Visual sensor for complex environment

Abstract

The utility model relates to the technical field of visual perception, in particular to a complex environment visual perceptron which comprises a fixing plate, a perceptron structure and an adjusting and fixing structure, the perceptron structure is fixedly connected to the outer surface of the fixing plate, and the adjusting and fixing structure is fixedly connected to the top of the fixing plate. According to the utility model, through the arrangement of the infrared camera and the laser radar, the infrared camera makes up the defects of a visible light camera in a low-light environment, the laser radar provides high-precision three-dimensional space information, and the multi-modal sensor fusion can obtain more comprehensive environment data. In a night scene, the infrared camera can clearly shoot the outline of a real object, the laser radar accurately measures the position of the real object and the distance of a surrounding obstacle, and the infrared camera and the laser radar work cooperatively, so that the visual sensor can accurately identify the state of the real object and the surrounding environment condition, and the positioning accuracy of the target object is improved. And a reliable basis is provided for subsequent decision-making.

Description

Technical Field

[0001] This utility model relates to the field of visual perception technology, and in particular to a visual sensor for complex environments. Background Technology

[0002] With the rapid development of artificial intelligence and automation technologies, visual sensors have been widely used in many fields, such as autonomous driving, robot navigation, and security monitoring. However, in complex environments, such as those with drastic changes in lighting, obstructions, and diverse and complex scenes, existing visual sensors face many challenges, making it difficult to accurately and quickly acquire and process visual information.

[0003] When existing technical solutions are used,

[0004] (1) Most visual sensors rely on a single visible light camera. In environments with drastic changes in light, such as low light, direct strong light or reflection, the images are prone to overexposure, underexposure or severe noise interference. When there are occluders in the scene, existing visual sensors lack an effective multimodal information fusion mechanism to compensate for the information loss of the occluded parts.

[0005] (2) It is difficult to fix the device stably, and it is difficult to adjust the vision sensor reasonably according to the actual situation on site. The shock absorption effect is poor, and it is necessary to avoid shaking and other factors that cause unstable imaging.

[0006] To address the above problems, this invention provides a visual sensor for complex environments. Utility Model Content

[0007] The purpose of this invention is to solve the problems of poor visual perception accuracy, inconvenience in fixing and adjusting, and poor shock absorption in existing technologies under complex environments, and to propose a visual sensor for complex environments.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a complex environment visual sensor, comprising a fixed plate, a sensor structure, and an adjustment and fixing structure. The sensor structure is fixedly connected to the outer surface of the fixed plate, and the adjustment and fixing structure is fixedly connected to the top of the fixed plate. The sensor structure includes a connecting plate fixedly connected to one side of the outer surface of the fixed plate. Connecting members are threadedly connected to both sides of the connecting plate. A visible light camera is fixedly connected to the outer surface of the connecting plate, and the visible light camera is threadedly connected to the outer surface of the fixed plate through the connecting members.

[0009] Furthermore, the sensor structure includes an infrared camera fixedly connected to the other side of the outer surface of the fixed plate, the infrared camera and the visible light camera being symmetrically arranged on the outer surface of the fixed plate, and the sensor structure includes an emergency lighting device fixedly connected to the bottom of the fixed plate.

[0010] Furthermore, the sensor structure includes a meniscus fixedly connected to the middle of the outer surface of the fixed plate, a rotating shaft rotatably connected inside the meniscus, and a lidar fixedly connected to the outer surface of the rotating shaft.

[0011] Furthermore, the adjustment and fixing structure includes a servo motor fixedly connected to the top of the fixing plate, the output end of the servo motor being fixedly connected to the top of the fixing plate, and a protective frame being fixedly connected to the outer surface of the servo motor.

[0012] Furthermore, an adjustable telescopic column is fixedly connected to the top of the protective frame, a support plate is threadedly connected to the top of the adjustable telescopic column, bolts are threadedly connected to both sides of the support plate, and the adjustable telescopic column is threadedly connected to the bottom of the support plate by bolts.

[0013] Furthermore, a shock-absorbing device is fixedly connected to the top of the support plate, and a wall connecting plate is fixedly connected to the top of the shock-absorbing device. Wall connectors are threadedly connected to both sides of the wall connecting plate.

[0014] Furthermore, a fixing ring is fixedly connected to the outer surface of the adjustable telescopic column, and reinforcing support frames are symmetrically arranged on both sides of the fixing ring. A wall connector is fixedly connected to the top of the reinforcing support frame.

[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0016] 1. In this utility model, by setting up an infrared camera and a lidar, the infrared camera makes up for the shortcomings of the visible light camera in low light environments, and the lidar provides high-precision three-dimensional spatial information. The fusion of multi-modal sensors can obtain more comprehensive environmental data, which significantly improves the accuracy of target object identification and positioning in complex environments. In night scenes, the infrared camera can clearly capture the outline of the object, and the lidar accurately measures the position of the object and the distance to surrounding obstacles. The two work together to enable the visual sensor to accurately identify the state of the object and the surrounding environment, providing a reliable basis for subsequent decision-making.

[0017] 2. In this utility model, by adjusting the setting of the fixing structure and the shock absorption device, the installation height and sensing angle of the vision sensor can be flexibly adjusted to adapt to different application scenarios. The shock absorption device effectively reduces external vibration interference, ensures stable operation of the sensor, and improves the reliability and stability of the vision sensor in complex environments. The fixing ring and the reinforced support frame further enhance the stability of the connection between the telescopic column and the wall, preventing structural loosening due to long-term use or large external forces, and ensuring that the vision sensor can work stably for a long time in complex environments. Attached Figure Description

[0018] Figure 1 This utility model provides a three-dimensional structural diagram of a visual sensor for complex environments;

[0019] Figure 2 This invention provides a schematic diagram of the structure of a lidar in a visual sensor for complex environments.

[0020] Figure 3 This invention proposes a visual sensor for complex environments. Figure 2 Enlarged view of point A;

[0021] Figure 4 This utility model provides a structural schematic diagram of an adjustable telescopic column in a visual sensor for complex environments;

[0022] Figure 5 This invention proposes a visual sensor for complex environments. Figure 4 Enlarged diagram of point B.

[0023] Legend:

[0024] 1. Fixing plate; 2. Sensor structure; 21. Connecting plate; 22. Connector; 23. Visible light camera; 24. Infrared camera; 25. Emergency lighting device; 26. Meniscus; 27. Rotating shaft; 28. LiDAR; 3. Adjustable fixing structure; 31. Servo motor; 32. Protective frame; 33. Adjustable telescopic column; 34. Support plate; 35. Bolt; 36. Shock absorption device; 37. Wall connecting plate; 38. Wall connector; 39. Fixing ring; 310. Reinforcing support frame. Detailed Implementation

[0025] Please see Figures 1-5 This utility model provides a technical solution: a complex environment visual sensor, including a fixed plate 1, a sensor structure 2 and an adjustment and fixing structure 3. The sensor structure 2 is fixedly connected to the outer surface of the fixed plate 1, and the adjustment and fixing structure 3 is fixedly connected to the top of the fixed plate 1.

[0026] The specific settings and functions of its sensor structure 2 and adjustment fixing structure 3 will be discussed below.

[0027] In this embodiment: the sensor structure 2 includes a connecting plate 21 fixedly connected to one side of the outer surface of the fixing plate 1, and connecting members 22 are threadedly connected to both sides of the connecting plate 21. A visible light camera 23 is fixedly connected to the outer surface of the connecting plate 21, and the visible light camera 23 is threadedly connected to the outer surface of the fixing plate 1 through the connecting members 22.

[0028] The effects achieved by the above components are as follows: the threaded connection ensures the firmness of the connection, ensuring that the visible light camera 23 will not easily loosen, and it is also easy to disassemble and install. When it is necessary to maintain, clean or replace the visible light camera 23, it can be operated conveniently and quickly, thus improving the maintainability of the equipment.

[0029] Specifically, the sensor structure 2 includes an infrared camera 24 fixedly connected to the other side of the outer surface of the fixed plate 1. The infrared camera 24 and the visible light camera 23 are symmetrically arranged on the outer surface of the fixed plate 1. The sensor structure 2 also includes an emergency lighting device 25 fixedly connected to the bottom of the fixed plate 1.

[0030] The effects achieved by the above components are as follows: the infrared camera 24 makes up for the shortcomings of the visible light camera 23 in low light environment, the lidar 28 provides high-precision three-dimensional spatial information, and the multi-modal sensor fusion can obtain more comprehensive environmental data, significantly improving the accuracy of target object identification and positioning in complex environment.

[0031] Specifically, the sensor structure 2 includes a meniscus 26 fixedly connected to the middle of the outer surface of the fixed plate 1, a rotating shaft 27 rotatably connected inside the meniscus 26, and a lidar 28 fixedly connected to the outer surface of the rotating shaft 27.

[0032] The effect achieved by the above components is that the lidar 28 generates high-precision three-dimensional point cloud data by emitting a laser beam and receiving reflected light, thereby accurately measuring the distance and spatial position information of the target object.

[0033] Specifically, the adjusting and fixing structure 3 includes a servo motor 31 fixedly connected to the top of the fixing plate 1. The output end of the servo motor 31 is fixedly connected to the top of the fixing plate 1, and a protective frame 32 is fixedly connected to the outer surface of the servo motor 31.

[0034] The effect achieved by the above components is that the servo motor 31 can quickly and accurately rotate the fixed plate 1, causing the sensor structure 2 to change its orientation, thereby realizing visual perception in different directions.

[0035] Specifically, the top of the protective frame 32 is fixedly connected to an adjustable telescopic column 33, the top of the adjustable telescopic column 33 is threadedly connected to a support plate 34, the two sides of the support plate 34 are threadedly connected to bolts 35, and the adjustable telescopic column 33 is threadedly connected to the bottom of the support plate 34 through the bolts 35.

[0036] The effect achieved by the above components is that the telescopic column 33 has the characteristic of being telescopic, and can be flexibly adjusted according to the actual height requirements of the installation position, so that the visual sensor can be placed at a suitable height position to meet the requirements of visual perception of different height areas.

[0037] Specifically, a shock-absorbing device 36 is fixedly connected to the top of the support plate 34, a wall connecting plate 37 is fixedly connected to the top of the shock-absorbing device 36, and wall connectors 38 are threadedly connected to both sides of the wall connecting plate 37.

[0038] The aforementioned components achieve the following effect: they can absorb and buffer vibration energy, ensuring that various sensors in the sensor structure 2, such as the visible light camera 23, the infrared camera 24, and the lidar 28, remain stable during operation, thereby improving the accuracy of visual perception.

[0039] Specifically, a fixing ring 39 is fixedly connected to the outer surface of the adjustable telescopic column 33, and a reinforcing support frame 310 is symmetrically arranged on both sides of the fixing ring 39. A wall connector 38 is fixedly connected to the top of the reinforcing support frame 310.

[0040] The effects achieved by the above components are as follows: the fixing ring 39 and the reinforcing support frame 310 further enhance the stability of the connection between the adjusting telescopic column 33 and the wall, prevent the normal operation of the vision sensor from being affected by structural loosening, and ensure that the vision sensor can operate stably for a long time in complex environments.

[0041] Working principle: In complex environments, when there is sufficient light, the visible light camera 23 starts to work, acquiring color images of the surrounding environment and capturing rich color and texture details. Once it enters a low-light environment, the infrared camera 24 immediately takes effect, acquiring clear images based on the infrared radiation characteristics of objects, complementing the data from the visible light camera 23. If the ambient light is extremely dim or even nonexistent, the emergency lighting device 25 automatically turns on, providing auxiliary lighting for the visible light camera 23 to ensure its continued operation.

[0042] The lidar 28 rotates via a rotating shaft 27 supported by a meniscus 26, emitting laser beams and receiving reflected light to generate high-precision three-dimensional point cloud data. This data accurately measures the distance and spatial position of target objects and is fused with camera data to provide more comprehensive environmental perception.

[0043] In terms of installation and adjustment, firstly, based on the height requirements of the installation location, the height of the vision sensor is adjusted by adjusting the telescopic column 33, and the support plate 34 is fixed to the telescopic column 33 with bolts 35. Then, the wall connection plate 37 is fixed to the wall using the wall connector 38. During this process, the shock absorption device 36 begins to play a shock absorption role, reducing the impact of external vibrations on the equipment. The fixing ring 39 and the reinforcing support frame 310 further enhance the stability of the connection between the telescopic column 33 and the wall. When it is necessary to adjust the vision perception direction, the servo motor 31 starts, precisely controlling the rotation angle of the fixing plate 1 and the sensor structure 2 to adapt to the requirements of different scenarios for the perception angle. Through the coordinated work of these structures, the complex environment vision sensor can accurately and stably acquire and process visual information in complex environments.

Claims

1. A visual sensor for complex environments, comprising a fixed plate (1), a sensor structure (2), and an adjustment and fixing structure (3), characterized in that: The sensor structure (2) is fixedly connected to the outer surface of the fixed plate (1), and the adjustment and fixing structure (3) is fixedly connected to the top of the fixed plate (1). The sensor structure (2) includes a connecting plate (21) fixedly connected to one side of the outer surface of the fixed plate (1). Connecting parts (22) are threadedly connected to both sides of the connecting plate (21). A visible light camera (23) is fixedly connected to the outer surface of the connecting plate (21). The visible light camera (23) is threadedly connected to the outer surface of the fixed plate (1) through the connecting parts (22).

2. A complex environment visual sensor according to claim 1, characterized in that: The sensor structure (2) includes an infrared camera (24) fixedly connected to the other side of the outer surface of the fixed plate (1). The infrared camera (24) and the visible light camera (23) are symmetrically arranged on the outer surface of the fixed plate (1). The sensor structure (2) includes an emergency lighting device (25) fixedly connected to the bottom of the fixed plate (1).

3. A complex environment visual sensor according to claim 2, characterized in that: The sensor structure (2) includes a meniscus (26) fixedly connected to the middle of the outer surface of the fixed plate (1), a rotating shaft (27) is rotatably connected inside the meniscus (26), and a lidar (28) is fixedly connected to the outer surface of the rotating shaft (27).

4. A complex environment visual sensor according to claim 1, characterized in that: The adjustment and fixing structure (3) includes a servo motor (31) fixedly connected to the top of the fixing plate (1). The output end of the servo motor (31) is fixedly connected to the top of the fixing plate (1), and a protective frame (32) is fixedly connected to the outer surface of the servo motor (31).

5. A complex environment visual sensor according to claim 4, characterized in that: The top of the protective frame (32) is fixedly connected to an adjustable telescopic column (33), the top of the adjustable telescopic column (33) is threadedly connected to a support plate (34), the two sides of the support plate (34) are threadedly connected to bolts (35), and the adjustable telescopic column (33) is threadedly connected to the bottom of the support plate (34) by bolts (35).

6. A complex environment visual sensor according to claim 5, characterized in that: The top of the support plate (34) is fixedly connected to a shock-absorbing device (36), the top of the shock-absorbing device (36) is fixedly connected to a wall connecting plate (37), and the two sides of the wall connecting plate (37) are threadedly connected to wall connectors (38).

7. A complex environment visual sensor according to claim 6, characterized in that: The outer surface of the adjustable telescopic column (33) is fixedly connected to a fixing ring (39), and a reinforcing support frame (310) is symmetrically arranged on both sides of the fixing ring (39). A wall connector (38) is fixedly connected to the top of the reinforcing support frame (310).

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