can cause time-to-digital converter counting errors of single photon radar module or phase / pulse detection errors of laser ranging module, resulting in a decrease in the data reliability of single photon radar module. At this time, the confidence weight can be configured as: “first detection data: second detection data: third detection data = 0.1: 0.55: 0.35”.

[0088] For example, there is a local high-heat area with abnormal heat radiation level in the environment, and the environmental parameters indicate that the environment is disturbed by heat radiation. There are strong infrared interference sources such as heat-seeking bombs in the target area, resulting in distortion or even complete failure of infrared image profile. If there is a significant heat radiation feature in a certain area of the infrared profile, but there is no high-confidence point cloud response in the single photon radar or laser radar data corresponding to the location, it is determined that there is a heat-seeking bomb interference. At this time, the weight of the first detection data is reduced to the lowest, which can be configured as: “first detection data: second detection data: third detection data = 0.05: 0.5: 0.45”.

[0089] In some embodiments, the fusion weights of the second detection data and the third detection data in different detection ranges are determined according to the detection performance and ranging characteristics of the laser radar and the single photon radar in different environments. The fusion weight is a coefficient dynamically set according to the detection range and the environmental parameters, and is used to determine the relative contribution ratio of the target second detection data and the target third detection data in the fusion process.

[0090] For example, in different detection ranges such as short-range, medium-range and long-range, and different detection environments, the fusion weights are set respectively: in a medium-range and near-range high-scattering environment, the data of the laser radar module is emphasized, and the fusion weight can be configured as: “second detection data: third detection data = 0.7: 0.3”; in a clear condition at a long distance, the data weight of the single photon radar module is enhanced, and the fusion weight can be configured as: “second detection data: third detection data = 0.5: 0.5”.

[0091] For example, in an electromagnetic interference environment, the data reliability of the single-photon radar module decreases, and at this time the confidence weight can be configured as: "second detection data: third detection data = 0.6:0.4".

[0092] It should be understood that the embodiments of the present application construct a dynamic filtering link from direct filtering to difference selection through the hierarchical design of the two types of weights, realize the elimination of interference data and the retention of effective information, and at the same time, take into account the complementarity of different sensors in environmental adaptability.

[0093] The first type of weight is used for direct filtering based on confidence. The confidence weight of the infrared imaging module is directly used as the basis for setting the filtering threshold, the reliability of the first detection data is dynamically evaluated based on the environmental parameters, and other detection data is screened based on this as the benchmark, realizing the adaptive adjustment of the error threshold, realizing the rapid exclusion of interference data, and at the same time retaining detection data with strong environmental adaptability. For example, in a heat decoy interference scene, the confidence weight of the infrared data is lowered, causing the generated contour feature to relax the verification standard of the laser radar and single-photon radar data (i.e., the preset error threshold is increased), thereby avoiding excessive filtering of real target information due to false heat source misjudgment; and in a high-scattering environment, the confidence weight of the infrared data is higher, and its contour feature becomes a strict verification standard for laser radar point cloud and single-photon radar echo data, directly filtering out abnormal points deviating from the contour.

[0094] The second type of weight is used for difference selection based on fusion strategy. The fusion weight of the second detection data and the third detection data is allocated differently in terms of environment and space, realizing the selective use of the difference between the two types of data, which is essentially also a link in the filtering mechanism. By dynamically adjusting the contribution proportion of the two types of detection data, the influence of low-confidence data caused by environmental characteristics (such as scattering intensity, noise level) is suppressed. For example, in a close-range high-scattering environment, the single-photon radar has high sensitivity and weak signal resistance, so its fusion weight is higher and dominates the generation of the target contour.

[0095] The first type of weight realizes global interference data elimination through environment parameter driven confidence evaluation, while the second type of weight adapts to the data quality difference in the local detection range through dynamic fusion of environmental and spatial dimensions. By decoupling the confidence weight and the fusion weight, two dimensions of environmental interference filtering and sensor performance optimization are respectively corresponded, forming a more refined filtering strategy, avoiding excessive filtering (such as laser radar still using fixed weight after rain attenuation) or misjudgment (such as not dynamically adjusting the verification standard of infrared data under heat decoy interference) caused by environmental mutations due to the use of fixed weight or single confidence threshold.

[0096] S203, generate a first profile feature based on the first detection data, and filter the second detection data and the third detection data according to the first profile feature and a preset error threshold to obtain target second detection data and target third detection data; wherein the preset error threshold is determined according to the confidence weight.

[0097] Specifically, the thermal radiation profile of the target is extracted based on the first detection data output by the infrared imaging module to generate a first profile feature for representing the approximate boundary and shape distribution of the target object in space. The second detection data and the third detection data obtained by the laser radar and the single-photon radar are spatially aligned with the first profile feature, and it is determined whether the detection data is within a reasonable deviation range according to a preset error threshold. For data exceeding the error threshold, it is determined as background noise or interference signal and is removed, so that more pure target second detection data and target third detection data are obtained.

[0098] The preset error threshold is not a fixed value, but is dynamically adjusted according to the confidence weight of the first detection data. For example, in a good visibility night environment, the infrared imaging is clear, the confidence weight is high, and the error threshold is set to a small value (such as ±0.1 meters) to achieve high-precision filtering. When there is a heat decoy interference or thick fog obstruction, the reliability of the infrared data decreases, the confidence weight decreases, and the error threshold is correspondingly expanded (such as ±0.5 meters) to avoid false filtering of real targets due to profile distortion, thereby improving the fault tolerance and robustness of the system in complex environments.

[0099] The first profile feature is the target thermal radiation boundary information extracted from the infrared imaging data.

[0100] S204, fuse the target second detection data and the target third detection data based on the fusion weight to generate a target image.

[0101] Specifically, the target second detection data and the target third detection data filtered by the profile are weighted and fused based on a predetermined fusion weight to generate a high-precision and high-robustness target image. The fusion process is not a simple superposition, but a weight distribution contribution ratio after aligning the two types of data in three-dimensional space according to the detection performance and ranging characteristics. For example, in a city night rain scene, the profile of a vehicle at close range is dominated by the second detection data of the laser radar module to avoid raindrop noise interference, and the middle and long distance road structure is filled by the third detection data of the single-photon radar module to ensure the coherence and accuracy of the overall image. Through the dynamic weight guided fusion strategy, the system adaptively optimizes the imaging quality in different regions and different environments to improve the overall sensing reliability.

[0102] Thus, the obtained target image is a three-dimensional space representation image generated by the fused multi-source detection data, containing the geometric structure, distance information and spatial distribution of the target object, for subsequent identification and decision-making.

[0103] It should be understood that the dynamic weight filtering of the processing stage. The system dynamically adjusts the confidence weight and fusion weight of the detection data according to the environmental parameters, adapts to the adaptability of different modules in different harsh environments, and then sets the dynamic error threshold corresponding to the confidence weight based on the contour generated by the infrared data, and checks and filters the laser and single-photon point clouds.

[0104] Further, the anti-verification and compensation mechanism is introduced: for the abnormal missing continuous contour, temporarily relax the error threshold, re-verify the suspicious data and complete the reasonable contour. The closed-loop strategy of "filtering-verification-compensation" not only retains the key target information, but also avoids the introduction of interference data, and finally realizes reliable target reconstruction in complex interference environment.

[0105] In some embodiments, please refer to Figure 4 , Figure 4 is another flowchart of data processing performed by the data processing unit provided in the embodiments of the present application, as shown in Figure 4 The data processing unit in the imaging system is further used to execute steps S301-S303 in the embodiments of the present application.

[0106] S301, respectively generating corresponding second contour features and third contour features based on the target second detection data and the target third detection data.

[0107] Among them, the second contour feature is a geometric representation generated by boundary extraction, geometric fitting or morphological processing method based on the target second detection data. The third contour feature is a geometric representation generated by signal strength analysis, time sequence correlation or spatial clustering method based on the target third detection data. It should be understood that the first contour feature, the second contour feature and the third contour feature are identifiable shape structures generated under different detection mechanisms. For specific generation methods, please refer to the related technology.

[0108] S302, if it is detected that the local area in the second contour feature and / or the third contour feature appears local missing of continuous contour, updating the to-be-verified detection data of the local area based on the temporary error threshold, and updating the contour feature of the local area based on the to-be-verified detection data.

[0109] Among them, the continuous contour is composed of a plurality of ordered connected feature points or line segments. A certain section in the continuous contour may be interrupted or data blank due to shielding, signal attenuation or interference, excessive filtering, resulting in local breakage or feature sparseness of the continuous contour, that is, local missing of the continuous contour.

[0110] In some embodiments, the preset error threshold is updated as a temporary error threshold if a local missing of continuous profile is detected in the same local region of the second profile feature and the third profile feature. The same local region refers to a range that overlaps or highly overlaps in a spatial coordinate system, which is used to align and compare the observation results of different sensors (such as a laser radar and a single-photon radar) at the same target site.

[0111] The temporary error threshold refers to a temporary tolerance threshold that is dynamically enabled, and has a value greater than the preset error threshold. The temporary error threshold is used to relax the judgment condition of the deviation between the target second detection data and the target third detection data and the reference first profile feature in the local data missing region, allowing more potential valid detection points to be included in the analysis range and avoiding false filtering.

[0112] S303, if the profile feature of the local region meets the preset continuity standard, the to-be-verified detection data is updated as the target second detection data and / or the target third detection data.

[0113] The preset continuity standard is a judgment criterion for judging whether the profile meets the integrity and smoothness, including but not limited to: no breakage of the profile line within a certain length range, continuous curvature change and not exceeding a threshold, gentle direction angle between adjacent segments, forming a closed or connected path after interpolation, etc.

[0114] Specifically, based on the target second detection data and the target third detection data, corresponding second profile features and third profile features are respectively generated. Whether a local missing of continuous profile occurs is judged by comparing the distance, angle change and other parameters between profile segments. If so, the second detection data and / or the third detection data in the region are re-filtered according to the first profile feature and the temporary error threshold to obtain to-be-verified detection data, and the profile feature in the region is regenerated based on the to-be-verified detection data. It is determined whether the updated profile feature meets the preset continuity standard, that is, the profile remains smooth and has no abrupt change within a certain length range. If so, it is determined that false filtering occurs, and the to-be-verified detection data is updated as the target second detection data and / or the target third detection data of the region, thereby improving the overall detection accuracy and integrity. If not, it is determined that the feature information is missing due to other reasons such as shielding, signal attenuation or interference, and the to-be-verified detection data is filtered.

[0115] In some embodiments, the data processing unit is further configured to: skeletonize the target second detection data and the target third detection data to obtain the second contour feature and the third contour feature, the second contour feature being composed of a plurality of second skeleton points, and the third contour feature being composed of a plurality of third skeleton points; when it is detected that the second skeleton points and / or the third skeleton points in a same region are missing and the skeleton points in adjacent regions are continuous, confirming that a local missing of the continuous contour occurs; determining a to-be-verified skeleton point according to to-be-verified detection data, and updating the contour feature based on the to-be-verified skeleton point and the skeleton points in adjacent regions.

[0116] Specifically, the skeletonization processing is performed on the filtered target second detection data and the target third detection data, and a plurality of discrete second skeleton points and third skeleton points can be generated by a related algorithm, and the second contour feature and the third contour feature are sequentially connected by the skeleton points. When it is detected that the second skeleton points and the third skeleton points in a same spatial region are missing at the same time, or the second skeleton points or the third skeleton points in any region are missing, and the skeleton points in the adjacent regions before and after the region remain continuous, it is determined that a local missing of the continuous contour occurs. For example, in vehicle detection, if no effective data is detected in the middle part of the vehicle body after filtering, but the skeleton point chain of the vehicle head and the vehicle tail is complete.

[0117] The to-be-verified skeleton point corresponding to the to-be-verified detection data is determined, and the contour feature is regenerated based on the to-be-verified skeleton point and the skeleton points in adjacent regions. Further, the continuity of the contour feature is verified in step S304.

[0118] In some embodiments, the preset continuity criterion can include uniformity of spacing between the skeleton points, continuity of direction change, and smoothness of curvature change. The local missing refers to a phenomenon that a large number of skeleton points are missing or signals are interrupted in a section of the continuous contour.

[0119] In some embodiments, the temporary error threshold is greater than the preset error threshold; and the data processing unit is further configured to: update the temporary error threshold to the preset error threshold to realize reverse correction.

[0120] The temporary error threshold is set based on comprehensive evaluation of current environmental parameters and multi-sensor confidence weight, and is suitable for short-time and local abnormal interference scenarios, such as shielding, strong scattering, or signal attenuation region. When the contour is repaired and meets the preset continuity criterion, the system reupdates the temporary error threshold to the original preset error threshold, restores the normal filtering strategy, and ensures the balance between the overall detection accuracy and robustness.

[0121] It should be understood that the preset error threshold is dynamically determined by the confidence weight of the first probe data, is a global and normalized filtering standard, and reflects the tolerance requirement of the system under the current harsh environmental conditions. The temporary error threshold is generated based on the preset error threshold, and its value is obtained by increasing a preset value based on the current preset error threshold. It is a local and temporary moderate relaxation filtering standard for a specific area, reduces the data filtering intensity, identifies valid probe points that may be mis-filtered under the preset error threshold, and then uses the to-be-verified probe data to complete the contour.

[0122] The temporary error threshold is generated based on the preset error threshold, inherits the environmental self-adaptation characteristic thereof, and expands the tolerance range based thereon. The preset error threshold maintains the controllability of the overall data quality, and the temporary error threshold realizes fault-tolerant perception for a specific area, avoids information loss caused by a single strict standard, and improves the integrity and adaptability of the system in a complex and dynamic environment.

[0123] In some embodiments, the preset error threshold value can be dynamically adjusted within a preset upper and lower limit range according to the change of the confidence weight, avoiding excessively strict filtering strategy (such as mis-removing real points) or excessively loose filtering strategy (such as introducing too much noise) caused by weight change, thereby ensuring the stability and reliability of the system in various environments.

[0124] In some embodiments, the echo signals of different wavelength laser generators and infrared lenses are comprehensively utilized to collect multi-modal data such as point cloud data of classical laser radar, wavelength data of infrared imaging, TCSPC data of single-photon radar, etc. Through the use of neural networks for calculation modeling and sufficient analysis and mutual verification of multi-modal data, data enhancement is performed, the correlation of different wavelength echo signals is fully tapped, and the radar detection capability is greatly improved. It can play a role in complex conditions such as artificial smoke, natural severe weather, and photoelectric electromagnetic interference. Through analysis of the echo signals containing time series, accurate three-dimensional imaging can be realized, thereby realizing detection and tracking perception of different types of dynamic targets.

[0125] In some embodiments, after being processed by the confocal beam combining and polarization splitting system, the echo signals of single-photon lasers are separated into corresponding detection channels of each waveband through a narrowband filter, and the echo signals of classical lasers and infrared radiation pass through an anti-strong light interference phase change module and are connected to a high-speed acquisition system, simultaneously capturing single-photon level weak signals, point cloud data signals, and thermal radiation signals. Each module is time and space aligned through a unified timestamp, and the multi-modal heterogeneous data collected by different modules are fully fused through a deep learning model of an edge computing module, thereby reconstructing a target image within a limited field of view, and realizing a typical dynamic target detection and tracking task under complex environmental interference.

[0126] In some embodiments, the single-photon level sensitivity and strong penetration greatly improve the system detection distance and anti-interference ability by capturing weak signals and suppressing environmental noise. At the same time, a complex scene target perception enhancement model is constructed, the photon time distribution histogram obtained by the single-photon radar is coupled with the classical radar point cloud, infrared thermal radiation information and other heterogeneous features to realize cross-modal feature coupling, fully fuse heterogeneous data, and reconstruct the object three-dimensional image, greatly enhancing the readability and utilization of data.

[0127] In some embodiments, the fusion principle of the three-dimensional object imaging algorithm is: relevant features are extracted from various types of detection data through a three-flow CNN network, mainly relying on the target second detection data and the target third detection data to realize object reconstruction, and the first detection data is used as auxiliary semantic features for fusion. The single-photon radar can still effectively obtain depth data in weak light, long-distance detection or low target reflectivity scenarios, making up for the performance degradation of the classical laser radar under the above conditions; the classical laser radar can provide high-density point cloud, accurate geometric features, and strong real-time performance, which can make up for the defects of sparse data and weak real-time performance of the single-photon radar. The infrared long-focus lens has thermal feature recognition capability and supports all-weather work, which can assist in identifying targets that are disguised or partially obscured, and solve the identification problem caused by similar appearance or visual confusion of the classical radar; the infrared imaging lacks accurate depth information and has a low recognition rate for objects with similar temperatures, which can be compensated by the geometric structure information of the laser radar and the single-photon radar. Through fusion, the long-distance detection capability of the single-photon radar and the near-distance point cloud density of the classical laser radar together realize full-range coverage; the fine geometric features provided by the radar and the thermal contour features generated by the infrared imaging together constitute the full-granularity representation of the target. At the same time, the single-photon radar has anti-weak-light interference capability, the infrared imaging has anti-strong-light interference capability, and the classical laser radar has high real-time performance, which together realize all-weather and strong robustness of the perception capability.

[0128] The anti-adverse interference imaging system provided by the embodiments of the present application constructs a hierarchical anti-interference system from data source collection to backend fusion processing, and through a cooperative verification mechanism, the data of different modalities can complement and verify each other when facing specific interference, so as to output clear and coherent reconstructed images of the object to be measured in an extremely complex comprehensive environment, and improve the perception ability and anti-interference performance of the real target.

[0129] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An imaging system resistant to severe interference, characterized in that, The system includes an infrared imaging module, a lidar module, a single-photon radar module, and a data processing unit; The data processing unit is used for: Acquire the first detection data collected by the infrared imaging module, the second detection data collected by the lidar module, and the third detection data collected by the single-photon radar module; Based on the environmental parameters of the target environment, the weights among the first detection data, the second detection data, and the third detection data are adjusted; wherein, the weights include the confidence weight of the first detection data and the fusion weight of the second and third detection data; A first contour feature is generated based on the first detection data, and the second and third detection data are filtered according to the first contour feature and a preset error threshold to obtain target second detection data and target third detection data; wherein, the preset error threshold is determined according to the confidence weight; Based on the fusion weights, the second target detection data and the third target detection data are fused to generate a target image; The data processing unit is also used for: Based on the second and third target detection data, corresponding second and third contour features are generated respectively; If a local missing continuous contour is detected in a local region of the second contour feature and / or the third contour feature, the detection data to be verified in the local region is updated based on a temporary error threshold, and the contour feature of the local region is updated based on the detection data to be verified; the temporary error threshold is greater than the preset error threshold. If the contour features of a local area meet a preset continuity standard, the detection data to be verified will be updated to the second detection data and / or the third detection data of the target. The data processing unit is also used for: The second and third target detection data are processed into skeletonization to obtain the second contour feature and the third contour feature. The second contour feature is composed of multiple second skeleton points and the third contour feature is composed of multiple third skeleton points. When the second and / or third skeleton points in the same region are detected to be missing, and the skeleton points in adjacent regions are continuous, it is confirmed that there is a local missing part of the continuous contour. The skeleton points to be verified are determined based on the detection data to be verified, and the contour features are updated based on the skeleton points to be verified and the skeleton points in the adjacent regions.

2. The system as described in claim 1, characterized in that, The data processing unit is also used to update the temporary error threshold to a preset error threshold.

3. The system as described in claim 1, characterized in that, The data processing unit is also used for: The main peak is detected based on the third detection data to determine the effective time window corresponding to the main reflection peak in the third detection data. Based on the effective time window, the third detection data of the single-photon radar module is received; And / or, The target distance range is determined based on the effective time window; the second detection data is filtered according to the target distance range, and the second detection data within the target distance range is retained.

4. The system as described in claim 1, characterized in that, The single-photon radar module includes: Multiple laser sources, each of which is used to emit an outgoing laser signal in a preset wavelength band; Each of the laser sources is provided with a corresponding dichroic mirror, which is used to reflect the corresponding emitted laser signal to the polarization beam splitter; The polarization beam splitter is used to combine multiple outgoing laser signals into a laser beam combiner signal, and to deflect the laser beam combiner signal by a first preset polarization angle based on a preset waveplate before emitting it. When receiving the reflected laser signal generated after the laser beam combining signal is directed toward the target, the polarization beam splitter is also used to deflect the reflected laser signal by a second preset polarization angle based on the preset waveplate, and then split the reflected laser signal and reflect it to the corresponding single-photon detection unit based on the preset band. The single-photon detection unit is used to record the time of each returning photon to obtain the third detection data.

5. The system as described in claim 1, characterized in that, The incident signal receiving points of the lidar module and the infrared imaging module are equipped with optical phase change modules. When the power of the incident signal exceeds the corresponding anti-interference threshold, the optical phase change module changes its physical state to reduce the transmittance of the signal in the corresponding band.

6. The system as described in claim 5, characterized in that, The optical phase change module is a vanadium dioxide phase change module. When the power of the incident signal exceeds the corresponding anti-interference threshold, the physical state of the vanadium dioxide phase change module changes from an insulating phase to a metallic phase.

7. The system as described in claim 1, characterized in that, The system also includes a timing controller, which is used to synchronize the trigger signals of the single-photon radar module, the lidar module, and the infrared imaging module, so that the single-photon radar module, the lidar module, and the infrared imaging module align the pulse sequences.

8. An imaging device resistant to severe interference, characterized in that, The device is used in an imaging system resistant to severe interference as described in any one of claims 1 to 7, the device comprising: The infrared imaging module is used to collect the first detection data corresponding to the target environment; The lidar module is used to collect secondary detection data corresponding to the target environment; The single-photon radar module is used to collect third-party detection data corresponding to the target environment.

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