Microwave and laser integrated sensor for pedestrian detection and protection of pedestrian path

Abstract

The invention relates to the technical field of traffic safety, and discloses a microwave laser integrated sensor for pedestrian detection and protection of a pedestrian path, the microwave laser integrated sensor comprises a main stand column, a stainless steel square tube is mounted at the top end of the main stand column, and a sensing system is integrated in the stainless steel square tube; the tail end of the main stand column is in threaded connection with a middle stand column, an intercepting assembly is arranged on the outer wall of the middle stand column, and road intercepting is conducted by unfolding an intercepting net; the tail end of the middle stand column is in threaded connection with a tail stand column, and a foundation anchoring part is arranged in the tail stand column and assists in connecting the main stand column, the middle stand column and the ground. By means of the modular design, the stand columns are connected and disassembled conveniently through threads, the intercepting net can be unfolded and fixed only by inserting the connecting rods, meanwhile, the stand columns are supported to be disassembled to independently adjust the positions, and when facing a curved road, the connecting rods can be attached to the road curve by adjusting the mounting point positions of the tail stand columns; and line attaching deployment of the interception structure and the sensing system is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traffic safety, in particular to a microwave laser integrated sensor for pedestrian detection and protection of a pedestrian passage. BACKGROUND

[0002] With the deepening of the construction of smart cities and public safety, pedestrian detection and active protection technology for pedestrian passages are increasingly valued. Existing protection devices are mostly deployed in fixed and regular road environments, and they have obvious shortcomings in adaptability, installation efficiency and structural stability in complex terrain, temporary scenarios and situations where power supply is inconvenient, In the prior art, a smart pedestrian passage early warning system with publication number CN115273451A is disclosed. The system connects monitoring modules, multifunctional early warning modules and passage restriction modules through a control center, can form a virtual light column in a prohibited passage state, and can raise a physical roadblock when detecting a strong breaking behavior. Although this scheme builds a complete early warning and blocking system, the deployment of the system components is relatively fixed and depends on predefined installation points, making it difficult to adjust the sensing and interception system flexibly according to the actual road alignment. Especially when facing a winding, arc-shaped or irregularly shaped pedestrian passage, the fixed sensor layout is prone to produce a blind area, and cannot achieve precise fitting with the road curve, thereby reducing the overall coverage efficiency and protection accuracy of the system. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a microwave laser integrated sensor for pedestrian detection and protection of a pedestrian passage, which solves the problem of fixed sensor layout prone to produce a blind area when facing a winding, arc-shaped or irregularly shaped pedestrian passage.

[0004] To achieve the above purpose, the present application realizes the following technical scheme: a microwave laser integrated sensor for pedestrian detection and protection of a pedestrian passage, comprising a main stand, a stainless steel square tube is installed at the top end of the main stand, and a sensing system is integrated inside the stainless steel square tube; A middle stand is threadedly connected to the end of the main stand, and an interception assembly is provided on the outer wall of the middle stand, which intercepts the road by unfolding the interception net; A tail stand is threadedly connected to the end of the middle stand, and a foundation anchor is provided inside the tail stand, which assists in connecting the main stand, the middle stand and the ground.

[0005] Preferably, the anchor includes a limiting groove, which is formed in the middle of the outer wall of the tail column. A sliding shaft is slidably connected inside the limiting groove. One end of the sliding shaft is fixedly connected to one end of a synchronizing rod. The other ends of the two sliding shafts are fixedly connected to the same pedal. The other ends of the two synchronizing rods are connected to the same cone column. A sliding groove is also formed at the bottom of the outer wall of the tail column. An anchor plate is slidably connected inside the sliding groove. One end of the anchor plate is connected to the inner wall of the tail column by a spring.

[0006] Preferably, the interception assembly includes a winding shaft rotatably connected inside the central column, with both ends connected to the inner wall of the central column via springs. One end of the interception net is wound around the outer wall of the winding shaft, and the other end of the interception net is provided with a connecting rod. The two ends of the connecting rod are square, and a self-adjusting assembly is provided in the middle of the connecting rod and the interception net.

[0007] Preferably, the self-adjusting component includes a fixed frame, one side of the outer wall of the fixed frame is fixedly connected to a connecting rod, a drive wheel is rotatably connected inside the fixed frame, a synchronization frame is rotatably connected to the outer wall of the fixed frame, a driven wheel is rotatably connected to one end of the synchronization frame, a cam is fixedly connected to one end of the driven wheel, a roller is slidably connected inside a groove on the surface of the cam, the roller is slidably connected inside a straight groove opened on one side of the outer wall of the synchronization frame, and the interception net is a double-layer net, divided into a straight net and an auxiliary net, the straight net is connected to the outer wall of the synchronization frame, and the auxiliary net is connected to the roller.

[0008] Preferably, the main column and the tail column each have a square insertion hole at one adjacent end inside, which is used to insert a connecting rod.

[0009] Preferably, the sensing system includes: Microwave radar unit and lidar unit used to sense the outside world; The main control processing unit and data fusion unit are used for computation and control; Power management and distribution units used to supply power and ensure its stable operation.

[0010] Preferably, the outer wall of the tail post is symmetrically provided with limiting ears, and the limiting ears are made of one or more of polycarbonate, polyamide and thermoplastic polyurethane.

[0011] Preferably, the outer walls of the anchor plate are provided with slopes at both ends.

[0012] Preferably, the outer wall of the roller is rotatably connected to an auxiliary shaft, the width of which is the same as the width of the straight groove.

[0013] Working Principle: The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways, as described in this invention, is first deployed on the ground. Utilizing the spiked structure at the bottom of the tail column, it is quickly inserted into different types of foundations, such as mud, sand, or undried concrete. The installer steps on a pedal, causing the sliding shaft to slide along the limiting groove. The synchronizing rod then pushes the cone column downwards. The cone column, by compressing the slope of the anchor plate's outer wall, converts the downward pressure into a horizontal thrust, causing the anchor plate to overcome spring resistance, pop out of the groove, and embed itself into the foundation.

[0014] Next, the interception and protection structure is deployed: tension is applied to the interception net, causing it to unwind from the reel. The springs at both ends of the reel generate a retraction force, ensuring the interception net maintains internal tension. The square structures at both ends of the connecting rod are inserted into the pre-drilled square holes in the main and tail posts, quickly securing the interception net. If deployment on curved roads is required, the tail post can be disassembled and its installation position adjusted individually to allow the connecting rod to conform to the road curve. This also enables multi-terminal distributed installation of the sensing system, making the sensing range more compatible with the road shape.

[0015] During the device's operation, the sensing system inside the stainless steel square tube at the top of the main column plays a crucial role in detection and protection: The microwave radar unit employs a 24GHz band millimeter-wave radar front-end with one transmitter and two receivers. Through an MMIC chip integrating a voltage-controlled oscillator, power amplifier, and other components, coupled with a patch antenna array designed using microstrip line technology, it continuously transmits frequency-modulated continuous wave microwave signals. After the signal is reflected by a pedestrian, the relative distance and radial velocity between the target and the sensor are accurately measured by calculating the frequency difference between the transmitted and received signals. The target's azimuth angle is estimated by combining the phase difference of multiple receiving antennas. The lidar unit emits laser light through a 905nm wavelength VCSEL area array laser. After collimation by a collimating lens, the laser beam is controlled by a MEMS galvanometer for high-speed scanning. The reflected signals are then received by a SPAD array detector, measuring the round-trip time of each laser point to obtain the precise three-dimensional coordinates of the surrounding environment, forming a high-resolution point cloud image.

[0016] The main control processing unit is built on a heterogeneous SoC integrating an ARM Cortex-A core, GPU and NPU. The data fusion function is implemented by the NPU and DSP cores within the SoC. A dynamic model is built for each tracked pedestrian using a particle filter algorithm. Then, a Kalman filter is used to predict the target state at the next moment based on the current position, speed and other states. The new observations are then combined for correction, and finally, a list of targets containing short-term predicted trajectories is output.

[0017] When the pedestrian or object hits the intercept net, the sensing system first sends an alarm, the impact force is transmitted to the straight net and the synchronous frame, the driving wheel rolls in contact with the ground, and the driven wheel drives the cam to rotate; during the rotation of the cam, the surface groove pushes the roller to move upward along the straight groove on the outer wall of the synchronous frame, and the roller moves synchronously to drive the auxiliary net to stretch. Because the intercept net adopts a double-layer structure of straight net and auxiliary net combination, the greater the impact intensity of the straight net, the greater the relative rotation angle of the fixed frame and the synchronous frame, the longer the upward movement distance of the roller, the wider the stretching width of the auxiliary net, and the higher the comprehensive strength of the intercept net, so that the adaptive adjustment of the intercept protection capacity is realized, and the pedestrian detection and protection function of the pedestrian passage is fully completed.

[0018] The present application provides a microwave laser integrated sensor for pedestrian detection and protection of pedestrian passage. 1、The present application can flexibly adapt to different hardness foundations such as clay soil, sandy soil and non-dry concrete through the design of split column structure and adjustable anchor, the tail column bottom spike can be quickly inserted into the foundation, and the anchor plate can be driven to pop out horizontally and embedded into the soil by stepping on the pedal; at the same time, the position of the column can be adjusted separately, when facing a curved road, the tail column mounting point can be adjusted to make the connecting rod fit the road curve, so that the intercept structure and the sensing system are deployed along the line, solving the problems of difficult installation and poor adaptability of traditional devices in special-shaped passages, and meeting the needs of rapid deployment and multi-scene adaptation.

[0019] 2、The present application adopts modular design, the columns are conveniently split through threaded connection, the intercept net can be unfolded and fixed by inserting the connecting rod, without the need for professional construction personnel; the mechanical structure of the anchor and the intercept assembly realizes the function through pure mechanical linkage, reducing the dependence on electrical control elements and the probability of failure and maintenance cost; at the same time, the power management unit of the sensing system can adapt to external photovoltaic panel power supply, through surge protection and multi-gear voltage stabilization design, unstable light energy is converted into stable electric energy, without the need to rely on municipal power grid, especially suitable for temporary pedestrian passages, outdoor construction areas and other fixed power supply scenes, improving the use flexibility and reducing the long-term operation and maintenance cost.

[0020] 3、The present application adopts segmented threaded connection for the column, combined with the horizontal anchoring and limiting ear locking of the anchor, forming a double stable structure of "vertical fixing + horizontal anti-pulling", avoiding the inclination and displacement of the device under the crowd or external impact; the cooperation of the square design of the connecting rod in the intercept assembly and the square socket prevents the intercept net from rotating and deviating under stress, and the rotary connection of the synchronous frame and the fixed frame also considers the protection adjustment and structural stability. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a perspective view of the integrated sensor in the present application; Figure 2A cross-sectional view of the integrated sensor in the present application; Figure 3 A cross-sectional view of the integrated sensor in the present application; Figure 4 A schematic view of the interception assembly in the present application; Figure 5 An enlarged view of A in the present application; Figure 6 A schematic view of the self-adjusting assembly in the present application; Figure 7 A schematic view of the integrated sensor in the present application; Figure 8 A connection schematic view of the self-adjusting assembly in the present application.

[0022] Wherein, 1, main stand; 2, stainless steel square tube; 3, middle stand; 4, interception net; 401, straight net; 402, auxiliary net; 5, tail stand; 6, anchor; 601, limiting groove; 602, sliding shaft; 603, synchronous rod; 604, pedal; 605, tapered column; 606, sliding groove; 607, anchoring plate; 608, spring; 609, slope; 7, interception assembly; 701, winding shaft; 702, clockwork; 703, connecting rod; 8, self-adjusting assembly; 801, fixed frame; 802, driving wheel; 803, synchronous frame; 804, driven wheel; 805, cam; 806, groove; 807, roller; 808, auxiliary shaft; 809, straight groove; 9, square jack; 10, limiting lug. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0024] Please refer to the drawings in the embodiments of the present application Figure 1 - the drawings in the embodiments of the present application Figure 8 The embodiments of the present application provide a microwave laser integrated sensor for pedestrian detection and protection in a pedestrian passage, which comprises a main stand 1, a stainless steel square tube 2 is installed at the top end of the main stand 1, and a sensing system is integrated in the inside of the stainless steel square tube 2. A middle stand 3 is threadedly connected to the end of the main stand 1, and an interception assembly 7 is arranged on the outer wall of the middle stand 3, which performs road interception by unfolding an interception net 4. A tail stand 5 is threadedly connected to the end of the middle stand 3, and an anchor 6 is arranged in the inside of the tail stand 5, which assists in connecting the main stand 1, the middle stand 3 and the ground.

[0025] The ground anchor 6 comprises a limiting groove 601 which is arranged in the middle of the outer wall of the tail column 5, the inside of the limiting groove 601 is slidably connected with a sliding shaft 602, one end of the sliding shaft 602 is fixedly connected with one end of a synchronous rod 603, the other end of the two sliding shafts 602 is fixedly connected with the same pedal 604, the other end of the two synchronous rods 603 is connected with the same conical column 605, the bottom of the outer wall of the tail column 5 is also provided with a sliding groove 606, the inside of the sliding groove 606 is slidably connected with an anchoring plate 607, one end of the anchoring plate 607 is connected with the inner wall of the tail column 5 through a spring 608.

[0026] The outer wall of the tail column 5 is symmetrically provided with a limiting lug 10, the limiting lug 10 is made of one or more of polycarbonate, polyamide and thermoplastic polyurethane.

[0027] The outer wall of the anchoring plate 607 is provided with a slope 609 at both ends.

[0028] Specifically, the core function of the ground anchor 6 is to realize the rapid, stable and non-pre-buried ground anchoring of the device. When installing, the bottom of the tail column 5 is pointed, which can quickly push it into the soil, and the implementation scenarios include but are not limited to the soil at the edge of the pedestrian passage, the sandy soil and the un-dried concrete. After the tail column 5 is inserted into the ground, the installer steps on the pedal 604, the downward pressure of the pedal 604 is slid in the limiting groove 601 through the two sliding shafts 602, which pushes the synchronous rod 603 to move downward, the bottom end of the synchronous rod 603 pushes the conical column 605 to move downward, the conical surface of the conical column 605 immediately extrudes the slope 609 on the two anchoring plates 607, this slope 609 converts the downward pressure into horizontal outward thrust, overcomes the resistance of the spring 608, pushes the two anchoring plates 607 horizontally out of the sliding groove 606, and tightly embeds into the surrounding foundation soil or concrete, forming a strong horizontal pull resistance. The limiting lug 10 is made of a ductile material such as polycarbonate, after the anchoring plate 607 is fully expanded, the edge will be clamped on the limiting lug 10, which plays a limiting and locking role, preventing it from retracting in long-term vibration. After the pedal 604 is loosened, the internal mechanism remains in a self-locking state under the pre-tightening force of the spring 608, this design simplifies the installation process, and the stability comparable to pre-buried can be obtained without heavy tools.

[0029] The intercepting assembly 7 comprises a winding shaft 701 which is rotatably connected in the inside of the middle column 3, the two ends of the winding shaft 701 are connected with the inner wall of the middle column 3 through a clockwork 702, the outer wall of the winding shaft 701 is wound with one end of the intercepting net 4, the other end of the intercepting net 4 is provided with a connecting rod 703, the two ends of the connecting rod 703 are square-shaped, the middle part of the connecting rod 703 and the intercepting net 4 is provided with a self-adjusting assembly 8.

[0030] The self-adjusting assembly 8 comprises a fixed frame 801, one side of the outer wall of the fixed frame 801 is fixedly connected with the connecting rod 703, the inside of the fixed frame 801 is rotationally connected with a driving wheel 802, the outer wall of the fixed frame 801 is rotationally connected with a synchronous frame 803, one end of the inside of the synchronous frame 803 is rotationally connected with a driven wheel 804, one end of the driven wheel 804 is fixedly connected with a cam 805, the recess 806 on the surface of the cam 805 is slidably connected with a roller 807, the roller 807 is slidably connected in the straight slot 809 on one side of the outer wall of the synchronous frame 803, the intercepting net 4 is a double-layer net and is divided into a straight net 401 and an auxiliary net 402, the straight net 401 is connected with the outer wall of the synchronous frame 803, and the auxiliary net 402 is connected with the roller 807.

[0031] The outer wall of the roller 807 is rotationally connected with an auxiliary shaft 808, and the width of the auxiliary shaft 808 is the same as the width of the straight slot 809.

[0032] Specifically, the intercepting net 4 can be rapidly unfolded by applying a pulling force to the intercepting net 4 to form a physical barrier. In the stretched state of the intercepting net 4, the winding shaft 701 always has a tendency to recover the intercepting net 4 under the torsional force of the clockwork 702, so that the intercepting net 4 and the connecting rod 703 are close to the center column 3, the internal tension of the intercepting net 4 is maintained, and the adjacent connecting rods 703 are connected through the main column 1 and the tail column 5, that is, the square heads at the two ends of the connecting rod 703 are inserted into the square insertion holes 9 at the top of the main column 1 and the tail column 5, so that the deployment of the intercepting net 4 can be quickly completed.

[0033] The self-adjusting assembly 8 plays a key role after the intercepting net 4 is unfolded, and ensures that it can adapt to uneven ground. When a pedestrian or an object hits the intercepting net 4, the impact force is first transmitted to the straight net 401 and the synchronous frame 803. The driving wheel 802 rolls when in contact with the ground, and transmits part of the impact force and motion to the driven wheel 804. The driven wheel 804 drives the cam 805 to rotate. Under the rotation of the cam 805, the roller 807 is extruded along the recess 806 on the surface of the cam 805 and moves upward along the straight slot 809. In the process of moving upward, the auxiliary net 402 is moved upward, which is equivalent to adding another layer of net on one side of the straight net 401, thereby increasing the strength of the intercepting net 4. Moreover, the extension width of the auxiliary net 402 is related to the moving distance of the roller 807. The longer the moving distance of the roller 807, the higher the comprehensive strength of the intercepting net 4. The effect is that the greater the impact strength of the straight net 401 in the intercepting net 4, the greater the relative rotation angle between the fixed frame 801 and the synchronous frame 803 within a certain range (360°), the longer the extension width of the auxiliary net 402, and the higher the comprehensive strength of the intercepting net 4.

[0034] The inside of the main column 1 and the tail column 5 is provided with a square insertion hole 9 at the adjacent end, which is used for inserting the connecting rod 703.

[0035] Specifically, due to the threaded connection between the main column 1 and the tail column 5, the tail column 5 and the anchor 6 can be separated from the main column 1 and the middle column 3, and the connecting rod 703 can be quickly inserted into the square socket 9, so that the tail column 5 can be quickly deployed in a long and curved road. After the connecting rod 703 is inserted into the square socket 9, the road-following deployment of the intercept net 4 is first formed, and in addition, the top of the connecting rod 703 can also be inserted into the main column 1, forming the multi-end deployment effect of the intercept net 4 and the sensing system, so that the sensing line of the microwave radar unit and the laser radar unit in the sensing system is more in line with the road curve. The device has better implementation effect in a curved road.

[0036] The sensing system comprises: a microwave radar unit and a laser radar unit for sensing the outside world; a master control processing unit and a data fusion unit for operation and control; a power management and distribution unit for power supply and ensuring stable operation.

[0037] Specifically, the microwave radar unit adopts a 24GHz frequency band millimeter wave radar front end with one transmitting and two receiving. Its core is an MMIC chip, which integrates a voltage-controlled oscillator, a power amplifier, a low-noise amplifier, and a mixer component. The MMIC chip and a patch antenna array designed using microstrip line technology are directly soldered on the same PCB board to form a compact radar radio frequency module. The module is tightly fixed on the inner wall of the stainless steel 2 square tube through bolts to ensure mechanical stability and continuously emit frequency-modulated continuous wave (FMCW) microwave signals. When the signal encounters a pedestrian, it will be reflected, and by calculating the frequency difference (intermediate frequency signal) between the transmitted and received signals, the relative distance and radial velocity between the target and the sensor can be directly, simultaneously and extremely accurately measured. Through the phase difference of multiple receiving antennas, the azimuth of the target can also be estimated. The transmitting end of the laser radar unit uses a 905nm wavelength VCSEL surface array laser, which emits laser light through a collimating lens. The receiving end uses a SPAD array detector, which controls the laser beam to scan the surface array laser at high speed through a MEMS mirror, measures the time from emission to return of each laser point, and thus obtains the precise three-dimensional coordinates (X, Y, Z) of millions of points in the surrounding environment, forming a high-resolution point cloud image.

[0038] Master control processing unit: a heterogeneous SoC integrating ARM Cortex-A series core and GPU / NPU (neural network processing unit) is adopted, and the data fusion unit fusion function is borne by the NPU and DSP core in the master SoC, and the fusion algorithm is realized on the software. The fusion algorithm adopts particle filter algorithm, and a dynamic model is established for each tracked pedestrian. In each perception cycle (the perception cycle is 100ms in the embodiment), the algorithm associates the position and contour features of a certain target extracted by the laser radar with the instantaneous radial velocity of the target measured by the millimeter wave radar, and then uses the Kalman filter to predict the state of the target at the next moment according to the current state (position, velocity), and when the prediction result is collision, an alarm is sent, and the new observation value is corrected, so as to output a final target list which is smoother, more accurate and contains a short-term prediction trajectory in the future.

[0039] The power management and distribution unit is a separate switching power supply board. The front end is designed with a surge protection circuit composed of TVS tube and voltage-dependent resistor to resist lightning and power grid fluctuations. The core is a switching power supply chip with wide voltage input (AC / DC 24V), and the rear stage is equipped with multiple low-dropout linear voltage stabilizers to provide stable and low-noise 3.3V, 1.8V, 1.2V voltages for chips with different requirements such as MMIC, SPAD, SoC, etc. The unstable light energy power from the external photovoltaic panel of the stainless steel square tube 2 is converted into the energy required by each unit inside the sensing system.

[0040] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways, comprising a main column (1), characterized in that, The top of the main column (1) is equipped with a stainless steel square tube (2), and the inside of the stainless steel square tube (2) is integrated with a sensing system. The main column (1) is threaded to the end of a middle column (3), and the outer wall of the middle column (3) is provided with an interception component (7), which intercepts the road by deploying an interception net (4); The end of the central column (3) is threadedly connected to the tail column (5), and the tail column (5) is provided with a ground anchor (6) inside, which assists in connecting the main column (1), the central column (3) and the ground.

2. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 1, characterized in that, The anchor (6) includes a limiting groove (601), which is located in the middle of the outer wall of the tail post (5). A sliding shaft (602) is slidably connected inside the limiting groove (601). One end of the sliding shaft (602) is fixedly connected to one end of a synchronizing rod (603). The other ends of the two sliding shafts (602) are fixedly connected to the same pedal (604). The other ends of the two synchronizing rods (603) are connected to the same cone (605). A sliding groove (606) is also provided at the bottom of the outer wall of the tail post (5). An anchor plate (607) is slidably connected inside the sliding groove (606). One end of the anchor plate (607) is connected to the inner wall of the tail post (5) through a spring (608).

3. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 1, characterized in that, The interception assembly (7) includes a winding shaft (701), which is rotatably connected inside the central column (3). Its two ends are connected to the inner wall of the central column (3) through a spring (702). One end of the interception net (4) is wound around the outer wall of the winding shaft (701). The other end of the interception net (4) is provided with a connecting rod (703). The two ends of the connecting rod (703) are square. A self-adjusting assembly (8) is provided in the middle of the connecting rod (703) and the interception net (4).

4. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 3, characterized in that, The self-adjusting component (8) includes a fixed frame (801), one side of the outer wall of the fixed frame (801) is fixedly connected to the connecting rod (703), the inside of the fixed frame (801) is rotatably connected to the drive wheel (802), the outer wall of the fixed frame (801) is rotatably connected to the synchronization frame (803), one end of the inside of the synchronization frame (803) is rotatably connected to the driven wheel (804), one end of the driven wheel (804) is fixedly connected to the cam (805), the groove (806) on the surface of the cam (805) is slidably connected to the roller (807), the roller (807) is slidably connected to the straight groove (809) opened on one side of the outer wall of the synchronization frame (803), the interception net (4) is a double-layer net, divided into a straight net (401) and an auxiliary net (402), the straight net (401) is connected to the outer wall of the synchronization frame (803), and the auxiliary net (402) is connected to the roller (807).

5. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 3, characterized in that, The main column (1) and the tail column (5) are each provided with a square insertion hole (9) at one adjacent end inside, which is used to insert the connecting rod (703).

6. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 1, characterized in that, The sensing system includes: Microwave radar unit and lidar unit used to sense the outside world; The main control processing unit and data fusion unit are used for computation and control; Power management and distribution units used to supply power and ensure its stable operation.

7. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 2, characterized in that, The outer wall of the tail post (5) is symmetrically provided with limiting ears (10), and the limiting ears (10) are made of one or more of polycarbonate, polyamide and thermoplastic polyurethane.

8. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 2, characterized in that, Both ends of the outer wall of the anchor plate (607) are provided with slopes (609).

9. The microwave-laser integrated sensor for pedestrian detection and protection in pedestrian walkways according to claim 4, characterized in that, The outer wall of the roller (807) is rotatably connected to an auxiliary shaft (808), the width of which is the same as the width of the straight groove (809).

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