Lens assembly of laser obstacle removing instrument and laser obstacle removing instrument

Abstract

The invention provides a lens assembly of a laser obstacle clearing instrument and the laser obstacle clearing instrument, and relates to the technical field of laser obstacle clearing. The lens assembly comprises a first camera module, a laser focusing lens, a laser focusing lens focal length adjusting module, a camera angle adjusting module, a lens control mainboard and a communication aviation plug. The laser focusing lens comprises a first focusing lens and a second focusing lens, the laser focusing lens focal length adjusting module comprises a first motor and a second motor, the first focusing lens is controlled by the first motor, and the second focusing lens is controlled by the second motor. And laser emitted from the laser focusing lens is subjected to secondary focusing through the first focusing lens and the second focusing lens. According to the laser obstacle removing instrument, the focusing lenses are controlled through the motors respectively, two-time focusing before laser emission can be achieved, the focusing effect is greatly improved, the laser efficiency is improved, and then the obstacle removing efficiency of the laser obstacle removing instrument is improved.

Description

Technical Field

[0001] The present application relates to the technical field of laser obstacle removal, and in particular to a lens assembly of a laser obstacle removal instrument and a laser obstacle removal instrument. Background Art

[0002] In the field of laser obstacle removal technology, the laser obstacle remover captures the information of the obstacle object (obstacle) in the target area through the lens assembly. The assembly lens, as the "eye" of the device, can accurately identify and locate obstacles, and provide basic data for the subsequent processing and cleaning work of the laser obstacle remover, so that the host can configure the relevant parameters of the laser emission, such as the focal length of the focusing lens, and then emit the laser through the lens assembly.

[0003] However, the laser emitted by the lens assembly in the current laser cutting machine has poor focusing effect, low laser efficiency and slow obstacle clearing speed.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The present application provides a lens assembly of a laser obstacle clearer and the laser obstacle clearer, which at least to a certain extent provide a lens assembly solution with good focusing effect of the emitted laser, high laser efficiency and fast obstacle clearing speed.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0007] According to one aspect of the present application, a lens assembly of a laser obstacle clearer is provided, comprising: a first camera module, a laser focusing lens, a laser focusing lens focal length adjustment module, a camera angle adjustment module, a lens control mainboard and a communication aerial plug; the lens control mainboard is connected to the laser focusing lens focal length adjustment module and the camera angle adjustment module respectively, and the first camera module and the lens control mainboard are connected to a host through the communication aerial plug; the first camera module is paraxial with the laser focusing lens; the first camera module is used to shoot an obstacle object, and transmit the shot picture to the host through the communication aerial plug, so that the host calculates a first distance between the obstacle object and the laser focusing lens based on the picture, and the first distance is used to control the laser focusing lens focal length adjustment module; the laser focusing lens comprises a first focusing lens and a second focusing lens, and the laser focusing lens focal length adjustment module comprises a first motor and a second motor, the first focusing lens is controlled by the first motor, and the second focusing lens is controlled by the second motor, and the laser emitted from the laser focusing lens is refocused by the first focusing lens and the second focusing lens.

[0008] By configuring the laser focusing lens focal length adjustment module to include a first motor and a second motor, the laser focusing lens to include a first focusing lens and a second focusing lens, and controlling a focusing lens by a motor respectively, two focusings can be achieved before the laser is emitted, thereby greatly improving the focusing effect, improving the laser efficiency, and thus improving the obstacle removal efficiency of the laser obstacle remover.

[0009] In one embodiment of the present application, it also includes: a laser rangefinder, which is connected to the host through the communication aerial plug, so as to transmit the measured second distance between the obstacle object and the laser rangefinder to the host; when the first distance is less than a threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens; when the second distance is not less than a threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens.

[0010] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance. When the measured first distance is less than the threshold distance, the first distance is used as the actual distance between the obstacle object and the laser focusing lens, and when the second distance is not less than the threshold distance, the second distance is used as the actual distance between the obstacle object and the laser focusing lens. This makes it possible to make the distance between the obstacle object and the laser focusing lens measured more accurate at both long and short distances, which is conducive to improving the focusing effect of the laser beam and the efficiency of laser obstacle removal.

[0011] In one embodiment of the present application, it also includes: a laser rangefinder, connected to the host through the communication aerial plug, so as to transmit the measured second distance between the obstacle object and the laser rangefinder to the host; an ambient light intensity measurement unit, connected to the host through the communication aerial plug, so as to transmit the measured ambient light intensity to the host; the host determines the actual distance between the obstacle object and the laser focusing lens based on the light intensity data and / or the ranging data, the light intensity data includes the ambient light intensity and the light intensity threshold, and the ranging data includes the first distance and the second distance.

[0012] By configuring a laser rangefinder, different measurement methods can be selected according to the accuracy of laser ranging and visual ranging based on the first camera module in different measurement environments, thereby improving the accuracy of ranging.

[0013] By configuring the ambient light intensity measurement unit, under complex lighting conditions, a ranging method that is more suitable for the ambient lighting conditions can be selected from laser ranging and visual ranging based on the first camera module, thereby improving the ranging accuracy and facilitating the operation of the laser obstacle remover.

[0014] In one embodiment of the present application, the laser focusing lens, the first camera module and the laser rangefinder adopt a three-optical path coaxial calibration structure, and the coaxial calibration structure includes: the laser emission channel corresponding to the laser focusing lens is centrally arranged; the first camera module and the laser rangefinder are arranged on both sides of the laser channel, and optical path coupling is achieved through a beam splitter prism; a calibration reference laser is used to generate a calibration pattern when the laser obstacle remover is turned on to facilitate automatic alignment of the three optical paths.

[0015] The three-path coaxial calibration structure of the ranging module can eliminate the paraxial error, improve the accuracy of ranging, and improve the spatial consistency of multi-sensor data. In addition, the use of calibration reference lasers can achieve automatic calibration, improve calibration efficiency, and reduce the time required to complete laser obstacle removal operations.

[0016] In one embodiment of the present application, it also includes: at least one second camera module, which is used to shoot a picture within a preset angle range centered on the light emitting direction of the laser focusing lens, and transmit the shot picture to the host through the communication interface, so that the host can trigger the laser emergency stop when a biometric feature is detected in the picture taken by any second camera module.

[0017] Since the first camera module is used to shoot obstacles, usually when the obstacles are clearly photographed, the shooting range of the picture will be small, and it is difficult to predict in advance that the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and shooting the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to shoot a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether there are creatures passing in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid causing harm to other creatures and achieve biometric protection.

[0018] In one embodiment of the present application, the second camera module is configured with a wide-angle monitoring camera and a telephoto recognition camera; an infrared fill light array is arranged around the lenses of the wide-angle monitoring camera and the telephoto recognition camera, and the luminous intensity of the infrared fill light array is positively correlated with the laser power.

[0019] The dual-mode second camera module (wide angle and telephoto) can take into account both wide-range monitoring and detail recognition when shooting, so as to better identify biological features and avoid accidental laser damage to other organisms. The infrared fill light array can be used to enhance the imaging of the second camera module in a low-light environment to ensure the recognition of biological features.

[0020] In one embodiment of the present application, the at least one second camera module is a second camera module; the camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module, the first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

[0021] By configuring the second camera angle adjustment module, the shooting direction of the second camera module can be flexibly adjusted, so that the shooting direction of the second camera module can be flexibly adjusted in different shooting environments, so as to better predict in advance whether there is a target object passing in front of the laser obstacle remover.

[0022] In one embodiment of the present application, it also includes: an electric sliding cover mechanism that closes all optical windows on the lens assembly in a non-working state.

[0023] The electric sliding cover mechanism can prevent the lens from being contaminated, thereby avoiding a reduction in obstacle clearance efficiency.

[0024] In one embodiment of the present application, it also includes: a temperature sensor connected to the host through a communication plug, and sending the measured ambient temperature to the host, so that the host can dynamically correct the focal length adjustment parameter of the laser focusing lens focal length adjustment module according to the ambient temperature.

[0025] The temperature sensor can be used to compensate for the temperature drift of the laser when the ambient temperature changes, thereby ensuring the accuracy of laser focusing. As a result, the lens assembly can achieve precise focusing under complex lighting conditions and ambient temperature changes, thereby improving the working efficiency of the laser obstacle remover.

[0026] According to another aspect of the present application, a laser obstacle clearer is provided, comprising a lens assembly of the laser obstacle clearer as described in any one of the above embodiments.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram showing a lens assembly of a laser obstacle remover in one embodiment of the present application;

[0030] Figure 2 Shows Figure 1 A front view of the lens assembly of the laser obstacle remover;

[0031] Figure 3 Shows Figure 1 The right side view of the lens assembly of the laser obstacle remover;

[0032] Figure 4 Shows Figure 1 The left side view of the lens assembly of the laser obstacle remover;

[0033] Figure 5 A schematic diagram showing a range captured by at least one second camera module in one embodiment of the present application;

[0034] Figure 6 A schematic diagram showing a shooting range of the second camera module in one embodiment of the present application. DETAILED DESCRIPTION

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0036] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus their repeated descriptions will be omitted. It should be noted that the concepts of "first", "second", etc. mentioned in the present application are only used to distinguish different camera modules, motors, focusing lenses, etc.

[0037] like Figure 1 , Figure 2 and Figure 3As shown, the lens assembly of the laser obstacle clearer in one embodiment of the present application may include: a first camera module 1, a laser focusing lens 2, a laser lens focal length adjustment module 3, a camera angle adjustment module 4, a lens control mainboard and a communication aviation plug 5.

[0038] Among them, the lens control mainboard is connected to the laser lens focus adjustment module 3 and the camera angle adjustment module 4 respectively, and the first camera module 1 and the lens control mainboard are connected to the host through the communication connector 5.

[0039] The first camera module 1 is paraxial with the laser focusing lens 2 .

[0040] The first camera module 1 is used to photograph obstacles and transmit the photographed images to the host through the communication interface 5, so that the host can calculate the first distance between the obstacle and the laser focusing lens 2 based on the image. The first distance is used to control the laser lens focal length adjustment module 3.

[0041] The laser focusing lens 2 includes a first focusing lens and a second focusing lens, and the laser focusing lens focal length adjustment module 3 includes a first motor and a second motor. The first focusing lens is controlled by the first motor, and the second focusing lens is controlled by the second motor. The laser emitted from the laser focusing lens is refocused by the first focusing lens and the second focusing lens.

[0042] The laser lens focal length adjustment module 3 is used to adjust the focal length of the laser focusing lens 2. The camera angle adjustment module 4 can adjust the shooting angle of the first camera module 1.

[0043] Control instructions can be sent to the laser lens focus adjustment module 3 and the camera angle adjustment module 4 through the lens control mainboard to control the laser lens focus adjustment module 3 and the camera angle adjustment module 4.

[0044] The embodiment of the present application does not limit how the host calculates the first distance between the obstacle object and the laser focusing lens 2 according to the picture captured by the first camera module 1. For example, the first distance between the obstacle object and the laser focusing lens 2 can be calculated based on any visual method.

[0045] For example, the host may pre-process the image to extract the edge contour of the obstacle object. Then, based on the edge contour, the pixel width P of the obstacle object in the image is determined. According to the similar triangle method, the calculation of the first distance can be shown in the following formula 1.

[0046] D=(W×f) / P (1)

[0047] Among them, D is the distance between the obstacle object and the first camera module 1 (which can be used as the first distance between the obstacle object and the laser focusing lens 2), W is the actual width of the obstacle object, f is the focal length of the first camera module 1, and P is the pixel width P of the obstacle object in the picture.

[0048] The host can detect and obtain the focal length f of the first camera module 1 in real time, and can determine the actual width W of the obstacle object corresponding to the pixel width P based on the relationship between the focal length of the first camera 1 and the actual width corresponding to a single pixel. Thereafter, the distance between the obstacle object and the first camera module 1 is calculated according to Formula 1, and the distance is used as the first distance.

[0049] In one embodiment, the obstacle object can also perform empirical correction on the distance between the obstacle object and the first camera module 1 (for example, by calibrating the correspondence between the distance between the obstacle object and the first camera module 1 and the first distance, and using the correspondence to perform empirical correction on the distance between the obstacle object and the first camera module 1), and use the corrected distance as the first distance.

[0050] For another example, the host stores the internal parameters of the first camera module 1, and then the internal parameters and the coordinate information of the obstacle object in the picture can be directly used to calculate the distance between the obstacle object and the first camera module through methods such as projection matrix, and then determine the first distance.

[0051] The embodiments of the present application do not limit how to pre-process the image. For example, the pre-processing includes: gray-scaling, filtering, edge detection and contour detection.

[0052] By setting the laser focusing lens and the first camera module paraxially in the lens assembly, the addition and coaxial setting can improve the focusing effect of the laser focusing lens, thereby improving the efficiency of laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the picture taken by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing before the laser obstacle removal device works can be completed more quickly and accurately.

[0053] By configuring the laser focusing lens focal length adjustment module to include a first motor and a second motor, the laser focusing lens to include a first focusing lens and a second focusing lens, and controlling a focusing lens by a motor respectively, two focusings can be achieved before the laser is emitted, thereby greatly improving the focusing effect, improving the laser efficiency, and thus improving the obstacle removal efficiency of the laser obstacle remover.

[0054] In one embodiment, Figure 1 and Figure 2As shown, the lens assembly of the laser obstacle remover may also include: a laser rangefinder 6, which is connected to the host through a communication aviation plug 5, so as to transmit the measured second distance between the obstacle object and the laser rangefinder to the host.

[0055] When the first distance is less than the threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens.

[0056] When the second distance is not less than the threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens.

[0057] The laser rangefinder 6 can measure the distance between the obstacle object and itself, and this distance can be used as the second distance.

[0058] By measuring the distance between the obstacle and the laser focusing lens by a laser rangefinder and calculating the distance between the obstacle and the laser focusing lens by using the image captured by the first camera module, the laser lens can be applied in different environments using a distance measurement method that is more suitable for the current environment, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0059] The embodiments of the present application do not limit the specific value of the threshold distance, and it can be set based on experience.

[0060] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance (because the relative position between the laser rangefinder and the laser focusing lens is fixed and has a certain position difference, when the distance between the laser focusing lens and the obstacle object is far, the position difference between the laser rangefinder and the laser focusing lens can be ignored, and the distance measured by the laser rangefinder is closer to the actual distance between the laser focusing lens and the obstacle object). By using the first distance as the actual distance between the obstacle object and the laser focusing lens when the measured first distance is less than the threshold distance, and using the second distance as the actual distance between the obstacle object and the laser focusing lens when the second distance is not less than the threshold distance, the distance between the obstacle object and the laser focusing lens can be measured more accurately at both long and short distances, which is conducive to improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0061] In one embodiment, Figure 1 and Figure 2 As shown, the lens assembly of the laser obstacle remover also includes: a laser rangefinder 6, which is connected to the host through a communication aviation plug 5, so as to transmit the measured second distance between the obstacle object and the laser rangefinder to the host.

[0062] Ambient light intensity measurement unit (can be configured in the housing of the lens assembly or other locations, Figure 1 and Figure 2 (not shown) and connected to the host via a communication connector 5 so as to transmit the measured ambient light intensity to the host.

[0063] The host determines the actual distance between the obstacle object and the laser focusing lens based on the light intensity data and / or the distance measurement data, the light intensity data includes the ambient light intensity and the light intensity threshold, and the distance measurement data includes the first distance and the second distance.

[0064] The embodiments of the present application do not limit how the host determines the actual distance between the obstacle object and the laser focusing lens based on the light intensity data. For example, when the ambient light intensity is greater than the light intensity threshold, it means that the ambient light is strong and the environment is bright, the picture captured by the first camera module is clear, and the result of visual ranging based on the first camera module is more accurate. At this time, the first distance is used as the actual distance between the obstacle object and the laser focusing lens. Conversely, when the ambient light intensity is not greater than the light intensity threshold, it means that the ambient light is weak and the environment is dim, the picture captured by the first camera module is not clear enough, and the result of visual ranging based on the first camera module is less accurate. In laser ranging, the laser beam is less disturbed by the ambient light, and the ranging result is more accurate. At this time, the second distance is used as the actual distance between the obstacle object and the laser focusing lens.

[0065] The embodiments of the present application do not limit how to determine the actual distance between the obstacle object and the laser focusing lens based on the ranging data.

[0066] By measuring the distance between the obstacle and the laser focusing lens by a laser rangefinder and calculating the distance between the obstacle and the laser focusing lens by using the image captured by the first camera module, the laser lens can be applied in different environments using a distance measurement method that is more suitable for the current environment, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0067] By configuring a laser rangefinder, different measurement methods can be selected according to the accuracy of laser ranging and visual ranging based on the first camera module in different measurement environments, thereby improving the accuracy of ranging.

[0068] In one embodiment, the lens assembly further comprises: an electric sliding cover mechanism, which closes all optical windows on the lens assembly in a non-working state.

[0069] In one embodiment, Figure 4 As shown, the electric sliding cover mechanism includes: a first camera protection cover 8 for protecting the lens of the first camera module 1.

[0070] By providing the first camera protection cover 8, the lens of the first camera module can be protected, thereby increasing the service life of the lens of the first camera module.

[0071] In one embodiment, Figure 4 As shown, the electric sliding cover mechanism includes: a laser lens protection cover 9 for protecting the laser focusing lens 2 .

[0072] By providing the laser lens protection cover 9, the laser focusing lens can be protected, thereby increasing the service life of the laser focusing lens.

[0073] In one embodiment, Figure 4 As shown, the electric sliding cover mechanism includes: a rangefinder lens protection cover 7 for protecting the laser rangefinder 6.

[0074] By providing the rangefinder lens protection cover 7 , the lens of the laser rangefinder 6 can be protected, thereby increasing the service life of the laser rangefinder 6 .

[0075] In one embodiment, the laser focusing lens, the first camera module and the laser rangefinder adopt a three-light path coaxial calibration structure, and the coaxial calibration structure includes:

[0076] The laser emission channel corresponding to the laser focusing lens is centrally arranged.

[0077] The first camera module and the laser rangefinder are arranged on both sides of the laser channel, and optical path coupling is achieved through a beam splitter prism.

[0078] Calibration reference laser, used to generate a calibration pattern when the laser obstacle remover is turned on to facilitate automatic alignment of the three optical paths.

[0079] The three-path coaxial calibration structure of the ranging module can eliminate the paraxial error, improve the accuracy of ranging, and improve the spatial consistency of multi-sensor data. In addition, the use of calibration reference lasers can achieve automatic calibration, improve calibration efficiency, and reduce the time required to complete laser obstacle removal operations.

[0080] In one embodiment, Figure 5 The lens assembly also includes: at least one second camera module 10, which is used to shoot a picture within a preset angle range centered on the light emitting direction of the laser focusing lens, and transmit the shot picture to the host through a communication interface, so that the host can trigger a laser emergency stop when a biological feature is detected in the picture taken by any second camera module 10.

[0081] The embodiments of the present application do not limit what the biometric features specifically include. For example, the target object may include features of preset objects such as humans and birds.

[0082] The embodiments of the present application do not limit how the host performs target detection on the images captured by the second camera module 10. For example, the host can detect the images reported by each second camera module 10 in real time through the target detection model, and when the host detects that there is a target object in the images reported by any second camera module 10, the laser obstacle remover is forcibly turned off, thereby preventing the laser from causing damage to the target object and improving the safety of the laser obstacle remover when in use.

[0083] The embodiments of the present application do not limit the specific module of the target detection model. For example, the target detection model can be R-CNN (Region-based Convolutional Neural Network), or Fast R-CNN (Fast Regional Convolutional Neural Network), or SSD (Single Shot MultiBox Detector), etc., or a lightweight model of any target detection model.

[0084] It should be noted that Figure 5 The at least one second camera module 10 is drawn as two second camera modules 10 as an example, and the embodiment of the present application does not limit the specific number of the at least one second camera module 10. The embodiment of the present application also does not limit how to set the at least one second camera module 10 to capture the areas in front of the laser obstacle remover.

[0085] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture taken will be small, making it difficult to predict in advance whether a creature has entered the area in front of the laser obstacle remover. By setting at least one second camera module and photographing the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to photograph a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether a creature has passed in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid causing damage to the target object.

[0086] In one embodiment, the second camera module 10 is configured with a wide-angle monitoring camera and a telephoto recognition camera.

[0087] An infrared fill light array is arranged around the lenses of the wide-angle monitoring camera and the telephoto recognition camera, and the luminous intensity of the infrared fill light array is positively correlated with the laser power.

[0088] The dual-mode second camera module (wide angle and telephoto) can take into account both wide-range monitoring and detail recognition when shooting, so as to better identify biological features and avoid accidental laser damage to other organisms. The infrared fill light array can be used to enhance the imaging of the second camera module in a low-light environment to ensure the recognition of biological features.

[0089] In one embodiment, Figure 6 As shown, at least one second camera module 10 is a second camera module 10;

[0090] The camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module. The first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module 10.

[0091] By configuring the second camera angle adjustment module, the shooting direction of the second camera module can be flexibly adjusted, so that the shooting direction of the second camera module can be flexibly adjusted in different shooting environments, so as to better predict in advance whether there are any creatures that will pass in front of the laser obstacle remover.

[0092] In one embodiment of the present application, the lens assembly also includes: a temperature sensor (which can be configured in the housing of the lens assembly or other locations), which is connected to the host via the communication plug 5 and sends the measured ambient temperature to the host, so that the host can dynamically correct the focal length adjustment parameters of the laser focusing lens focal length adjustment module according to the ambient temperature.

[0093] The temperature sensor can be used to compensate for the temperature drift of the laser when the ambient temperature changes, thereby ensuring the accuracy of laser focusing. As a result, the lens assembly can achieve precise focusing under complex lighting conditions and ambient temperature changes, thereby improving the working efficiency of the laser obstacle remover.

[0094] In one embodiment, a host computer to which the lens assembly is connected is provided with a control mainboard, and a fail-safe mechanism is provided on the control mainboard, which automatically retracts the laser focus to a safe distance when communication is interrupted.

[0095] A fail-safe mechanism automatically retracts the focus in the event of a power outage to avoid accidental injury.

[0096] In one embodiment, the control mainboard is further configured with a power adaptive controller for dynamically adjusting laser parameters according to the result of identifying the material of the obstacle object. The material of the obstacle object is identified through the picture taken by the first camera module.

[0097] The power adaptive controller can dynamically match the ablation threshold of the material and improve the energy efficiency of the laser obstacle remover.

[0098] In one embodiment, the intelligent control mainboard is also integrated with: a dynamic protection unit, which is used to trigger a three-level response of early warning signal-power reduction signal-shutdown signal when identifying an object with a moving speed greater than a threshold speed in the protection area; wherein the early warning signal is used to cause the host of the laser obstacle clearer to generate an alarm; the power reduction signal is used to cause the host of the laser obstacle clearer to reduce the laser power; and the shutdown signal is used to cause the host of the laser obstacle clearer to cut off the power supply of the laser transmitter.

[0099] By configuring the dynamic protection unit, hierarchical response can be implemented to reduce the false trigger rate and adaptively adjust the safety threshold.

[0100] In one embodiment, the working method of the lens assembly includes: performing a multi-sensor cross-calibration process in a startup phase; and using federated filtering to fuse multi-source distance data in a working phase.

[0101] Using this working method, the spatiotemporal alignment of multi-sensor data and the optimal ranging data fusion can be achieved, thereby reducing the ranging error, which is expected to be reduced by 40%.

[0102] A laser obstacle clearer in one embodiment of the present application may include a lens assembly such as the laser obstacle clearer in any of the above embodiments.

[0103] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope of the present application is indicated by the appended claims.

Claims

1. A lens assembly for a laser obstacle remover, characterized in that: include: The first camera module, a laser focusing lens, a laser focusing lens focal length adjustment module, a camera angle adjustment module, a lens control mainboard and a communication aviation plug; The lens control mainboard is connected to the laser focusing lens focal length adjustment module and the camera angle adjustment module respectively, and the first camera module and the lens control mainboard are connected to the host through the communication aviation plug; The first camera module is paraxial with the laser focusing lens; The first camera module is used to photograph the obstacle object and transmit the photographed picture to the host through the communication interface, so that the host can calculate the first distance between the obstacle object and the laser focusing lens based on the picture, and the first distance is used to control the laser focusing lens focal length adjustment module; The laser focusing lens includes a first focusing lens and a second focusing lens, and the laser focusing lens focal length adjustment module includes a first motor and a second motor. The first focusing lens is controlled by the first motor, and the second focusing lens is controlled by the second motor. The laser emitted from the laser focusing lens is refocused by the first focusing lens and the second focusing lens.

2. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: A laser rangefinder connected to the host through the communication aerial plug so as to transmit the measured second distance between the obstacle object and the laser rangefinder to the host; When the first distance is less than a threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens; When the second distance is not less than a threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens.

3. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: A laser rangefinder connected to the host through the communication aerial plug so as to transmit the measured second distance between the obstacle object and the laser rangefinder to the host; An ambient light intensity measurement unit, connected to the host through the communication aviation plug, so as to transmit the measured ambient light intensity to the host; The host determines the actual distance between the obstacle object and the laser focusing lens based on the light intensity data and / or the distance measurement data, the light intensity data includes the ambient light intensity and the light intensity threshold, and the distance measurement data includes the first distance and the second distance.

4. The lens assembly of the laser obstacle remover according to claim 2 or 3, characterized in that: The laser focusing lens, the first camera module and the laser rangefinder adopt a three-light path coaxial calibration structure, and the coaxial calibration structure includes: The laser emission channel corresponding to the laser focusing lens is centrally arranged; The first camera module and the laser rangefinder are disposed on two sides of the laser channel, and optical path coupling is achieved through a beam splitter prism; Calibration reference laser, used to generate a calibration pattern when the laser obstacle remover is turned on to facilitate automatic alignment of the three optical paths.

5. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: At least one second camera module is used to capture images within a preset angle range centered on the light emitting direction of the laser focusing lens, and transmit the captured images to the host through the communication interface, so that the host can trigger a laser emergency stop when a biometric feature is detected in the image captured by any second camera module.

6. The lens assembly of the laser obstacle remover according to claim 5, characterized in that: The second camera module is configured with a wide-angle monitoring camera and a telephoto recognition camera; An infrared fill light array is arranged around the lenses of the wide-angle monitoring camera and the telephoto recognition camera, and the luminous intensity of the infrared fill light array is positively correlated with the laser power.

7. The lens assembly of the laser obstacle clearing device according to claim 5, characterized in that: The at least one second camera module is a second camera module; The camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module, the first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

8. The lens assembly of the laser obstacle clearing device according to claim 1, characterized in that: Also includes: The electric sliding cover mechanism closes all optical windows on the lens assembly in a non-working state.

9. The lens assembly of the laser obstacle clearing device according to claim 1, characterized in that: Also includes: The temperature sensor is connected to the host through a communication plug and sends the measured ambient temperature to the host so that the host can dynamically correct the focal length adjustment parameters of the laser focusing lens focal length adjustment module according to the ambient temperature.

10. A laser obstacle remover, characterized in that: A lens assembly comprising a laser obstacle clearer as described in any one of claims 1-9.

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