CN115277999A - Synchronous acquisition device and image acquisition device - Google Patents
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The utility model relates to a synchronous acquisition device and image acquisition device, synchronous acquisition device includes laser radar device and image acquisition device, and image acquisition device includes exposure control module and a plurality of pixel acquisition module, and each pixel acquisition module is used for under the condition of exposure, the pixel data of corresponding subregion in a plurality of subregions of the object of waiting to gather; the laser radar device is used for emitting laser beams to a target subregion of an object to be acquired and sending target trigger information corresponding to a preset trigger condition to the exposure control module under the condition that the preset trigger condition is met, wherein the target trigger information is used for indicating the exposure control module and controlling the target pixel acquisition module to synchronously acquire pixel data corresponding to the target subregion under the condition of exposure. By utilizing the embodiment of the disclosure, the target pixel acquisition module can synchronously acquire when the laser radar device transmits laser beams, and the corresponding synchronization of the cloud points of the laser radar points and the pixel points of the image acquisition device is realized.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technology, and in particular, to a synchronous acquisition device and an image acquisition device.
Background
The artificial intelligence requires high-precision target identification and centimeter-level position measurement of the surrounding environment, and the camera and the laser radar are used for realizing heterogeneous fusion perception. Under the condition that the external environment condition allows, the camera can realize high-precision target identification, but the distance estimation of the camera is a difficult problem, the distance estimation precision is 50cm magnitude, the laser radar can realize 1 cm-level distance measurement, but the sparsity of point cloud makes the target identification precision based on the point cloud worse, and the high-precision target identification cannot be realized even under the laboratory condition. Therefore, in the prior art, the fusion capability of the data acquired by the camera and the laser radar is poor.
Disclosure of Invention
In view of the above technical problems, the present disclosure provides a synchronous acquisition device and an image acquisition device. The technical scheme of the disclosure is as follows:
according to an aspect of the embodiments of the present disclosure, a synchronous acquisition device is provided, including a laser radar device and an image acquisition device, where the image acquisition device includes an exposure control module and a plurality of pixel acquisition modules, and each pixel acquisition module is configured to acquire pixel data of a corresponding sub-area of a plurality of sub-areas of an object to be acquired under an exposure condition;
the laser radar device is used for transmitting a laser beam to a target subregion of an object to be acquired and sending target trigger information corresponding to a preset trigger condition to the exposure control module under the condition that the preset trigger condition is met, wherein the target trigger information is used for indicating the exposure control module and controlling the target pixel acquisition module to synchronously acquire pixel data corresponding to the target subregion under the condition of exposure;
the target pixel acquisition module is a pixel acquisition module corresponding to the target sub-region in the plurality of pixel acquisition modules.
Optionally, the laser radar apparatus includes a synchronization trigger module, a laser emission control module, and a plurality of laser emitters, where the synchronization trigger module is configured to send the target trigger information to the laser emission control module and the exposure control module when the preset trigger condition is met, and the laser emission control module is configured to control, in the plurality of laser emitters, the target laser emitters corresponding to the target sub-regions to emit laser beams when the target trigger information is received.
Optionally, the laser radar apparatus includes a turning mirror information collection module and a turning mirror, the turning mirror includes a plurality of reflection surfaces, the reflection surfaces of the turning mirror are used to change a light path of the laser beam so that the laser beam is emitted to the target sub-area, the turning mirror information collection module is used to collect rotation number information of the turning mirror and target surface position information corresponding to a target reflection surface in the reflection area among the plurality of reflection surfaces of the turning mirror and send the rotation number information and the target surface position information to the synchronous trigger module, and the synchronous trigger module is used to determine the target trigger information based on the rotation number information and the target surface position information and send the target trigger information corresponding to the target surface position information to the laser emission control module and the exposure control module when the target surface position information belongs to preset trigger position information.
Optionally, the preset trigger position information includes surface position information of a plurality of different reflection angles corresponding to each target reflection surface.
Optionally, the target laser emitter is at least two laser emitters in the multiple laser emitters, and an interval between installation positions of any two laser emitters in the at least two laser emitters is greater than a preset interval.
Optionally, the target sub-region is at least two sub-regions in the multiple sub-regions, the target pixel acquisition module is a pixel acquisition module corresponding to the at least two sub-regions in the multiple pixel acquisition modules, the exposure control module is configured to determine, according to a preset exposure sequence, a current pixel acquisition module in the target pixel acquisition module corresponding to the target trigger information under the condition that the target trigger information is received, and control the current pixel acquisition module to acquire pixel data of a region corresponding to the target pixel point acquisition array in the target sub-region under the condition that the current pixel acquisition module is exposed based on a preset time interval, where the current pixel acquisition module is one of the target pixel acquisition modules.
Optionally, the laser radar apparatus includes a rotating mirror information collecting module and a rotating mirror, the rotating mirror includes multiple reflecting surfaces, the reflecting surface of the rotating mirror is configured to change a light path of the laser beam so that the laser beam is emitted to the target sub-area, the rotating mirror information collecting module is configured to collect rotation number information of the rotating mirror and target surface position information corresponding to a target reflecting surface in the reflecting area in the multiple reflecting surfaces of the rotating mirror, and send the rotation number information and the target surface position information to the synchronous trigger module, and the synchronous trigger module is configured to determine the target trigger information based on the rotation number information and the target surface position information and send the target trigger information corresponding to the target reflecting surface to the laser emission control module and the exposure control module when the target surface position information is the same as trigger position information corresponding to the target reflecting surface in preset trigger position information.
Optionally, the synchronous triggering module and the laser emission control module are constructed based on a field programmable logic gate array.
Optionally, the synchronous triggering module, the laser emission control module, and the exposure control module are constructed based on a field programmable logic gate array.
According to another aspect of the embodiments of the present disclosure, an image capturing apparatus is provided, where the apparatus includes an exposure control module and a plurality of pixel capturing modules, where the exposure control module is configured to control a target pixel capturing module to capture pixel data corresponding to a target subregion of an object to be captured under the condition of exposure when receiving target trigger information, the target trigger information is sent to the exposure control module when a laser radar apparatus emits a laser beam to the target subregion, and the target pixel capturing module is a pixel capturing module corresponding to the target subregion in the plurality of pixel capturing modules.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
under the condition that the preset triggering condition is met through the laser radar device, the target triggering information is sent to the exposure control module while the laser beams are emitted, the target pixel acquisition module can synchronously acquire while the laser beams are emitted by the laser radar device, the corresponding synchronization of cloud points of laser radar points and pixel points of an image acquisition device is realized, point cloud data of the laser radar can be directly superposed on the pixel points of the image acquired by the image acquisition device, the process of target identification in the image acquired by the image acquisition device based on the point cloud data can be reduced, and further the computation amount is greatly reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a block diagram illustrating a synchronous acquisition device in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating a plurality of pixel acquisition modules in an image acquisition device according to an exemplary embodiment;
FIG. 3 is a schematic diagram of a lidar apparatus shown in accordance with an exemplary embodiment;
fig. 4 is a schematic diagram illustrating a turning mirror in a lidar apparatus according to an exemplary embodiment.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1, fig. 1 is a block diagram illustrating a synchronous acquisition device according to an exemplary embodiment. As shown in fig. 1, the synchronous acquisition device may include a laser radar device and an image acquisition device, and the image acquisition device may include an exposure control module and a plurality of pixel acquisition modules. Each pixel acquisition module may be configured to acquire pixel data of a corresponding sub-region of the plurality of sub-regions of the object to be acquired in case of exposure.
In a specific embodiment, the object to be acquired may be any object to be identified in the surrounding environment of the synchronous acquisition device. The range of each sub-region of the object to be acquired may correspond to the irradiation range of the laser beam emitted by the lidar means and the range of the sub-region of the pixel data acquired by the corresponding pixel acquisition module. It can be understood that the irradiation range of the laser beam emitted by the laser radar device and the range of the sub-region of the pixel data collected by the corresponding pixel collection module are the same correspondingly, and the point cloud data of the laser radar can be directly superposed on the pixel points of the image collected by the image collection device in combination with the synchronous collection of the target pixel collection module and the laser radar device.
The laser radar device can be used for emitting laser beams to a target subarea of an object to be collected and sending target trigger information corresponding to the preset trigger condition to the exposure control module under the condition that the preset trigger condition is met. The target trigger information may be used to instruct an exposure control module to control a target pixel acquisition module to synchronously acquire pixel data corresponding to a target sub-region under the exposure condition. The target pixel acquisition module may be a pixel acquisition module corresponding to a target sub-region of the plurality of pixel acquisition modules. It will be appreciated that the laser beam may be reflected at the target sub-area after impinging on the target sub-area, and the distance between the target sub-area and the lidar means may be determined by the time difference between the time at which the laser beam is reflected by the lidar means and the time at which the laser beam is emitted.
In a specific embodiment, the target sub-region may be one of a plurality of sub-regions, or may be a plurality of sub-regions of a plurality of sub-regions. The detection area of the laser radar device in the synchronous acquisition device is the same as the acquisition area of the image acquisition device; before collection, the detection area of the laser radar device and the collection area of the image collection device can be divided in advance to obtain a plurality of sub-areas, and correspondingly, the pixel collection module corresponding to each sub-area can be obtained. The target trigger information may include identification information corresponding to the target sub-area. The preset trigger condition may include a plurality of trigger conditions, and each trigger condition may correspond to a target sub-region. The laser radar device can determine the corresponding target sub-region according to the satisfied trigger condition, so as to generate target trigger information containing identification information of the target sub-region and send the target trigger information to the exposure control module. The exposure control module in the image acquisition device can determine the target pixel acquisition module corresponding to the target subregion in the pixel acquisition modules according to the identification information of the target subregion in the target trigger information, so as to control the target pixel acquisition module to synchronously acquire the pixel data corresponding to the target subregion under the condition of exposure. In practical application, after the pixel data corresponding to each of the plurality of sub-regions is acquired, complete image information of the object to be acquired can be acquired through combined processing.
In a specific embodiment, the image capturing apparatus may further include a plurality of shutters, and the plurality of pixel capturing modules correspond to the plurality of shutters one to one. After receiving the target trigger information, the exposure control module can control a shutter corresponding to the target pixel acquisition module to open and expose according to the target trigger information, and the target pixel acquisition module synchronously acquires pixel data corresponding to a target sub-region under the condition of exposure. Specifically, the target pixel acquisition module may acquire light information corresponding to the target sub-region under the condition of exposure, and perform photoelectric conversion according to the light information to obtain pixel data of the target sub-region.
In the above embodiment, under the condition that the preset triggering condition is met through the laser radar device, the laser beam is emitted while the target triggering information is sent to the exposure control module, so that the target pixel acquisition module can synchronously acquire the laser beam emitted by the laser radar device, and the corresponding synchronization of the cloud points of the laser radar point and the pixel points of the image acquisition device is realized, thereby directly superposing the point cloud data of the laser radar on the pixel points of the image acquired by the image acquisition device, reducing the process of target identification in the image acquired by the image acquisition device based on the point cloud data, and further greatly reducing the calculation amount.
In a particular embodiment, a lidar apparatus may include a synchronization trigger module, a lasing control module, and a plurality of laser transmitters. The synchronous triggering module can be used for sending target triggering information to the laser emission control module and the exposure control module under the condition that preset triggering conditions are met, and the laser emission control module can be used for controlling target laser emitters corresponding to target sub-areas in the plurality of laser emitters to emit laser beams under the condition that the target triggering information is received. Specifically, the correspondence between the plurality of sub-areas and the plurality of laser emitters may be established in advance. Wherein each laser emitter may correspond to a plurality of sub-regions. Based on the corresponding relation, the target laser transmitter corresponding to the identification information of the target sub-region in the target trigger information can be determined.
In a specific embodiment, as shown in fig. 2, the image acquisition modules include 9 image acquisition modules, each of which may be an image pixel point array, and each of the image pixel point arrays may include a plurality of image pixel points. The array size of each image pixel spot array may be determined based on the spatial resolution of the lidar. It can be understood that, by using the image pixel point array as an image acquisition module, the correspondence between the point cloud points in the point cloud data and the image pixel point array is realized.
In a particular embodiment, the lidar device may include a turning mirror information acquisition module and a turning mirror. The turning mirror may include a plurality of reflective surfaces, and the reflective surfaces of the turning mirror may be used to alter the optical path of the laser beam to direct the laser beam towards the target sub-area. Specifically, the included angle between each reflecting surface and the rotating shaft of the rotating mirror is different; a plurality of laser emitters may be provided on one side of the turning mirror, as shown in fig. 3, and the laser beam of each laser emitter may be reflected to different sub-areas by being directed to different positions on the reflective surface as the turning mirror is rotated. When any reflection surface in the rotating mirror enters the reflection area, the target laser transmitter can reflect the laser beam to the target subarea through the reflection surface in the reflection area. The rotating mirror information acquisition module can be used for acquiring the rotating circle number information of the rotating mirror and the target surface position information corresponding to the target reflection surface in the reflection area in the plurality of reflection surfaces of the rotating mirror and sending the rotating mirror circle number information and the target surface position information to the synchronous triggering module. Wherein the target surface position information may include identification information of the target reflection surface and position information of the target reflection surface. Specifically, the rotating mirror turn number information may refer to the turn number information of the rotating mirror which is currently rotated relative to the initial trigger position; the starting trigger position can be the position where the rotating mirror is located when the laser transmitter is triggered to irradiate the first sub-area after the rotating mirror is started, and the starting trigger position can represent the trigger of the laser radar device to start the detection of the object to be collected. The synchronous triggering module may be configured to determine target triggering information based on the rotation number information and the target surface position information and send the target triggering information corresponding to the target surface position information to the laser emission control module and the exposure control module, when the target surface position information belongs to preset triggering position information. Specifically, the target sub-region may be determined based on the rotation number information and the target surface position information, and accordingly, target trigger information including identification information of the target sub-region may be generated. It can be understood that the target laser transmitter intermittently transmits laser beams along with the rotation of the rotating mirror, the target laser transmitter is updated when the rotating mirror rotates for one circle and enters the next rotation period, the updated target laser transmitter intermittently transmits the laser beams along with the rotation of the rotating mirror, and the target laser transmitter can be determined according to the rotation circle number information and the number of the preset plurality of laser transmitters. The corresponding relation between the surface position information corresponding to the plurality of laser emitters and the plurality of reflection surfaces and the plurality of sub-areas can be preset, and the target sub-area can be determined based on the target laser emitter and the target surface position information.
In a specific embodiment, the preset trigger position information may include surface position information of a plurality of different reflection angles corresponding to each target reflection surface. Illustratively, as shown in fig. 4, the turning mirror may include four reflecting surfaces, i.e., a first reflecting surface 10, a second reflecting surface 20, a third reflecting surface 30, and a fourth reflecting surface 40, which are formed at different angles from the rotation axis of the turning mirror. In the operation process of the laser radar device, the rotating mirror can rotate at a constant speed through the motor, and the rotating mirror rotates by taking a central shaft in a range surrounded by the four reflecting surfaces as a rotating shaft, namely the four reflecting surfaces rotate along with the rotating mirror in the rotating process. When the first reflecting surface of the rotating mirror reaches the reflecting area, the first reflecting surface is the target reflecting surface. The rotating circle number information of the rotating mirror and the target surface position information of the target reflection surface are collected through the rotating mirror information collection module, when the synchronous trigger module detects that the target surface position information of the target reflection surface is the same as one of the surface position information of the plurality of surface position information corresponding to the target reflection surface in the preset trigger position information, the synchronous trigger module can determine the target trigger information based on the rotating circle number information and the target surface position information, and send the target trigger information corresponding to the target surface position information to the laser emission control module and the exposure control module. The laser emission control module controls a target laser emitter corresponding to a target subarea in the plurality of laser emitters to emit laser beams under the condition of receiving target trigger information; the exposure control module can control the target pixel acquisition module to synchronously acquire pixel data corresponding to the target sub-area under the condition of exposure when receiving the target trigger information. Specifically, when the first reflection surface is located in the reflection area and rotates to reach the position corresponding to the surface position information corresponding to the first reflection surface in the preset trigger position information, the laser emitter corresponding to the first reflection surface emits a laser beam, so that the laser beam emitted by the laser emitter corresponding to the first reflection surface can be emitted to different sub-areas through rotation of the rotating mirror.
In a specific embodiment, the target laser transmitter may be at least two laser transmitters of the plurality of laser transmitters, and an interval between installation positions of any two laser transmitters of the at least two laser transmitters is greater than a preset interval. The preset interval can be set according to actual needs. It can be understood that at least two laser emitters in the plurality of laser emitters are used as target laser emitters, and accordingly, the target pixel acquisition module corresponding to the target trigger information includes at least two pixel acquisition modules, and sub-areas corresponding to the at least two pixel acquisition modules are the same as the sub-areas corresponding to the at least two laser emitters. Exemplarily, if the plurality of laser emitters includes eight laser emitters arranged side by side, the first laser emitter, the second laser emitter, the third laser emitter, the fourth laser emitter, the fifth laser emitter, the sixth laser emitter, the seventh laser emitter and the eighth laser emitter are respectively arranged in the order of installation position; if the target laser transmitters are two laser transmitters, the target laser transmitters may be a first laser transmitter and a fifth laser transmitter, a second laser transmitter and a sixth laser transmitter, a third laser transmitter and a seventh laser transmitter, or a fourth laser transmitter and an eighth laser transmitter.
In the above embodiment, at least two laser transmitters of the plurality of laser transmitters are used as target laser transmitters, at least two corresponding pixel acquisition modules are synchronously triggered and synchronously acquired in the triggering process, and the interval between the installation positions of any two laser transmitters of the at least two laser transmitters is larger than the preset interval, so that the synchronous acquisition efficiency can be improved, and meanwhile, the detection accuracy is prevented from being influenced due to the fact that the laser radar device cannot distinguish the laser transmitter which transmits the laser beam when receiving the laser beam due to the fact that the installation positions of the laser transmitters are too close to each other.
In a specific embodiment, the target sub-region may be at least two sub-regions of the plurality of sub-regions, and the laser emitters corresponding to the at least two sub-regions are the same laser emitter. The target pixel acquisition module may be a pixel acquisition module corresponding to at least two sub-regions of the plurality of pixel acquisition modules. The exposure control module may be configured to, in a case where the target trigger information is received, determine a current pixel acquisition module in the target pixel acquisition module corresponding to the target trigger information according to a preset exposure sequence, and control the current pixel acquisition module to acquire pixel data of an area corresponding to the target pixel point acquisition array in the target sub-area in a case where the current pixel acquisition module is exposed based on a preset time interval. The current pixel acquisition module may be one of the target pixel acquisition modules. The preset exposure sequence may be determined based on a detection sequence in which a single laser transmitter detects a plurality of sub-regions. The preset time interval may be a time interval between two adjacent laser emissions of a single laser emitter, and the preset time interval may be set according to actual needs. Specifically, it is assumed that the identification information of the target sub-region in the target trigger information is 1,2,3, …,9, 10, and the pixel acquisition modules corresponding to the identification information of the target sub-region are respectively a first pixel acquisition module and a second pixel acquisition module … tenth pixel module; if the detection sequence of the laser emitter corresponding to the target trigger information to the target sub-region is 1,2,3, …,9, 10, the acquisition sequence of the pixel acquisition module in the target pixel acquisition module is the first pixel acquisition module, the second pixel acquisition module … tenth pixel module. And the laser emission control module controls the target laser emitters corresponding to the at least two sub-areas to emit laser beams under the condition of receiving the target trigger information containing the identification information of the at least two sub-areas, and emits the laser beams for multiple times at preset time intervals so that the laser beams sequentially irradiate the at least two sub-areas. And the exposure control module controls the shutters corresponding to the at least two sub-areas to sequentially open exposure according to a preset exposure sequence under the condition of receiving the target trigger information containing the identification information of the at least two sub-areas.
In the above embodiment, when receiving the target trigger information, the exposure control module determines, according to the preset exposure sequence, a current pixel acquisition module in the target pixel acquisition module corresponding to the target trigger information, and controls, based on the preset time interval, the current pixel acquisition module to acquire pixel data of an area corresponding to the target pixel point acquisition array in the target sub-area under the exposure condition, so that the acquisition synchronization of the laser radar device and the image acquisition device can be improved, and the storage requirement of the image processor in the image acquisition device on the identification information of the pixel acquisition module can be reduced.
In a specific embodiment, in the case that the target sub-region is at least two sub-regions of the plurality of sub-regions, the preset trigger condition may be that the target surface position information is preset trigger position information. The laser radar device can comprise a rotating mirror information acquisition module and a rotating mirror, wherein the rotating mirror can comprise a plurality of reflecting surfaces, and the reflecting surfaces of the rotating mirror can be used for changing the light path of the laser beam so as to enable the laser beam to be emitted to the target subarea. The rotating mirror information acquisition module can be used for acquiring the rotating circle number information of the rotating mirror and the target surface position information corresponding to the target reflection surface in the reflection area in the plurality of reflection surfaces of the rotating mirror, and sending the rotating circle number information and the target surface position information to the synchronous triggering module. The preset trigger position information may include trigger position information corresponding to each of the plurality of reflection surfaces, and the synchronous trigger module may determine target trigger information based on the rotation number information and the target surface position information and transmit the target trigger information to the laser emission control module and the exposure control module, in a case that the target surface position information is the same as the trigger position information corresponding to the target reflection surface in the preset trigger position information. The target trigger information corresponding to the target reflection surface may include identification information of a plurality of sub-areas corresponding to the laser emitters corresponding to the target reflection surface. Specifically, when it is detected that a first reflecting surface of the rotating mirror enters the reflecting area, the first reflecting surface is a target reflecting surface; along with the rotation of the rotating mirror, the position of the first reflecting surface changes along with the rotation of the rotating mirror, and until the surface position information corresponding to the first reflecting surface is the same as the trigger position information corresponding to the first reflecting surface in the preset trigger position information, the target trigger information is determined based on the rotation number information and the target surface position information, and the target trigger information is sent to the laser emission control module and the exposure control module.
In a specific embodiment, the synchronous triggering module and the laser emission control module are constructed based on a field programmable gate array.
In a specific embodiment, the synchronous trigger module, the laser emission control module and the exposure control module are constructed based on a field programmable gate array.
In an exemplary embodiment, an image capturing apparatus is also provided. The image acquisition device can comprise an exposure control module and a plurality of pixel acquisition modules. The exposure control module may be configured to control the target pixel acquisition module to synchronously acquire pixel data corresponding to a target sub-region of the object to be acquired under the condition of exposure when the target trigger information is received. The target triggering information can be sent to the exposure control module when the laser radar device emits laser beams to the target sub-region, and the target pixel acquisition module can be a pixel acquisition module corresponding to the target sub-region in the plurality of pixel acquisition modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. The synchronous acquisition device is characterized by comprising a laser radar device and an image acquisition device, wherein the image acquisition device comprises an exposure control module and a plurality of pixel acquisition modules, and each pixel acquisition module is used for acquiring pixel data of a corresponding sub-area in a plurality of sub-areas of an object to be acquired under the condition of exposure;
the laser radar device is used for emitting laser beams to a target subregion of an object to be acquired and sending target trigger information corresponding to a preset trigger condition to the exposure control module under the condition that the preset trigger condition is met, wherein the target trigger information is used for indicating the exposure control module and controlling a target pixel acquisition module to synchronously acquire pixel data corresponding to the target subregion under the condition of exposure;
the target pixel acquisition module is a pixel acquisition module corresponding to the target sub-region in the plurality of pixel acquisition modules.
2. The apparatus according to claim 1, wherein the lidar apparatus includes a synchronization trigger module, a laser emission control module, and a plurality of laser emitters, the synchronization trigger module is configured to send the target trigger information to the laser emission control module and the exposure control module when the preset trigger condition is met, and the laser emission control module is configured to control, when the target trigger information is received, a target laser emitter corresponding to the target subregion among the plurality of laser emitters to emit a laser beam.
3. The device according to claim 2, wherein the lidar device comprises a turning mirror information collection module and a turning mirror, the turning mirror comprises a plurality of reflection surfaces, the reflection surfaces of the turning mirror are used for changing the optical path of the laser beam to enable the laser beam to emit to the target sub-area, the turning mirror information collection module is used for collecting the rotation number information of the turning mirror and the target surface position information corresponding to the target reflection surface in the reflection area in the plurality of reflection surfaces of the turning mirror and sending the rotation number information and the target surface position information to the synchronous trigger module, and the synchronous trigger module is used for determining the target trigger information based on the rotation number information and the target surface position information and sending the target trigger information to the laser emission control module and the exposure control module under the condition that the target surface position information belongs to preset trigger position information.
4. The apparatus of claim 3, wherein the preset trigger position information comprises surface position information of a plurality of different reflection angles corresponding to each target reflection surface.
5. The apparatus of claim 2, wherein the target laser transmitter is at least two of the plurality of laser transmitters, and an interval between installation positions of any two of the at least two laser transmitters is greater than a preset interval.
6. The apparatus according to claim 1, wherein the target sub-region is at least two sub-regions of the plurality of sub-regions, the target pixel acquisition module is a pixel acquisition module corresponding to the at least two sub-regions of the plurality of pixel acquisition modules, the exposure control module is configured to, when the target trigger information is received, determine a current pixel acquisition module of the target pixel acquisition module corresponding to the target trigger information according to a preset exposure sequence, and control the current pixel acquisition module to acquire pixel data of a region corresponding to the target pixel point acquisition array in the target sub-region under the condition of exposure based on a preset time interval, where the current pixel acquisition module is one of the target pixel acquisition modules.
7. The device according to claim 6, wherein the lidar device comprises a rotating mirror information collection module and a rotating mirror, the rotating mirror comprises a plurality of reflecting surfaces, the reflecting surfaces of the rotating mirror are used for changing the optical path of the laser beam to enable the laser beam to emit to the target sub-area, the rotating mirror information collection module is used for collecting the rotation number information of the rotating mirror and the target surface position information corresponding to the target reflecting surface in the reflecting area in the plurality of reflecting surfaces of the rotating mirror and sending the rotation number information and the target surface position information to the synchronous trigger module, and the synchronous trigger module is used for determining the target trigger information based on the rotation number information and the target surface position information and sending the target trigger information to the laser emission control module and the exposure control module under the condition that the target surface position information is the same as the trigger position information corresponding to the target reflecting surface in the preset trigger position information.
8. The apparatus of claim 2, wherein the synchronization triggering module and the laser emission control module are constructed based on a field programmable gate array.
9. The apparatus of claim 2, wherein the synchronization triggering module, the laser emission control module, and the exposure control module are constructed based on a field programmable gate array.
10. The image acquisition device is characterized by comprising an exposure control module and a plurality of pixel acquisition modules, wherein the exposure control module is used for controlling a target pixel acquisition module to synchronously acquire pixel data corresponding to a target sub-region of an object to be acquired under the condition of exposure when target trigger information is received, the target trigger information is sent to the exposure control module when a laser radar device emits laser beams to the target sub-region, and the target pixel acquisition module is a pixel acquisition module corresponding to the target sub-region in the plurality of pixel acquisition modules.
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