Multi-target sensing intelligent sensor and detection method

Abstract

The invention discloses a multi-target sensing intelligent sensor and a detection method.The sensor comprises a laser emitting mechanism and a laser receiving mechanism arranged adjacent to the laser emitting mechanism, the laser emitting mechanism is used for emitting laser to a target object or environment, and the laser emitting mechanism comprises a rotary table, a laser generator, a convex mirror, a first rotating assembly and a second rotating assembly; the convex mirror, the laser generator and the second rotating assembly are all fixed to the rotary table, the laser generator faces the convex mirror, and the convex mirror is used for facing a target object or an environment and reflecting and diverging laser from the laser generator; the rotary table is connected with the first rotating assembly and used for enabling the rotary table to rotate around the center axis of the rotary table to achieve annular scanning of laser in the horizontal direction, the laser generator is connected with the second rotating assembly and used for enabling the laser generator to swing to achieve scanning of the laser in the vertical direction, and information of the surrounding environment and target objects can be comprehensively detected.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a multi-target perception intelligent sensor and a detection method. Background Art

[0002] Distribution automation uses modern technology to monitor, control and manage distribution networks in real time, thereby improving power supply reliability and efficiency. Distribution automation robots, as key equipment, can complete tasks such as line inspection and fault repair to ensure stable operation of the distribution network, and reduce labor costs and operational risks. The environmental perception smart sensor installed on it plays a vital role. It is like the "eye" of the robot. By acquiring images of the equipment and the surrounding environment and using image recognition technology, it can identify equipment status, line defects, potential safety hazards, etc., enabling the robot to accurately judge and perform tasks, achieve efficient interaction with the environment and equipment, and make distribution automation work more intelligent and reliable.

[0003] Existing smart sensors on the market mainly rely on cameras to capture light to form images, and obtain information through visual processing chips to achieve environmental perception and target perception. Although this type of sensor can achieve environmental and target perception, since it only relies on vision for perception, its data source is relatively single. For distant objects and multiple similar objects, its detection results are not accurate enough. In addition, this type of sensor is greatly affected by ambient lighting conditions. Under conditions such as low light and direct strong light, its perception ability will also be greatly limited. A small number of smart sensors will use visual sensing and lidar sensing for composite perception, thereby improving the sensor's sensing accuracy and adaptability.

[0004] However, the laser radars in these devices are often directional and cannot be rotated or adjusted in pitch angle. In addition, their lasers are usually emitted in parallel and have a narrow detection range. Therefore, if you want to detect the surrounding environment more completely, you need to install multiple laser radars, which makes their structure more complex and the cost higher. Summary of the Invention

[0005] The present invention provides a multi-target perception intelligent sensor and detection method, which are used to solve the problem that existing laser radars cannot fully detect surrounding environment information.

[0006] The present invention provides a multi-target perception intelligent sensor and detection method, including:

[0007] A multi-target perception intelligent sensor includes: a laser emitting mechanism and an adjacent laser receiving mechanism, wherein the laser emitting mechanism is used to emit laser light toward a target object or an environment, and the laser receiving mechanism is used to receive and process laser light reflected from the target object or the environment to obtain target object or environment information;

[0008] The laser emitting mechanism includes a turntable, a laser generator, a convex mirror, a first rotating assembly, and a second rotating assembly. The convex mirror, the laser generator, and the second rotating assembly are all fixed to the turntable. The laser generator is arranged facing the convex mirror. The convex mirror is used to face the target object or the environment and reflect and diverge the laser from the laser generator.

[0009] The turntable is connected to the first rotating assembly to rotate the turntable around its central axis to realize circular scanning of the laser in the horizontal direction, and the laser generator is connected to the second rotating assembly to swing the laser generator to realize scanning of the laser in the vertical direction.

[0010] Furthermore, it includes: the laser generator is provided with multiple emission units at least in the vertical direction, for realizing single emission of multiple laser beams in the vertical direction.

[0011] Furthermore, the laser emitting mechanism also includes a lens assembly, which is connected to the turntable and arranged facing the convex mirror. The lens assembly is used to constrain the laser reflected from the convex mirror and correct edge distortion.

[0012] Furthermore, the lens assembly includes a concave lens and a convex lens arranged in parallel, and the bottom of the lens assembly is connected to the turntable through a first sliding assembly, and the first sliding assembly is used to move the lens assembly so that the concave lens or the convex lens is aligned with the part of the convex mirror that reflects the laser.

[0013] Furthermore, the lens assembly includes a convex lens and a concave lens, both of which are aligned with the portion of the convex mirror that reflects the laser, and the concave lens is arranged between the convex mirror and the convex lens.

[0014] Furthermore, the bottom of the lens assembly is connected via a second sliding assembly, and the second sliding assembly is used to adjust the distance between the concave lens and the convex lens and the convex mirror.

[0015] Furthermore, the concave lens is an aspherical concave lens.

[0016] A detection method, when detecting whether an object has fallen, moves the lens assembly through a first sliding assembly to align the concave lens with the convex mirror, thereby increasing the detection range; when detecting whether an object has fallen, moves the lens assembly through the first sliding assembly to align the convex lens with the convex mirror, thereby improving the detection accuracy.

[0017] A detection method comprises the following steps: a first rotating component drives a turntable to rotate around a central axis of the turntable at a first speed so that a laser scans in a horizontal circular direction; a second rotating component controls a laser generator to rotate so that the laser scans in a vertical direction, and the vertical scanning direction includes key areas and non-key areas; when scanning key areas, the second rotating component drives the laser generator to rotate at a second speed; when scanning non-key areas, the second rotating component drives the laser generator to rotate at a third speed; the first speed is less than the second speed, and the second speed is less than the third speed.

[0018] Furthermore, in the process of the second rotating assembly controlling the laser generator to rotate so that the laser scans in the vertical direction, the second sliding assembly controls the lens assembly to move away from or close to the convex mirror.

[0019] It can be seen from the above technical solutions that the present invention has the following advantages:

[0020] The laser emitting mechanism in this embodiment has a horizontal circular scanning function, and can also achieve vertical scanning by adjusting the laser generator angle. Furthermore, the laser emitted by the laser generator is reflected by a convex mirror and dispersed toward the target object or environment, effectively expanding the detection range. Therefore, this embodiment can more comprehensively detect information about the surrounding environment and targets without the need for installing multiple additional laser radars. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 It is a three-dimensional cross-sectional structural diagram of the present invention;

[0024] Figure 3 This is a structural diagram of the base plate mechanism and processing module of the present invention;

[0025] Figure 4 This is a structural diagram of the cover mechanism of the present invention;

[0026] Figure 5 This is a structural diagram of the sealing cover mechanism of the present invention;

[0027] Figure 6 This is a structural diagram of the laser mechanism and reflection mechanism of the present invention;

[0028] Figure 7 This is a structural diagram of the protective cover mechanism of the present invention;

[0029] Figure 8 This is a structural diagram of the first sliding assembly of the present invention;

[0030] Figure 9 This is a structural diagram of the second sliding component of the present invention.

[0031] Explanation of Reference Numerals: 1. Bottom plate mechanism; 101. Plate; 102. Fastening bolt assembly; 2. Processing module; 201. Main board; 202. Processor; 203. Visual recognition module; 204. Internet of Things module; 205. Memory; 3. Cover mechanism; 301. Cover body; 302. Window; 303. Acquisition module; 304. Laser receiver; 305. Binocular camera; 4. Sealing cover mechanism; 401. Inner cover; 402. Sealing ring 1; 403. Mounting bolt; 5. Laser mechanism; 501. Turntable; 502. Servo motor; 503. Reducer; 504. Laser generator; 505. Connecting frame; 6. Reflection mechanism; 601. Vertical pole; 602. Reinforcement rod; 603. Convex mirror; 7. Protective cover mechanism; 701. Top cover; 702. Sealing ring 2; 703. Mounting nut; 704. Transparent sheet; 8. Sliding assembly; 801. Vertical frame; 802. Telescopic motor; 803. Connecting rod; 804. Slide groove; 805. Slide bar; 806. Concave lens; 807. Convex lens. DETAILED DESCRIPTION

[0032] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] The terms "first," "second," "third," "fourth," and so forth (if any) in the description and drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that, for example, the implementation of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, product, or apparatus.

[0034] See also Figure 1-9 , Figure 1 A multi-target perception intelligent sensor provided by an embodiment of the present invention.

[0035] The present invention provides a multi-target perception intelligent sensor, comprising: a laser emitting mechanism and an adjacent laser receiving mechanism, wherein the laser emitting mechanism is used to emit laser light toward a target object or environment, and the laser receiving mechanism is used to receive and process laser light reflected from the target object or environment to obtain target object or environment information;

[0036] The laser emitting mechanism includes a turntable 501, a laser generator 504, a convex mirror 603, a first rotating assembly, and a second rotating assembly. The convex mirror 603, the laser generator 504, and the second rotating assembly are all fixed on the turntable 501. The laser generator 504 is arranged to face the convex mirror 603. The convex mirror 603 is used to face the target object or environment and reflect and diverge the laser light from the laser generator 504.

[0037] The turntable 501 is connected to the first rotating assembly to rotate the turntable 501 around its central axis to realize circular scanning of the laser in the horizontal direction, and the laser generator 504 is connected to the second rotating assembly to swing the laser generator 504 to realize scanning of the laser in the vertical direction.

[0038] It will be appreciated that, in specific implementations, the laser emitting mechanism in this embodiment provides a horizontal circular scanning function, while also enabling vertical scanning by adjusting the angle of the laser generator 504. Furthermore, the laser light emitted by the laser generator 504 is reflected and dispersed by the convex mirror 603 toward the target object or environment, effectively expanding the detection range. Therefore, this embodiment enables relatively comprehensive detection of information about the surrounding environment and targets without the need for installing multiple additional laser radars.

[0039] It should be noted that if the laser generator 504 were to directly emit a laser beam toward the target, problems such as beam energy dispersion, poor directionality, insufficient intensity, and spectral impurities would arise, making it difficult to meet the requirements of high-energy-density, high-precision applications. The laser beam emitted by the laser generator 504 is reflected multiple times by the optical resonant cavity formed by the convex mirror 603, which has the effects of amplifying light energy, enhancing directionality, and filtering single-frequency light. This allows the initial weak and chaotic light to be converted into high-brightness, highly collimated, and highly monochromatic laser light, thereby enabling complex functions such as precision measurement. Furthermore, the convex mirror 603 can diverge the originally parallel laser beam at a certain angle, further increasing the range of the laser scanning. Therefore, the laser beam emitted by the laser generator 504 of this embodiment is reflected and diverged by the convex mirror 603 toward the target object or environment.

[0040] In a more specific embodiment, the laser emitting mechanism is located above the laser receiver, and the laser receiving mechanism includes a plurality of laser receivers arranged in a ring around the central axis of the turntable 501 for receiving and processing lasers reflected from targets or environments in different directions.

[0041] In a more specific embodiment, the second rotating mechanism includes a servo motor and a reducer, and the servo motor is connected to the laser generator 504 via the reducer.

[0042] In a more specific embodiment, laser generator 504 utilizes a multi-beam laser generator, comprising multiple laser emitting units. Multiple laser emitting units are arranged horizontally and vertically on the emitter to form a laser emitting array. It will be appreciated that, in specific implementations, a multi-beam emitter can simultaneously emit multiple laser beams to cover a larger area, rapidly scanning the target to form point cloud data. This not only reduces blind spots and improves detection efficiency, but also accurately restores the object's shape and position through multi-point data, enhancing detection accuracy and reliability. Even if some beams are disturbed, the remaining beams can still ensure stable detection.

[0043] In a more specific embodiment, the laser generator 504 is provided with a plurality of emission units at least in the vertical direction, so as to realize a single emission of multiple laser beams in the vertical direction.

[0044] In a more specific embodiment, the laser emitting unit of the multi-beam laser generator is in a linear array, that is, the length in the vertical direction is greater than the length in the horizontal direction. Therefore, the multiple lasers emitted by it will be vertically linearly irradiated on the middle of the convex mirror 603. The two sides of the convex mirror 603 will not reflect the laser, and only the vertical strip area in the middle will reflect the laser.

[0045] It is understandable that, in specific implementation, in the distribution automation scenario, the purpose of intelligent sensors detecting falling objects is to detect dynamic risks that threaten the safety of the distribution network in advance, and to avoid equipment damage and power outages. The environment surrounding the distribution lines and equipment is complex, such as areas with dense trees and areas with frequent human activities. Objects such as branches, foreign objects, and falling objects from high altitudes may directly hit the lines, transformers and other equipment, causing faults such as short circuits and grounding. By identifying falling objects, intelligent sensors can enable robots to issue timely warnings or take proactive evasive actions. In this embodiment, by setting more laser emitting units in the vertical direction, the falling objects will sequentially reflect lasers at different heights to the laser receiving mechanism. The more laser generating units there are in the vertical direction, the more accurately it can be determined whether there are abnormal points where falling objects appear.

[0046] It should be noted that when an abnormal point where an object has fallen appears, the sensor can be adjusted to further detect line defects and potential safety hazards in the line area of the abnormal point.

[0047] The specific operation method is as follows: when an abnormal point (such as a fallen object) is detected and appears for three consecutive frames, the turntable 501 locks the front sector area (±15° azimuth), the laser generator 504 adjusts the angle from -5° to 0°, the lens group moves forward 3mm, and the laser power is increased. After locking the target, the turntable 501 slows down to 5° / s, the step size is adjusted to 0.1°, and the scan is repeated three times, with a step size of 2° in the edge area.

[0048] In a more specific embodiment, the laser emission mechanism further includes a lens assembly connected to the turntable 501 and positioned facing the convex mirror 603. The lens assembly is used to constrain the laser light reflected from the convex mirror 603 and correct edge distortion. It will be appreciated that, in specific implementations, while the convex mirror 603 expands the laser emission range, and thus the monitoring range, it can also easily produce barrel distortion at the edges, such as outward curvature of the image edges and deformation of objects. Correcting this edge distortion with the lens provides a clearer image, balancing a wide field of view with a certain degree of image fidelity.

[0049] In a more specific embodiment, the lens assembly includes a concave lens 806, which is aligned with the convex mirror 603. The concave lens 806 can further deflect light and increase the divergence of light, thereby further increasing the scanning range of the device. It is understandable that in a specific implementation, a wider scanning range is required to detect whether an object has fallen. Objects may fall from different heights and orientations. A wide scanning range ensures that the full spatial dimensions of the target area are covered, effectively increasing and expanding the warning coverage radius to minimize missed detections.

[0050] In some more specific embodiments, the lens assembly includes a convex lens 807, which is aligned with the convex mirror 603. In this case, the light divergence angle is reduced, the detection range is reduced, and the detection accuracy is improved. It is understood that in specific implementations, when detecting whether a circuit is damaged, high-precision detection is required. Circuit damage often begins with tiny defects (such as scratches, corrosion spots on the surface of the wire, microcracks in the insulation layer, etc.). High-precision scanning (such as laser radar accuracy of ±2mm and visual image resolution of sub-pixel level) can directly detect these early damages that are difficult to detect with the human eye or conventional means, preventing defects from developing into serious faults (such as broken wires and short circuits).

[0051] In a more specific embodiment, the lens assembly includes a concave lens 806 and a convex lens 807 arranged in parallel, and a sliding assembly is provided at the bottom of the lens assembly. The sliding assembly is used to move the lens assembly so that the concave lens 806 or the convex lens 807 is aligned with the portion of the convex mirror 603 that reflects the laser. It is understood that in a specific implementation, when detecting whether an object has fallen, a wider scanning range is required. By aligning the concave lens 806 with the convex mirror 603, the concave lens 806 can further deflect the light and increase the divergence of the light, thereby further increasing the scanning range of the device. When detecting whether the circuit is damaged, high-precision detection is required. The convex lens 807 is aligned with the convex mirror 603. At this time, the light divergence angle is reduced, the detection range is reduced, and the detection accuracy is improved. Therefore, this embodiment realizes the switching of the alignment of the convex mirror 603 with the concave lens 806 or the convex lens 807 by providing a sliding assembly, which can meet the requirements of detection accuracy and detection range in different situations.

[0052] In a more specific embodiment, in order to avoid missing the detection of dropped objects as much as possible, the time of a single scanning cycle is shortened, and the stepping rate is slower in the key scanning area and faster in the non-key scanning area.

[0053] The specific working methods are:

[0054] The first rotating component drives the turntable 501 to rotate around the central axis of the turntable 501 at a first speed so that the laser scans in a horizontal circular direction. The second rotating component controls the laser generator 504 to rotate so that the laser scans in a vertical direction. The vertical scanning direction includes key areas and non-key areas. When scanning key areas, the second rotating component drives the laser generator 504 to rotate at a second speed. When scanning non-key areas, the second rotating component drives the laser generator 504 to rotate at a third speed. The first speed is less than the second speed, and the second speed is less than the third speed.

[0055] In a more specific embodiment, the lens assembly includes both a concave lens 806 and a convex lens 807 , and the concave lens 806 is disposed between the convex mirror 603 and the convex lens 807 .

[0056] It is understandable that, in specific implementations, during laser scanning, the negative distortion produced by the concave lens 806 allows off-axis light to scatter outward, allowing the laser to quickly cover a larger area during close-range scanning; while the positive distortion of the convex lens 807 converges the off-axis light toward the center, allowing the light beam to be focused into a thin straight line during long-range scanning, ensuring that the laser is accurately transmitted to distant targets. When the two are combined, the concave lens 806 is first used to initially diverge the light beam to achieve close-range wide-area coverage, and then the convex lens 807 is used to converge the divergent light beam to ensure the accuracy and collimation of long-range scanning, thereby taking into account the different needs of long-range and short-range scanning. If the settings are reversed, with the concave lens 806 set away from the convex mirror 603 and the convex lens 807 set close to the convex mirror 603, the optical properties will be changed, causing both long-range and short-range scanning to be seriously affected or even fail.

[0057] It should be noted that as the step rate increases, the negative distortion of concave lens 806 increases, resulting in significant fluctuations in the spot diameter on the target surface. In the reflective optical path, the negative distortion of concave lens 806 compensates for the positive distortion of convex lens 807. At the edge of the field of view (FOV) of 60°, the distortion rate is reduced from 12% to 2.8%, ensuring a coordinate positioning accuracy error of less than ±1.5mm during wide-angle scanning. When the scanning angle increases from 0° to 60°, the negative optical power compensation of concave lens 806 keeps the spot diameter fluctuation on the target surface within a ±5% range, ensuring that the difference in reflected signal intensity from targets at different distances (3-10m) is less than 3dB.

[0058] In a more specific embodiment, the bottom of the lens assembly is connected via a second sliding assembly, which is used to adjust the distance between the concave lens and the convex lens and the convex mirror.

[0059] It is understandable that in a specific implementation, the focal length difference between the concave lens 806 and the convex lens 807 forms a composite optical system. When the distance between the two is adjusted to 35mm, a gradient focusing area can be generated. When the servo motor 802 drives the lens group to axially displace with an accuracy of 0.1mm, the system forms three equidistant focal points (3m apart) within the range of 0.5-15m, achieving multi-depth synchronous detection. This design enables a single scan to obtain three-dimensional coordinate data of targets at different depths of field, thereby improving detection efficiency. 35mm is the base distance between the convex lens and the concave lens, and the servo motor 802 drives the entire lens group to move back and forth along the optical axis; 0.5-15m refers to the effective range of detection. The zoom system constructed by the dual-lens group automatically adjusts the lens spacing during the scanning process to stabilize the laser power density at 2.5±0.3mW / mm².

[0060] In a more specific embodiment, a combination of aspheric concave lens 806 and convex lens 807 is used to reduce spherical aberration from 0.25λ in a conventional system to 0.05λ at a 20° deflection angle. The 20° deflection represents the angle between the laser and the normal to the optical axis. The servo motor 502 and reducer 503 can fine-tune the laser emission angle of the multi-beam laser generator for pitch adjustment.

[0061] The working method is as follows: first, in global scanning mode, the laser generator emits a laser beam which is reflected by a convex mirror and enters the lens group. The turntable rotates 360° at a uniform speed, and the lens group position is moved back 5mm as a whole. The laser incident angle is controlled at -45°~+30°. The turntable rotates to the key area (±15°) at ω=120° / s, and then decelerates to ω=15° / s. A 0.5° step scan is performed (each step stays for 20ms). After leaving the key area, the turntable accelerates to ω=60° / s, and resumes the rotation at ω=120° / s after exceeding 60°.

[0062] The response speed of the laser generator (up and down) is faster than that of the turntable, so a serpentine scanning path is adopted: when the turntable slowly rotates 1°, the laser generator has completed several up and down scans, saving mechanical waiting time.

[0063] In a more specific embodiment, a multi-target perception intelligent sensor includes a base plate mechanism 1 and a laser mechanism 5. The base plate mechanism 1 includes a plate body 101. A plurality of fastening bolt groups 102 are provided on the plate body 101. The fastening bolt groups 102 are distributed in a ring shape and are equidistant. The plate body 101 is made of aluminum alloy, which has the characteristics of high strength, light texture and good thermal conductivity. A plurality of bolt holes matching the specifications of the fastening bolt groups 102 are provided on the plate body 101. The fastening bolt groups 102 are provided in these bolt holes. Several insulating screw slots are also fixed on the plate body 101. A processing module 2 is screwed to the base plate mechanism 1. The processing module 2 includes a main board 201 fixed to the plate body 101 by screws. A processor 202 is welded on the main board 201. A visual recognition module 203 is also welded on the main board 201. An Internet of Things module 204 is welded on the main board 201. A memory 205 is also welded on the main board 201. The main board 201 is connected to the main board 101 through insulating screw slots. Fixed on the board 101, the processor 202, the visual recognition module 203 and the memory 205 are all electrically and communicatively connected through the mainboard 201. The visual recognition module 203 can recognize images and thus identify targets. The processor 202 can execute complex algorithms, undertake a large number of calculations, perform in-depth analysis of images and targets in the images, interact with other systems, and receive control instructions and parameters from other modules to achieve collaborative work of the entire system. At the same time, it can also use specific algorithms to perform three-dimensional reconstruction of scenes and objects in the scene based on images with parallax and depth information transmitted by radar. In this way, multiple targets can be identified and distances can be perceived. The Internet of Things module 204 can connect the device to the Internet, so that the latest image data and annotation data can be obtained from the cloud server. It can also share the data recognized by the device and facilitate remote control and real-time interaction of the device.

[0064] like Figure 2 、 Figure 4 and Figure 5As shown, a cover mechanism 3 is bolted to the bottom plate mechanism 1, and the cover mechanism 3 includes a cover body 301 bolted and fixed to the top of the plate body 101, a window 302 is opened on the cover body 301, and a plurality of acquisition modules 303 are also inlaid on the outer wall of the cover body 301, a laser receiver 304 is fixed on the acquisition module 303, and a binocular camera 305 is also fixed on the acquisition module 303. The cover body 301 is also made of aluminum alloy, and the acquisition module 303 is electrically and communicatively connected to the main board 201. The binocular camera 305 on the acquisition module 303 can imitate the principle of binocular vision, shoot the same object from different angles, obtain images with parallax, and transmit the images to the visual recognition module 203 and the processor 202. The visual recognition module 203 and the processor 202 can identify the object to be measured, and determine the posture and distance of the object to be measured, and can also perform three-dimensional reconstruction of the scene. The laser receiver 304 can detect The laser is reflected by the surrounding objects and the corresponding information is sent to the processor 202. There are at least four acquisition modules 303, so that the device can model the surrounding scene. The inner side of the cover mechanism 3 is also bolted with a sealing cover mechanism 4. The sealing cover mechanism 4 includes an inner cover 401 bolted and fixed to the inner side of the cover body 301. A sealing ring 402 is bonded and fixed on the inner cover 401. A plurality of mounting bolts 403 are also provided on the inner cover 401. The inner cover 401 is also made of aluminum alloy, and the sealing ring 402 is made of rubber. In addition, a plurality of annular grooves are integrally opened on the sealing ring 402, which improves the deformation of the sealing ring 402 and can better fill the gap between the inner cover 401 and the cover body 301. When the inner cover 401 is tightly attached to the cover body 301, each annular groove is a sealing area, thereby forming multiple sealing lines of defense, which effectively improves the sealing performance of the connection between the inner cover 401 and the cover body 301.

[0065] like Figure 2 and Figure 6As shown, a laser mechanism 5 is fixedly installed inside the sealing cover mechanism 4, and the laser mechanism 5 includes a turntable 501 fixed to the inner cover 401, a servo motor 502 is fixedly installed on the turntable 501, and the output end of the servo motor 502 is connected to a reducer 503, and a multi-beam laser generator is fixed on the output shaft of the reducer 503, and the output shaft end of the reducer 503 is rotatably connected to a connecting frame 505, and the turntable 501 is electrically and communicatively connected to the main board 201. The processor 202 can control the turntable 501 to rotate forward, reverse and adjust the speed of the turntable 501 as needed, and the servo motor 502 is also electrically connected to the main board 201. Then, the processor 202 can also control the servo motor 502 to rotate forward, reverse and adjust the speed of the servo motor 502 as needed. The multi-beam laser generator can emit multiple laser beams upward. When the servo motor 502 can drive the multi-beam laser generator to one end or the other end through the reducer 503, the laser emission angle of the multi-beam laser generator can be adjusted. The reducer 503 can decelerate the servo motor 502, thereby reducing the deflection speed of the multi-beam laser generator and improving the adjustment accuracy. The bottom end of the connecting frame 505 is fixed to the top of the turntable 501, which effectively improves the stability of the multi-beam laser generator.

[0066] like Figure 2 and Figure 6 As shown, a reflecting mechanism 6 is fixed on the laser mechanism 5, and the reflecting mechanism 6 includes a vertical pole 601 fixed on the turntable 501, and a reinforcing rod 602 is welded and fixed on the top of the vertical pole 601, and a convex mirror 603 is welded and fixed on the reinforcing rod 602. The vertical pole 601 lifts the convex mirror 603 into the protective cover mechanism 7, and the reinforcing rod 602 can effectively improve the stability of the convex mirror 603. The convex mirror 603 is located at the top of the multi-beam laser generator. When the multi-beam laser generator emits a laser, its laser will contact the convex mirror 603 and be reflected by the convex mirror 603. The laser receiver 304 can receive the laser reflected back from the surrounding scenes and objects and process it. The device 202 can calculate the distance of the surrounding scene or object based on the time difference of receiving the reflected signal. The turntable 501 can drive the multi-beam laser generator and the convex mirror 603 to rotate continuously, so that the multi-beam laser generator can continuously scan the surroundings, effectively increasing the sensing range. The convex mirror 603 can diverge the originally parallel laser at a certain angle, further improving the range of the laser scanning. When necessary, the servo motor 502 and the reducer 503 can fine-tune the laser emission angle of the multi-beam laser generator, thereby changing the emission direction of the laser, thereby enabling the device to scan higher or lower environments or objects.

[0067] like Figure 1 、 Figure 2 and Figure 7As shown, the top of the cover mechanism 3 is also bolted with a protective cover mechanism 7, which includes a top cover 701 bolted to the top of the cover body 301, a sealing ring 702 bonded to the top cover 701, and a plurality of mounting nuts 703 provided on the top cover 701. A light-transmitting sheet 704 is inlaid and fixed on the outer wall of the top cover 701, the sealing ring 702 has the same structure as the sealing ring 402, and the mounting nuts 703 match the specifications of the mounting bolts 403. The assembly process of the device is carried out in a dust-free workshop, and the work is carried out in a dust-free workshop. By installing the nuts 703 and the bolts 403, personnel can seal and fix the inner cover 401 and the top cover 701 on the cover body 301, and ensure that there is no dust in the inner cover 401 and the top cover 701, thereby avoiding dust deposition and adhesion inside and blocking the laser scanning mechanism. The light-transmitting sheet 704 is made of optical glass with high light transmittance, and the inner cover 401, the top cover 701 and the light-transmitting sheet 704 can effectively protect the laser mechanism 5 and the reflecting mechanism 6 from external physical collisions.

[0068] like Figure 2 and Figure 8 As shown, the laser mechanism 5 is also fixed with a sliding assembly 8, which includes a stand 801 fixed on the turntable 501, a telescopic motor 802 fixed on the stand 801, a connecting rod 803 fixed to the output end of the telescopic motor 802, a slide 804 fixed on the stand 801, a slide bar 805 slidably connected to the slide 804, a concave lens 806 fixed to the top of the slide bar 805, a convex lens 807 fixed to the top of the slide bar 805, and the telescopic motor 802 is a servo telescopic motor 802, which is electrically connected to the processor 202. The end of the connecting rod 803 is connected to the slide bar 805, and the concave lens 806 is aligned with the convex mirror 603. The concave lens 806 can further deflect the light and increase the divergence of the light, thereby further increasing the scanning range of the device. When necessary, the processor 202 can control the telescopic motor 802 to extend. At this time, the slide bar 805 slides to align the convex lens 807 with the convex mirror 603. At this time, the light divergence angle becomes smaller, the detection range becomes smaller, and the detection accuracy is improved, which effectively improves the flexibility of use of the device.

[0069] When the present invention is in use, the device can be installed on equipment such as working robots, artificial intelligence robots, mobile working robots and intelligent unmanned working platforms, and provide computer vision for the above-mentioned equipment through structures such as binocular cameras 305 and visual recognition modules 203, and realize three-dimensional reconstruction of the environment and target objects. The laser mechanism 5 can further improve the recognition accuracy and distance measurement accuracy of the device, improve the speed and accuracy of three-dimensional reconstruction, and realize multi-sensor fusion sensing. In addition, the multiple acquisition modules 303 of the annular array and the rotatable convex reflection structure effectively improve the acquisition range of the device.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-target perception intelligent sensor, characterized in that: include: A laser emitting mechanism and an adjacent laser receiving mechanism, wherein the laser emitting mechanism is used to emit laser light toward a target object or an environment, and the laser receiving mechanism is used to receive and process laser light reflected from the target object or the environment to obtain target object or environment information; The laser emitting mechanism includes a turntable, a laser generator, a convex mirror, a first rotating assembly, and a second rotating assembly. The convex mirror, the laser generator, and the second rotating assembly are all fixed to the turntable. The laser generator is arranged facing the convex mirror. The convex mirror is used to face the target object or the environment and reflect and diverge the laser from the laser generator. The turntable is connected to the first rotating assembly to rotate the turntable around its central axis to realize circular scanning of the laser in the horizontal direction, and the laser generator is connected to the second rotating assembly to swing the laser generator to realize scanning of the laser in the vertical direction.

2. The multi-target perception intelligent sensor according to claim 1, characterized in that: include: The laser generator is provided with a plurality of emission units at least in the vertical direction, so as to realize the emission of multiple laser beams in the vertical direction at a time.

3. The multi-target perception intelligent sensor according to claim 2, characterized in that: The laser emitting mechanism further includes a lens assembly, which is connected to the turntable and arranged facing the convex mirror. The lens assembly is used to constrain the laser reflected from the convex mirror and correct edge distortion.

4. The multi-target perception intelligent sensor according to claim 3, characterized in that: The lens assembly includes a concave lens and a convex lens arranged in parallel. The bottom of the lens assembly is connected to the turntable through a first sliding assembly. The first sliding assembly is used to move the lens assembly so that the concave lens or the convex lens is aligned with the part of the convex mirror that reflects the laser.

5. The multi-target perception intelligent sensor according to claim 3, characterized in that: The lens assembly includes a convex lens and a concave lens. Both the convex lens and the concave lens are aligned with the portion of the convex mirror that reflects the laser light. The concave lens is arranged between the convex mirror and the convex lens.

6. The multi-target perception intelligent sensor according to claim 5, characterized in that: The bottom of the lens assembly is connected to the turntable via a second sliding assembly, and the second sliding assembly is used to adjust the distance between the concave lens, the convex lens and the convex mirror.

7. The multi-target perception intelligent sensor according to claim 6, characterized in that: The concave lens is an aspherical concave lens.

8. A detection method based on a multi-target perception intelligent sensor according to claim 4, characterized in that: When detecting whether an object has fallen, the lens assembly is moved by the first sliding assembly to align the concave lens with the convex mirror, thereby increasing the detection range; when an object is detected to have fallen, the lens assembly is moved by the first sliding assembly to align the convex lens with the convex mirror, thereby improving the detection accuracy.

9. A detection method based on a multi-target perception intelligent sensor according to any one of claims 5 to 7, characterized in that: The first rotating component drives the turntable to rotate around the central axis of the turntable at a first speed so that the laser scans in a horizontal circular direction. The second rotating component controls the laser generator to rotate so that the laser scans in a vertical direction. The vertical scanning direction includes key areas and non-key areas. When scanning key areas, the second rotating component drives the laser generator to rotate at a second speed. When scanning non-key areas, the second rotating component drives the laser generator to rotate at a third speed. The first speed is less than the second speed, and the second speed is less than the third speed.

10. The detection method of a multi-target perception intelligent sensor according to claim 9, characterized in that: When the second rotating assembly controls the laser generator to rotate so that the laser scans in a vertical direction, the second sliding assembly controls the lens assembly to move away from or close to the convex mirror.

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