Sensing system and vehicle
By designing the light splitter and reflective components in the intelligent vehicle perception system, the synchronous reception of laser, visible natural light and infrared light is achieved, and the problem of difficulty in classifying and identifying objects when the light intensity is insufficient is solved, and all-weather object recognition and monitoring is realized, supporting advanced orders Autonomous driving.
Patent Information
- Application Number
- CN202321535799.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-15
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2033-06-15
AI Technical Summary
In the case of insufficient light intensity, the camera obtains less image information on the surface of the object, and relying solely on the lidar to obtain the depth information of the object is not conducive to the classification and identification of objects.
A perception system is designed, including a light splitter, a laser receiving module, a reflection component, a visible natural light imaging module and an infrared light imaging module. The incident light is divided into laser and natural light through the light splitter, and the reflection component is used to illuminate different lights. Under intensity conditions, natural light is selectively reflected to the corresponding imaging module to realize the synchronous reception of laser, visible natural light and infrared light, ensuring the identification and monitoring of the target to be tested under different light intensity environments all day long.
It realizes the identification and monitoring of the target to be tested under different lighting intensity environments, breaks through the impact of natural light intensity on the perception system, ensures the synchronous reception of laser, visible natural light and infrared light, reduces the burden on the algorithm, and is all-weather situation Obtain depth information and image information of objects and support advanced autonomous driving scenarios.
Smart Images
Figure CN222145230U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of intelligent vehicles, and in particular to a perception system and a vehicle. Background Art
[0002] An intelligent vehicle is a comprehensive system that integrates environmental perception, planning and decision-making, and multi-level assisted driving. It uses computers, modern sensors, information fusion, communications, artificial intelligence, and automatic control technologies. An intelligent vehicle needs to simultaneously obtain surface image information and surface depth information of objects in complex environments in order to classify and identify objects.
[0003] In the prior art, a camera is used to obtain the surface image information of an object (the surface image information of an object includes color, texture, etc.), and a laser radar is used to obtain the object point cloud data to obtain the object depth information (the object depth information includes distance, angle, etc.), and then the surface image information and the object depth information are fused and processed to classify and identify the object. However, in the case of insufficient light intensity, the surface image information of the object obtained by the camera is relatively small, or even negligible. Relying only on the laser radar to obtain the object depth information is not conducive to the classification and identification of the object. Utility Model Content
[0004] The embodiments of the utility model provide a perception system and a vehicle to solve the problem in the prior art that when obtaining surface image information of an object through a camera and depth information of an object through a laser radar, the camera obtains less surface image information of the object when the light intensity is insufficient, and only relying on the laser radar to obtain the depth information of the object is not conducive to object classification and recognition.
[0005] In the first aspect, an embodiment of the utility model provides a perception system, which includes: a spectrometer, a laser receiving module, a reflection component, a visible natural light imaging module and an infrared light imaging module; the spectrometer is arranged corresponding to the laser receiving module and the reflection component, and the spectrometer is used to split the incident light into laser and natural light, and transmit the laser to the laser receiving module, and reflect the natural light to the reflection component; the reflection component is arranged corresponding to the visible natural light imaging module and the infrared light imaging module, and the reflection component is used to reflect the natural light to the visible natural light imaging module or the infrared light imaging module.
[0006] Optionally, the reflection component includes a reflector and a driving mechanism, and the driving mechanism drives the reflector to rotate. When rotated to a first position, the reflector reflects the natural light to the visible natural light imaging module. When rotated to a second position, the reflector reflects the natural light to the infrared light imaging module.
[0007] Optionally, the reflector has a reflective surface, and the reflector is located between the visible natural light imaging module and the infrared light imaging module; in the first position, the reflective surface of the reflector is opposite to the visible natural light imaging module, and in the second position, the reflective surface of the reflector is opposite to the infrared light imaging module; wherein, when the illumination intensity of the natural light is greater than or equal to the preset threshold, the driving mechanism drives the reflector to rotate to the first position; when the illumination intensity of the natural light is less than the preset threshold, the driving mechanism drives the reflector to rotate to the second position.
[0008] Optionally, the perception system further includes a light sensor, and the light sensor is used to detect the light intensity of the natural light.
[0009] Optionally, the visible natural light imaging module includes a first filter and a visible natural light photosensitive chip, wherein the first filter is arranged on a side of the visible natural light photosensitive chip close to the reflective component, and the first filter is used to filter out light other than visible natural light and pass the visible natural light.
[0010] Optionally, the perception system also includes a first focusing lens group, which is arranged between the first filter and the reflective component, and the first focusing lens group is used to focus the natural light reflected by the reflective component and project the focused natural light to the first filter and the visible natural light sensing chip.
[0011] Optionally, the infrared light imaging module includes a second filter and an infrared light sensitive chip, wherein the second filter is arranged on a side of the infrared light sensitive chip close to the reflective component, and the second filter is used to filter out light other than infrared light and pass the infrared light.
[0012] Optionally, the perception system also includes a second focusing lens group, which is arranged between the second filter and the reflective component, and the second focusing lens group is used to focus the natural light reflected by the reflective component and project the focused natural light onto the second filter and the infrared light sensing chip.
[0013] Optionally, the beam splitter is at least one of a flat beam splitter, a cube beam splitter, a thin film beam splitter and a polarization beam splitter.
[0014] Optionally, the perception system also includes a controller, which is electrically connected to the laser receiving module, the visible natural light imaging module, and the infrared light imaging module; the laser receiving module is used to obtain depth information of the target to be measured, the visible natural light imaging module is used to obtain a visible natural light image of the target to be measured, and the infrared light imaging module is used to obtain an infrared light image of the target to be measured; the controller is used to identify the target to be measured based on the depth information, the visible natural light image, or the infrared light image.
[0015] Optionally, the perception system further includes a laser radar transmitting module, which is connected to the controller, and the controller is used to control the laser radar transmitting module to emit the laser toward the target to be measured.
[0016] Optionally, the perception system also includes a laser lens group, which is arranged on a side of the laser radar transmitting module close to the target to be measured, and the laser lens group is used to collimate and expand the laser emitted by the laser radar transmitting module, and project the collimated and expanded laser to the target to be measured.
[0017] Optionally, the perception system further includes an incident light receiving lens group, which is disposed on a side of the spectrometer close to the target to be measured, and is used to receive incident light reflected from the surface of the target to be measured onto the incident light receiving lens group.
[0018] In a second aspect, an embodiment of the utility model provides a vehicle, comprising a vehicle body and a perception system, wherein the perception system is any of the perception systems described above, and the perception system is disposed in the vehicle body.
[0019] Compared with the prior art, the utility model has the following advantages:
[0020] The perception system in the embodiment of the utility model divides the incident light into laser and natural light through a beam splitter, and projects the laser to the laser receiving module, reflects the natural light to the reflecting component, so as to obtain the depth information of the target to be measured through the laser receiving module; and reflects the natural light to the visible natural light imaging module or the infrared light imaging module through the reflecting component. Laser, visible natural light, and infrared light are all in the design architecture of the common receiving optical path, which ensures the synchronous reception of laser by the laser receiving module, visible natural light by the visible natural light imaging module, and infrared light by the infrared light imaging module, and facilitates the spatial synchronization and algorithm fusion processing of the laser receiving module, the visible natural light imaging module, and the infrared light imaging module, thereby reducing the burden of the algorithm; at the same time, it reduces the workload of independent calibration of the laser receiving module, the visible natural light imaging module, and the infrared light imaging module. Moreover, by selectively receiving visible natural light and infrared light, the perception system can realize the recognition and monitoring of the target to be measured in all-weather environments with different light intensities, breaking through the influence of the light intensity of natural light on the perception system.
[0021] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below.
[0023] Figure 1 A schematic diagram of a sensing system provided by an embodiment of the utility model;
[0024] Figure 2 A schematic diagram of a first usage state of a sensing system provided by an embodiment of the utility model;
[0025] Figure 3 A schematic diagram of a second usage state of the sensing system provided by an embodiment of the utility model;
[0026] Figure 4 A schematic diagram of the flow of a perception system provided in an embodiment of the utility model.
[0027] Reference numerals:
[0028] 1-beam splitter; 2-laser receiving module; 3-reflection component; 31-reflector; 32-driving mechanism; 4-light sensor; 5-visible natural light imaging module; 6-infrared light imaging module; 7-first focusing lens group; 8-second focusing lens group; 9-laser radar transmitting module; 10-laser lens group; 11-incident light receiving lens group; 12-rotating platform; 13-controller; 14-target to be measured. DETAILED DESCRIPTION
[0029] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can also be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.
[0030] Figure 1 It is a perception system provided by an embodiment of the utility model, and the perception system includes: a spectrometer 1, a laser receiving module 2, a reflection component 3, a visible natural light imaging module 5 and an infrared light imaging module 6; the spectrometer 1 is arranged corresponding to the laser receiving module 2 and the reflection component 3, and the spectrometer 1 is used to divide the incident light into laser and natural light, and transmit the laser to the laser receiving module 2, and reflect the natural light to the reflection component 3; the reflection component 3 is arranged corresponding to the visible natural light imaging module 5 and the infrared light imaging module 6, and the reflection component 3 is used to reflect the natural light to the visible natural light imaging module 5 or the infrared light imaging module 6.
[0031] Among them, the beam splitter 1 is a passive device that does not require external energy, as long as there is incident light. In the embodiment of the present application, the beam splitter 1 arranges the positions of the beam splitter 1, the laser receiving module 2 and the reflective component 3 according to the incident light path, the laser path and the natural light path, so that after the beam splitter 1 splits the incident light into laser and natural light, it can transmit the laser to the laser receiving module 2 and reflect the natural light to the reflective component 3.
[0032] The laser receiving module 2 is used to receive laser light, and the laser receiving module 2 obtains the depth information of the target to be measured 14. The laser light can be selected to meet the use requirements, for example, the laser light is an infrared laser light.
[0033] The visible natural light imaging module 5 is used to receive visible natural light in natural light. The visible natural light imaging module 5 can obtain a visible natural light image of the target 14 to be measured.
[0034] The infrared light imaging module 6 is used to receive infrared light in natural light. The infrared light imaging module 6 can obtain an infrared light image of the target 14 to be measured.
[0035] Among them, the wavelengths of visible natural light and infrared light are different. The wavelength range of visible natural light is 0.4 microns to 0.75 microns, and the wavelength range of infrared light is 0.75 microns to 1000 microns. In the embodiment of the present application, the visible natural light imaging module 5 receives visible natural light with a wavelength range that meets the use requirements, and the infrared light imaging module 6 receives infrared light with a wavelength range that meets the use requirements. The embodiment of the present application does not specifically limit the wavelength range of visible natural light received by the visible natural light imaging module 5 and the wavelength range of infrared light received by the infrared light imaging module 6.
[0036] The perception system of the embodiment of the present application divides the incident light into laser and natural light through the beam splitter 1, and projects the laser to the laser receiving module 2, reflects the natural light to the reflecting component 3, so as to obtain the depth information of the target 14 to be measured through the laser receiving module 2; and reflects the natural light to the visible natural light imaging module 5 or the infrared light imaging module 6 through the reflecting component 3. The laser, visible natural light, and infrared light are all in the design architecture of the common receiving optical path, which ensures the synchronous reception of the laser receiving module 2 to the laser, the visible natural light imaging module 5 to the visible natural light, and the infrared light imaging module 6 to the infrared light, which facilitates the spatial synchronization and algorithm fusion processing of the laser receiving module 2, the visible natural light imaging module 5, and the infrared light imaging module 6, and reduces the algorithm burden; at the same time, it reduces the workload of the independent calibration of the laser receiving module 2, the visible natural light imaging module 5, and the infrared light imaging module 6. Moreover, by selectively receiving visible natural light and infrared light, the perception system can realize the recognition and monitoring of the target 14 to be measured in all-weather environments with different light intensities, breaking through the influence of the light intensity of natural light on the perception system.
[0037] Optionally, in an embodiment of the present invention, the laser receiving module 2 is at least one of APD (avalanche photodiode), SIPM (silicon photodiode), and SPAD (single photon avalanche diode). It is understandable that the embodiment of the present application does not specifically limit the type of the laser receiving module 2, and it is sufficient to receive infrared lasers with wavelengths of 905nm, 1550nm, etc.
[0038] Optionally, in one embodiment of the utility model, the reflection assembly 3 includes a reflector 31 and a driving mechanism 32, and the driving mechanism 32 drives the reflector 31 to rotate; the reflector 31 has a first position and a second position, and when the driving mechanism 32 drives the reflector 31 to rotate to the first position, the reflector 31 reflects natural light to the visible natural light imaging module 5, and when the driving mechanism 32 drives the reflector 31 to rotate to the second position, the reflector 31 reflects natural light to the infrared light imaging module 6.
[0039] Optionally, the reflector 31 has a reflective surface, and the reflector 31 is located between the visible natural light imaging module 5 and the infrared light imaging module 6; in the first position, the reflective surface of the reflector 31 is opposite to the visible natural light imaging module 5, and in the second position, the reflective surface of the reflector 31 is opposite to the infrared light imaging module 6; wherein, when the illumination intensity of natural light is greater than or equal to a preset threshold, the driving mechanism 32 drives the reflector 31 to rotate to the first position; when the illumination intensity of natural light is less than the preset threshold, the driving mechanism 32 drives the reflector 31 to rotate to the second position.
[0040] Among them, the preset threshold value of light intensity is also set according to usage requirements, and the implementation of this application does not make specific limitations on this; for example, the light intensity of natural light at night is less than the preset threshold value.
[0041] In the perception system of the embodiment of the present application, when the illumination intensity of natural light is greater than or equal to the preset threshold, the driving mechanism 32 drives the reflector 31 to rotate to the first position, and the reflective surface of the reflector 31 is opposite to the visible natural light imaging module 5, and the natural light reflected by the beam splitter 1 is reflected to the visible natural light imaging module 5; when the illumination intensity of natural light is less than the preset threshold, the driving mechanism 32 drives the reflector 31 to rotate to the second position, and the reflective surface of the reflector 31 is opposite to the infrared light imaging module 6, and the natural light reflected by the beam splitter 1 is reflected to the infrared light imaging module 6. The perception system can selectively receive visible natural light and infrared light through different illumination intensities, and can realize the recognition and monitoring of the target 14 to be measured in all-weather environments with different illumination intensities, and break through the influence of the illumination intensity of natural light on the visible natural light image information when the illumination intensity of natural light is less than the preset threshold.
[0042] Optionally, in an embodiment of the utility model, the perception system further includes a light sensor 4, which is used to detect the intensity of natural light. When the light sensor 4 detects that the intensity of natural light is greater than or equal to a preset threshold, the driving mechanism 32 drives the reflector 31 to rotate to a first position, and the reflector 31 reflects the natural light to the visible natural light imaging module 5; when the light sensor 4 detects that the intensity of natural light is less than the preset threshold, the driving mechanism 32 drives the reflector 31 to rotate to a second position, and the reflector 31 reflects the natural light to the infrared light imaging module 6.
[0043] Optionally, in one embodiment of the utility model, the visible natural light imaging module 5 includes a first filter and a visible natural light photosensitive chip, the first filter is arranged on the side of the visible natural light photosensitive chip close to the reflective component 3, and the first filter is used to filter out light other than visible natural light and pass the visible natural light.
[0044] Optionally, in an embodiment of the present invention, the visible natural light imaging module 5 is at least one of a CMOS image sensor (complementary metal oxide semiconductor image sensor) and a CCD image sensor (charge coupled device image sensor). Of course, it is understandable that the embodiment of the present application does not specifically limit the visible natural light imaging module 5, and it only needs to complete the information collection and processing of the visible natural light and output the visible natural light image.
[0045] Optionally, in one embodiment of the utility model, the perception system also includes a first focusing lens group 7, which is arranged between the first filter and the reflective component 3. The first focusing lens group 7 is used to focus the natural light reflected by the reflective component and project the focused natural light to the first filter and the visible natural light photosensor chip.
[0046] Optionally, in one embodiment of the utility model, the infrared imaging module 6 includes a second filter and an infrared light sensitive chip, the second filter is arranged on a side of the infrared light sensitive chip close to the reflective component 3, and the second filter is used to filter out light other than infrared light and pass the infrared light.
[0047] It is understandable that the embodiment of the present application does not specifically limit the infrared imaging module 6, and it only needs to complete the information collection and processing of infrared light and output infrared light images.
[0048] Optionally, in one embodiment of the utility model, the perception system also includes a second focusing lens group 8, which is arranged between the second filter and the reflection component 3. The second focusing lens group 8 is used to focus the natural light reflected by the reflection component and project the focused natural light to the second filter and the infrared light sensing chip.
[0049] Optionally, in one embodiment of the utility model, a film is coated on the beam splitter 1, so that the laser enters the laser receiving module 2 in the form of transmitted light, and reflects the visible natural light and infrared light in the incident light, and reflects the visible natural light and infrared light to the reflection component 3. In this application, there is no restriction on the coating type, method, shape and size of the beam splitter 1, as long as the demand for improving the reflection efficiency of visible natural light and infrared light is met. At the same time, the size, shape, optical performance, etc. of the beam splitter 1 are not specifically limited in this application.
[0050] Optionally, in an embodiment of the present invention, the beam splitter 1 is at least one of a plate beam splitter (Plate Beamsplitters), a cube beam splitter (Cube Beamsplitters), a pellicle beam splitter (Pellicle Beamsplitters), and a polarizing beam splitter (Polarizing Beamsplitters).
[0051] Optionally, in one embodiment of the utility model, the perception system also includes a controller, and the controller 13 is electrically connected to the laser receiving module 2, the visible natural light imaging module 5, and the infrared light imaging module 6; the laser receiving module 2 is used to obtain the depth information of the target to be measured 14, the visible natural light imaging module 5 is used to obtain the visible natural light image of the target to be measured 14, and the infrared light imaging module 6 is used to obtain the infrared light image of the target to be measured 14; the laser receiving module 2 transmits the depth information of the target to be measured 14 to the controller 13, the visible natural light imaging module 5 transmits the visible natural light image of the target to be measured 14 to the controller 13, and the infrared light imaging module 6 transmits the infrared light image of the target to be measured 14 to the controller 13, and the controller 13 is used to identify the target to be measured 14 based on the depth information, the visible natural light image or the infrared light image.
[0052] Optionally, in an embodiment of the utility model, the perception system further includes a laser radar transmitting module 9, and the laser radar transmitting module 9 is connected to a controller 13, and the controller 13 is used to control the laser radar transmitting module 9 to emit laser toward a target 14 to be measured.
[0053] Furthermore, the laser can be selected to meet the type of use requirements. For example, the laser is an infrared laser. In this case, the laser radar transmitting module 9 is used to emit infrared laser.
[0054] Furthermore, the laser wavelength emitted by the laser radar transmitting module 9 can be 905nm or 1550nm or other lasers that are eye-safe.
[0055] Optionally, in an embodiment of the present invention, the laser radar transmitting module 9 is at least one of a semiconductor laser, a solid laser, and a fiber laser. It is understandable that the present application does not specifically limit the laser radar transmitting module 9, and it only needs to meet the laser emission requirements.
[0056] Optionally, in one embodiment of the utility model, the perception system also includes a laser lens group 10, which is arranged on a side of the laser radar transmitting module 9 close to the target to be measured 14, and the laser lens group 10 is used to collimate and expand the laser emitted by the laser radar transmitting module 9, and project the collimated and expanded laser to the target to be measured 14.
[0057] Optionally, in an embodiment of the present invention, the laser lens group 10 is at least one of a telescopic structure and a negative lens. It is understandable that the present application does not specifically limit the laser lens group 10, and the laser lens group 10 can perform shaping operations such as collimation and expansion on the laser emitted by the laser radar emission module 9.
[0058] Optionally, in one embodiment of the utility model, the perception system also includes an incident light receiving lens group 11, which is arranged on the side of the spectrometer 1 close to the target to be measured 14, and the incident light receiving lens group 11 is used to receive incident light reflected from the surface of the target to be measured 14 to the incident light receiving lens group 11.
[0059] Optionally, in an embodiment of the present invention, the incident light receiving lens group 11 is at least one of a telephoto structure and a light cone structure. The present embodiment does not specifically limit the structure of the incident light receiving lens group 11, and it is sufficient to receive the incident light reflected from the surface of the target 14 to the incident light receiving lens group 11 at a large angle.
[0060] Further, in the embodiment of the present application, the first focusing lens group 7, the second focusing lens group 8, the laser lens group 10, and the incident light receiving lens group 11 can all be lenses that reflect optical characteristics including various curved surfaces, shapes, materials, etc. Moreover, the first focusing lens group 7, the second focusing lens group 8, the laser lens group 10, and the incident light receiving lens group 11 can also be lenses that use functional coatings such as spectroscopy and reflection on the optical element substrate or use scanning mirrors such as galvanometers to scan the field of view to realize an adjustable spectroscopy module.
[0061] Optionally, in one embodiment of the utility model, the perception system also includes a rotating platform 12, one side of the rotating platform 12 is connected to the spectrometer 1, the laser receiving module 2, the reflection component 3, the reflector 31, the visible natural light imaging module 5, the infrared light imaging module 6, the first focusing lens group 7, the second focusing lens group 8, the laser radar transmitting module 9, the laser lens group 10, and the incident light receiving lens group 11. When the rotating platform 12 rotates, it drives the spectrometer 1, the laser receiving module 2, the reflection component 3, the reflector 31, the visible natural light imaging module 5, the infrared light imaging module 6, the first focusing lens group 7, the second focusing lens group 8, the laser radar transmitting module 9, the laser lens group 10, and the incident light receiving lens group 11 to rotate 360 degrees around the rotation axis, so that the laser emitted by the laser radar transmitting module 9 is incident on the surface of the target to be measured 14 in space with a 360° field of view, and the controller 13 can identify the target to be measured 14 within the 360° field of view.
[0062] Optionally, in an embodiment of the present utility model, as Figure 1As shown, the sensing system includes a spectrometer 1, a laser receiving module 2, a reflection component 3, a reflector 31, a light sensor 4, a visible natural light imaging module 5, an infrared light imaging module 6, a laser radar transmitting module 9, a laser lens group 10, and an incident light receiving lens group 11. Among them, one side of the laser lens group 10 faces the laser radar transmitting module 9, and the other side of the laser lens group 10 faces the target 14 to be measured; the laser emitted by the laser radar transmitting module 9 is collimated and expanded by the laser lens group 10 and then emitted to the target 14 to be measured. The incident light reflected from the surface of the target 14 to be measured to the incident light receiving lens group 11 is emitted to the spectrometer 1 after passing through the incident light receiving lens group 11. The incident light receiving lens group 11 and the laser receiving module 2 are located on the same optical axis, and the spectrometer 1 is located between the incident light receiving lens group 11 and the laser receiving module 2. The reflection surface of the spectrometer 1 has an angle with the optical axis, and the angle is, for example, 45 degrees. The incident light directed to the beam splitter 1 is split into laser and natural light by the beam splitter 1. The beam splitter 1 projects the laser to the laser receiving module 2 and reflects the natural light to the reflector 31. The reflector 31 is located between the visible natural light imaging module 5 and the infrared light imaging module 6. When the reflector 31 is in the initial position, as shown in FIG. Figure 1 As shown, the reflective surface of the reflector 31 only faces the reflective surface of the beam splitter 1. When the illumination intensity of natural light is greater than or equal to a preset threshold, as Figure 2 As shown, the reflective surface of the reflector 31 faces the reflective surface of the beam splitter 1 and the visible natural light imaging module 5 at the same time, and the reflective surface of the reflector 31 reflects the natural light to the visible natural light imaging module 5; when the illumination intensity of the natural light is less than the preset threshold, as shown in FIG. Figure 3 As shown, the reflective surface of the reflector 31 faces the reflective surface of the beam splitter 1 and the infrared light imaging module 6 at the same time, and the reflective surface of the reflector 31 reflects natural light to the infrared light imaging module 6 .
[0063] like Figure 1 As shown, the light sensor 4 is located on a side of the incident light receiving lens group 11 close to the target 14 to be measured, so as to more accurately detect the illumination intensity of natural light.
[0064] Optionally, the working process of the perception system is:
[0065] When the light sensor 4 detects that the light intensity is greater than or equal to the preset threshold, the light sensor 4 transmits the light intensity information to the controller 13. Figure 2As shown, the controller 13 controls the driving mechanism 32 to drive the reflector 31 to rotate 45° counterclockwise until the reflective surface of the reflector 31 is opposite to the visible natural light imaging module 5. At this time, the controller 13 controls the visible natural light imaging module 5 to work, and the infrared light imaging module 6 does not work. The controller 13 controls the laser radar transmitting module 9 to emit laser. After the laser is collimated and expanded by the laser lens group 10, it is driven by the rotating platform 12 to be incident on the surface of the space target 14 at a 360° field of view. The laser, visible natural light, and infrared light are reflected by the surface of the target 14 and reach the spectrometer 1 through the incident light receiving lens group 11. The spectrometer 1 divides the incident light into laser, visible natural light, and infrared light. The laser is transmitted to the laser receiving module 2 in the form of transmitted light, and the depth information of the target 14 to be measured is obtained through the laser receiving module 2. The visible natural light and infrared light are reflected to the reflector 31, and then reflected to the visible natural light imaging module 5 by the reflector 31. The infrared light is filtered out by the first filter on the visible natural light imaging module 5, and the visible natural light enters the visible natural light imaging module 5 to obtain the visible natural light image of the target 14 to be measured through the visible natural light imaging module 5. The controller 13 performs fusion processing on the laser radar point cloud data of the laser receiving module 2 and the visible natural light image of the visible natural light imaging module 5 to obtain an image with depth information. Then the controller 13 controls the reflector 31 to rotate 45° clockwise to the initial state, and the work is finished.
[0066] When the light sensor 4 detects that the light intensity is less than a preset threshold, the light sensor 4 transmits the light intensity information to the controller 13. Figure 3As shown, the controller 13 controls the driving mechanism 32 to drive the reflector 31 to rotate 45° clockwise until the reflective surface of the reflector 31 is opposite to the infrared light imaging module 6. At this time, the control module controls the visible natural light imaging module 5 not to work, and the infrared light imaging module 6 to work. The laser radar transmitting module 9 emits laser, and the laser is collimated and expanded by the laser lens group 10, and then driven by the rotating platform 12, it is incident on the surface of the space target 14 with a 360° field of view. The laser, visible natural light, and infrared light are reflected by the surface of the target 14 and reach the spectrometer 1 through the incident light receiving lens group 11. The spectrometer 1 divides the incident light into laser, visible natural light, and infrared light. The laser is transmitted to the laser receiving module 2 in the form of transmitted light, and the depth information of the target 14 to be measured is obtained through the laser receiving module 2. The visible natural light and infrared light are reflected to the reflector 31, and then reflected to the infrared imaging module 6 by the reflector 31. The visible natural light is filtered out by the second filter on the infrared imaging module 6, and the infrared light enters the infrared imaging module 6 to obtain the infrared image of the target 14 to be measured through the infrared imaging module 6. The controller 13 fuses the laser radar point cloud data of the laser receiving module 2 and the infrared image of the infrared imaging module 6 to obtain an image with depth information. Then the controller 13 controls the reflector 31 to rotate 45° counterclockwise to the initial state, and the work is finished.
[0067] In the perception system of the embodiment of the present application, after the perception system receives the start-up instruction, the controller 13 adjusts the angle of the reflector 31 according to the light intensity of the environment, so that the visible natural light and infrared light reflected by the reflector 31 enter the visible natural light imaging module 5 or the infrared light imaging module 6, and selects the visible natural light imaging module 5 to receive the visible natural light or the infrared light imaging module 6 to receive the infrared light. In the perception system, the laser, visible natural light, and infrared light are all in the common receiving optical path design architecture, which ensures the synchronous reception of the laser receiving module 2 for laser, the visible natural light imaging module 5 for visible natural light, and the infrared light imaging module 6 for infrared light, which facilitates the spatial synchronization and algorithm fusion processing of the laser receiving module 2, the visible natural light imaging module 5, and the infrared light imaging module 6, and reduces the algorithm burden. At the same time, it reduces the workload of independent calibration of the laser receiving module 2, the visible natural light imaging module 5, and the infrared light imaging module 6. At the same time, the perception system has also broken through the constraint of insufficient natural light intensity at night, and can output lidar point cloud data and image data in environments with different light intensities around the clock, so that depth point cloud data and image data can be acquired synchronously around the clock, realizing the fusion of depth information and image information of the target to be measured in environments with different light intensities around the clock.
[0068] Furthermore, the perception system of the embodiment of the present application avoids the defect of lack of rich color and other information when the target 14 to be measured is identified only by the depth information of the laser and the infrared light image when the illumination intensity of natural light is greater than or equal to the preset threshold. It also avoids the defect of being unfavorable for the classification and identification of the object when the illumination intensity of natural light is less than the preset threshold when the target 14 to be measured is identified only by the depth information of the laser and the visible natural light image, because the surface image information of the object obtained by the visible natural light image is small or even negligible.
[0069] Furthermore, the perception system of the embodiment of the present application can also choose to independently output point cloud data or image data according to time and scene. The controller 13 processes the depth information, visible natural light image or infrared light image to obtain the depth information of the object, or obtain the surface image information of the object.
[0070] An embodiment of the utility model further provides a vehicle, which includes a vehicle body and any one of the above-mentioned sensing systems, wherein the sensing system is arranged in the vehicle body.
[0071] In the present application, refer to Figure 4As shown, the light sensor 4 detects the light intensity. When the light sensor 4 detects that the light intensity is greater than or equal to the preset threshold, the light sensor 4 transmits the light intensity information to the controller 13. The controller 13 controls the driving mechanism 32 to drive the reflector 31 to rotate to the first position, and the reflective surface of the reflector 31 is opposite to the visible natural light imaging module 5; when the light sensor 4 detects that the light intensity is less than the preset threshold, the light sensor 4 transmits the light intensity information to the controller 13. The controller 13 controls the driving mechanism 32 to drive the reflector 31 to rotate to the second position, and the reflective surface of the reflector 31 is opposite to the infrared light imaging module 6. The controller 13 controls the laser radar transmitting module 9 to emit laser. After the laser is collimated and expanded by the laser lens group 10, it is driven by the rotating platform 12 to be incident on the surface of the space target 14 at a 360° field of view. The laser, visible natural light, and infrared light are reflected by the surface of the target 14 to be measured through the incident light receiving lens group 11 to reach the spectrometer 1. The spectrometer 1 receives the incident light and divides the incident light into laser, visible natural light, and infrared light. The laser is transmitted to the laser receiving module 2 in the form of transmitted light, and the depth information of the target 14 to be measured is obtained through the laser receiving module 2. Visible natural light and infrared light are reflected to the reflector 31. When the reflective surface of the reflector 31 is opposite to the visible natural light imaging module 5, the reflector 31 reflects the visible natural light and infrared light to the visible natural light imaging module 5, the infrared light is filtered out by the first filter on the visible natural light imaging module 5, and the visible natural light enters the visible natural light imaging module 5, so as to obtain the visible natural light image of the target 14 to be measured through the visible natural light imaging module 5. At this time, the controller 13 identifies the target 14 to be measured based on the depth information and the visible natural light image. When the reflective surface of the reflector 31 is opposite to the infrared light imaging module 6, the reflector 31 reflects the visible natural light and infrared light to the infrared light imaging module 6, the visible natural light is filtered out by the second filter on the infrared light imaging module 6, and the infrared light enters the infrared light imaging module 6, so as to obtain the infrared light image of the target 14 to be measured through the infrared light imaging module 6. The controller 13 identifies the target 14 based on the depth information and the infrared light image. Then, the controller 13 controls the reflector 31 to rotate to the initial state, and the work is finished.
[0072] The vehicle of the present application can identify the target 14 to be tested around the clock and can be used in high-level autonomous driving scenarios.
[0073] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0074] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.
[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims
1. A perception system, characterized in that: include: A beam splitter (1), a laser receiving module (2), a reflective component (3), a visible natural light imaging module (5), and an infrared light imaging module (6); The beam splitter (1) is arranged corresponding to the laser receiving module (2) and the reflective component (3), and the beam splitter (1) is used to split incident light into laser light and natural light, and transmit the laser light to the laser receiving module (2), and reflect the natural light to the reflective component (3); The reflection component (3) is arranged corresponding to the visible natural light imaging module (5) and the infrared light imaging module (6), and the reflection component (3) is used to reflect the natural light to the visible natural light imaging module (5) or the infrared light imaging module (6).
2. The sensing system according to claim 1, characterized in that: The reflection component (3) comprises a reflection mirror (31) and a driving mechanism (32); the driving mechanism (32) drives the reflection mirror (31) to rotate; when the reflection mirror (31) is rotated to a first position, the reflection mirror (31) reflects the natural light to the visible natural light imaging module (5); and when the reflection mirror (31) is rotated to a second position, the reflection mirror (31) reflects the natural light to the infrared light imaging module (6).
3. The sensing system according to claim 2, characterized in that: The reflector (31) has a reflective surface, and the reflector (31) is located between the visible natural light imaging module (5) and the infrared light imaging module (6); In the first position, the reflective surface of the reflector (31) is opposite to the visible natural light imaging module (5), and in the second position, the reflective surface of the reflector (31) is opposite to the infrared light imaging module (6); Wherein, when the illumination intensity of the natural light is greater than or equal to a preset threshold, the driving mechanism (32) drives the reflector (31) to rotate to the first position; when the illumination intensity of the natural light is less than the preset threshold, the driving mechanism (32) drives the reflector (31) to rotate to the second position.
4. The sensing system according to claim 3, characterized in that: The sensing system further comprises a light sensor (4), wherein the light sensor (4) is used to detect the light intensity of the natural light.
5. The sensing system according to claim 1, characterized in that: The visible natural light imaging module (5) comprises a first filter and a visible natural light photosensitive chip, wherein the first filter is arranged on a side of the visible natural light photosensitive chip close to the reflective component (3), and the first filter is used to filter out light other than visible natural light and pass the visible natural light.
6. The sensing system according to claim 5, characterized in that: The perception system further comprises a first focusing lens group (7), wherein the first focusing lens group (7) is arranged between the first filter and the reflective component (3), and the first focusing lens group (7) is used for focusing the natural light reflected by the reflective component and projecting the focused natural light onto the first filter and the visible natural light sensing chip.
7. The sensing system according to claim 1, characterized in that: The infrared light imaging module (6) comprises a second filter and an infrared light sensing chip, wherein the second filter is arranged on a side of the infrared light sensing chip close to the reflective component (3), and the second filter is used to filter out light other than infrared light and pass the infrared light.
8. The sensing system according to claim 7, characterized in that: The sensing system further comprises a second focusing lens group (8), wherein the second focusing lens group (8) is arranged between the second optical filter and the reflective component (3), and the second focusing lens group (8) is used for focusing the natural light reflected by the reflective component and projecting the focused natural light onto the second optical filter and the infrared light sensing chip.
9. The sensing system according to claim 1, characterized in that: The beam splitter (1) is at least one of a flat beam splitter, a cubic beam splitter, a thin film beam splitter and a polarization beam splitter.
10. The sensing system according to claim 1, characterized in that: The sensing system further comprises a controller, wherein the controller (13) is electrically connected to the laser receiving module (2), the visible natural light imaging module (5), and the infrared light imaging module (6); the laser receiving module (2) is used to obtain depth information of the target to be measured (14), the visible natural light imaging module (5) is used to obtain a visible natural light image of the target to be measured (14), and the infrared light imaging module (6) is used to obtain an infrared light image of the target to be measured (14); The controller (13) is used to identify the target to be measured (14) based on the depth information, the visible natural light image or the infrared light image.
11. The sensing system according to claim 10, characterized in that: The perception system further comprises a laser radar transmitting module (9), wherein the laser radar transmitting module (9) is connected to the controller (13), and the controller (13) is used to control the laser radar transmitting module (9) to transmit the laser towards the target to be detected (14).
12. The sensing system according to claim 11, characterized in that: The sensing system further comprises a laser lens group (10), wherein the laser lens group (10) is arranged on a side of the laser radar transmitting module (9) close to the target to be measured (14), and the laser lens group (10) is used to collimate and expand the laser emitted by the laser radar transmitting module (9), and project the collimated and expanded laser onto the target to be measured (14).
13. The sensing system according to claim 1, characterized in that: The sensing system further comprises an incident light receiving lens group (11), wherein the incident light receiving lens group (11) is arranged on a side of the beam splitter (1) close to the target to be measured (14), and the incident light receiving lens group (11) is used to receive incident light reflected from a surface of the target to be measured (14) onto the incident light receiving lens group (11).
14. A vehicle, characterized in that: include: Vehicle body; The perception system is the perception system described in any one of claims 1 to 13, and the perception system is arranged in the vehicle body.