A 3D object detection system

Abstract

This utility model belongs to the field of target detection, and specifically relates to a 3D target detection system. The technology includes an image acquisition module, a target detection module, a control module, and an output display module. All three modules are electrically connected to the control module. The image acquisition module includes a housing, connecting lugs, mounting bosses, a camera assembly, and a protective assembly. Connecting lugs are located on the left and right sides of the housing, and connecting holes are formed on the lugs. A mounting boss is formed on the front side wall of the housing, and the camera assembly and protective assembly are mounted on the mounting boss. The protective assembly is positioned above the camera assembly and is used to cover the camera assembly after rotation to protect it when not in operation. Compared to the existing technology using LiDAR, this method is lower in cost and more cost-effective.

Description

Technical Field

[0001] This utility model belongs to the field of target detection, and in particular relates to a 3D target detection system. Background Technology

[0002] 3D object detection is one of the key technologies in fields such as autonomous driving, robot navigation, and intelligent monitoring. It aims to predict the position, size, and category of objects in 3D space.

[0003] However, the LiDAR used in current 3D target detection systems is very expensive, and the sparse point cloud density of a single LiDAR necessitates multi-sensor redundancy, further increasing the cost of autonomous driving solutions and hindering their widespread adoption in the market. Furthermore, existing 3D target detection systems often use cameras exposed to the elements, making them highly susceptible to water damage and resulting in short lifespans. This further increases the cost of autonomous driving solutions based on 3D target detection systems, hindering their large-scale deployment.

[0004] Therefore, a more accurate and cost-effective 3D target detection system is needed. Utility Model Content

[0005] The purpose of this invention is to provide a 3D target detection system that can solve the technical problem that traditional 3D target detection systems are too costly and cannot be marketed due to the use of lidar.

[0006] The 3D target detection system includes an image acquisition module, a target detection module, a control module, and an output display module. The image acquisition module, target detection module, control module, and output display module are all electrically connected to the control module.

[0007] The image acquisition module includes a housing, connecting lugs, mounting bosses, a camera assembly, and a protective assembly. The housing has a connecting lug on each of its left and right sides, and a set of connecting holes is provided on the connecting lugs. A mounting boss is formed on the front side wall of the housing, and the camera assembly and the protective assembly are mounted on the mounting boss. The protective assembly is located above the camera assembly and is used to cover the camera assembly after rotation to provide protection for the camera assembly when it is not in operation.

[0008] This system acquires image information through an image acquisition module based on a high-definition camera. The acquired image information is input into a control module, which forwards the data to a target detection module. The target detection module uses a built-in 3D target recognition algorithm to detect targets and returns the detection results to the control module. The control module then sends the detection results to an output display module for display. It is evident that this system achieves 3D target detection based on a high-definition camera with high accuracy (low false alarm rate). Compared to existing technologies using LiDAR, it is more cost-effective and cost-efficient, overcoming the drawbacks of traditional 3D target detection systems that rely on LiDAR, which are too costly and cannot be widely adopted. Furthermore, the camera component in the image acquisition module is protected by protective components, extending the module's lifespan and further reducing the overall cost of using the 3D target detection system.

[0009] Furthermore, the camera assembly includes a mounting bracket, a circuit board, a camera body, a first sealing ring, a glass plate, a second sealing ring, and a protective sheet. The camera body is fixed on the circuit board, the circuit board and the mounting bracket are fixedly connected, the mounting bracket is fixedly connected to the housing by fixing screws, the glass plate is covered on the lens of the camera body, the first sealing ring and the second sealing ring are provided on the inner and outer sides of the glass plate, and the protective sheet is covered on the glass plate.

[0010] Based on the above structure, the lens of the camera body is protected by glass plates and protective sheets everywhere. The front and back of the glass plates are pressed and sealed with custom sealing rings to prevent water from entering from the lens during use, thereby improving the waterproof performance of the camera components, extending the service life of the image acquisition module, and thus reducing the cost of using the 3D target detection system to a certain extent.

[0011] Furthermore, a support cylinder abuts against the side of the circuit board away from the mounting bracket and the housing.

[0012] By providing a support cylinder, support can be provided between the side of the circuit board away from the mounting bracket and the housing, thereby improving the axial mounting strength of the camera body and thus helping to improve the quality of the images captured by the image acquisition module during vehicle operation.

[0013] Furthermore, several support rings for radially limiting the camera body are formed on the inner wall of the support cylinder.

[0014] By setting up a support ring, the radial support of the camera body can be improved, thereby increasing the radial installation strength of the camera body and helping to improve the quality of the images captured by the image acquisition module during vehicle movement.

[0015] Furthermore, the protective assembly includes a fixed bracket, a stepper motor, a connecting shaft, and a dust cover. The stepper motor is fixed inside the housing by the fixed bracket. The output shaft of the stepper motor is connected to the connecting shaft. The connecting shaft is independently mounted on the mounting boss, and its outer end extends out of the mounting boss and is connected to the dust cover.

[0016] With the above design, when the image acquisition module is not in operation, the output shaft of the stepper motor, through the connecting shaft, can drive the dust cover to rotate, allowing the dust cover to cover the camera assembly and provide further protection. When the image acquisition module is in operation, the output shaft of the stepper motor, through the connecting shaft, can drive the dust cover to rotate, exposing the camera assembly and preventing interference with its image acquisition. Therefore, by providing protection for the camera assembly through the above-described protective components, the lifespan of the image acquisition module is further extended.

[0017] Furthermore, a waterproof sheet is provided between the stepper motor and the inner wall of the housing, and a sealing ring assembly is provided between the connecting shaft and the housing.

[0018] The protective assembly, with its waterproof sheet and sealing ring assembly, not only seals the end face of the stepper motor but also provides radial sealing for the connecting shaft. This prevents water from entering through the connecting shaft during use and damaging the stepper motor, thus improving the waterproof performance of the protective assembly and extending the service life of the image acquisition module. Consequently, it reduces the operating cost of the 3D target detection system to some extent.

[0019] Furthermore, the connecting hole group includes a first connecting hole and a second connecting hole, the first connecting hole being located above the second connecting hole, the first connecting hole being an oblong hole, and the second connecting hole being a circular hole.

[0020] By combining the oblong and round holes, the installation process allows for both adjustment and precise positioning, making it easier to connect and fix the image acquisition module to the vehicle, thus facilitating the widespread use of this system.

[0021] Furthermore, a supplementary lighting module is also provided on the mounting platform below the camera assembly.

[0022] By adding a supplemental lighting module, the camera module can be illuminated in low-light environments, thereby improving its image acquisition capabilities in different environments.

[0023] Furthermore, a signal amplification module and a digital-to-analog conversion module are connected between the output end of the image acquisition module and the input end of the control module.

[0024] The signal amplification module amplifies the signal output from the image acquisition module, and the digital-to-analog conversion module converts the amplified signal into an analog signal before inputting it into the control module. This amplification and digital-to-analog conversion facilitates the control module in transmitting the image data acquired by the image acquisition module to the target detection module for target detection.

[0025] Furthermore, the control module also interacts with the cloud server via a communication module.

[0026] By configuring the communication module and cloud server, the control module can upload the image data acquired by the image acquisition module and the recognition results output by the target detection module to the cloud server for storage, thereby avoiding data loss.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. This system acquires image information through an image acquisition module based on a high-definition camera. The acquired image information is then amplified by a signal amplification module and converted from digital to analog before being input into the control module. The control module forwards the data to the target detection module, which uses a 3D target recognition algorithm to detect the target and returns the detection result to the control module. The control module then sends the detection result to the output display module for display. It can be seen that this system achieves 3D target detection based on a high-definition camera and has a high detection accuracy (low false alarm rate). Compared with the existing technology that uses LiDAR, it is lower in cost and more cost-effective, overcoming the shortcomings of traditional 3D target detection systems that use LiDAR, which are too costly and cannot be marketed.

[0029] 2. The camera is protected by a glass cover, with custom-made sealing rings on the front and back to prevent water from entering through the camera lens during use. This improves the camera's waterproof performance, extends the lifespan of the image acquisition module, and thus reduces the operating cost of the 3D target detection system to some extent. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the principle of this utility model;

[0031] Figure 2 This is a schematic diagram of the image acquisition module.

[0032] Figure 3 for Figure 2 AA section view;

[0033] Figure 4 for Figure 2 BB cross-sectional view;

[0034] Figure 5This is a top view of the image acquisition module.

[0035] Component names in the diagram: 1. Image acquisition module; 1.1. Housing; 1.1.1. Retaining ring; 1.2. Connecting lug; 1.3. First connecting hole; 1.4. Second connecting hole; 1.5. Mounting boss; 1.6. Camera assembly; 1.6.1. Mounting bracket; 1.6.2. Fixing screw; 1.6.3. Circuit board; 1.6.4. Camera body; 1.6.5. First sealing ring; 1.6.6. Glass plate; 1.6.7. Second sealing ring; 1.6.8 1.6.9 Protective sheet; 1.6.10 Support cylinder; 1.7 Support ring; 1.7 Protective components; 1.7.1 Fixed bracket; 1.7.2 Stepper motor; 1.7.3 Waterproof sheet; 1.7.4 Connecting shaft; 1.7.5 Dustproof cover; 1.7.6 Sealing ring assembly; 1.8 Fill light module; 2. Signal amplification module; 3. Digital-to-analog conversion module; 4. Target detection module; 5. Control module; 6. Output display module; 7. Communication module; 8. Cloud server. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0037] Example

[0038] See appendix Figure 1 This embodiment proposes a 3D target detection system, including an image acquisition module 1, a signal amplification module 2, a digital-to-analog conversion module 3, a target detection module 4, a control module 5, an output display module 6, a communication module 7, and a cloud server 8. The output of the image acquisition module 1 is connected to the input of the digital-to-analog conversion module 3 via the signal amplification module 2. The output of the digital-to-analog conversion module 3 is connected to the output of the control module 5. The target detection module 4 and the control module 5 are communicatively connected. The output of the control module 5 is connected to the output display module 6. The control module 5 also interacts with the cloud server 8 through the communication module 7.

[0039] Specifically, the image acquisition module 1 is used to detect images in front of the vehicle or in the desired direction. The signal amplification module 2 is used to amplify the image data acquired by the image acquisition module 1. The digital-to-analog conversion module 3 is used to convert the amplified data into digital data and output it to the control module 5. The control module 5 forwards the received data to the target detection module 4. The target detection module 4 is used to perform target detection using a built-in 3D target recognition algorithm and returns the target detection result to the control module 5. The control module 5 sends the detection result to the output display module 6 for display. The control module 5 is also used to upload the image data acquired by the image acquisition module 1 and the recognition result output by the target detection module 4 to the cloud server 8 for storage, thereby avoiding data loss.

[0040] As can be seen, this system acquires image information through an image acquisition module 1 based on a high-definition camera. The acquired image information is input into the control module 5, which forwards the data to the target detection module 4. The target detection module 4 uses a built-in 3D target recognition algorithm to detect targets and returns the detection results to the control module 5. The control module 5 then sends the detection results to the output display module 6 for display. It is evident that this system achieves 3D target detection based on a high-definition camera, with high detection accuracy (low false alarm rate). Compared to existing technologies using LiDAR, it is lower in cost and more cost-effective, overcoming the drawbacks of traditional 3D target detection systems that suffer from high costs and limited marketability due to the use of LiDAR.

[0041] In practical implementation, since photosensitive cameras often operate in exposed environments, they are highly susceptible to damage from water ingress, resulting in a short lifespan. This, in turn, increases the cost of autonomous driving solutions based on 3D target detection systems, hindering widespread adoption. Therefore, this embodiment also proposes a waterproof image acquisition module 1. For the specific structure of the image acquisition module 1, please refer to the appendix. Figure 2 -Appendix Figure 5 The details are as follows:

[0042] The image acquisition module 1 includes a housing 1.1, connecting lugs 1.2, mounting bosses 1.5, a camera assembly 1.6, and a protective assembly 1.7. A connecting lug 1.2 is connected to each of the left and right sides of the housing 1.1. A set of connecting holes is provided on the connecting lugs 1.2. A mounting boss 1.5 is formed on the front sidewall of the housing 1.1. The camera assembly 1.6 and the protective assembly 1.7 are mounted on the mounting boss 1.5, with the protective assembly 1.7 positioned above the camera assembly 1.6. The protective assembly 1.7 is used to cover the camera assembly 1.6 after rotation to provide protection for the camera assembly 1.6 when it is not in operation.

[0043] Therefore, the camera component 1.6 in the image acquisition module 1 is protected by the protective component 1.7, which extends the service life of the image acquisition module 1 and thus reduces the cost of using the 3D target detection system to a certain extent.

[0044] See appendix Figure 3 The camera assembly 1.6 includes a mounting bracket 1.6.1, a circuit board 1.6.3, a camera body 1.6.4, a first sealing ring 1.6.5, a glass plate 1.6.6, a second sealing ring 1.6.7, and a protective sheet 1.6.8. The camera body 1.6.4 is fixed to the circuit board 1.6.3. The circuit board 1.6.3 and the mounting bracket 1.6.1 are fixedly connected. The mounting bracket 1.6.1 is fixedly connected to the housing 1.1 by fixing screws 1.6.2. The glass plate 1.6.6 is covered on the lens of the camera body 1.6.4. The first sealing ring 1.6.5 and the second sealing ring 1.6.7 are provided on the inner and outer sides of the glass plate 1.6.6. The protective sheet 1.6.8 is covered on the glass plate 1.6.6.

[0045] Based on the above structure, the lens of the camera body 1.6.4 is protected by glass sheets 1.6.6 and protective sheets 1.6.8. The front and back of the glass sheet 1.6.6 are pressed and sealed by customized first sealing rings 1.6.5 and second sealing rings 1.6.7, which prevents water from entering from the lens during use, improves the waterproof performance of the camera assembly 1.6, extends the service life of the image acquisition module 1, and thus reduces the cost of using the 3D target detection system to a certain extent.

[0046] from Figure 3 It can also be seen that a support cylinder 16.9 abuts against the side of the circuit board 1.6.3 away from the mounting bracket 1.6.1 and the housing 1.1. The support cylinder 16.9 provides support between the side of the circuit board 1.6.3 away from the mounting bracket 1.6.1 and the housing 1.1, thereby improving the axial mounting strength of the camera body 1.6.4 and thus helping to improve the quality of the images acquired by the image acquisition module 1 during vehicle operation.

[0047] In this embodiment, a plurality of support rings 1.6.10 for radially limiting the camera body 1.6.4 are also formed on the inner wall of the support cylinder 1.6.9. The support rings 1.6.10 improve the radial limiting support of the camera body 1.6.4, thereby increasing the radial installation strength of the camera body 1.6.4 and thus helping to improve the quality of the images acquired by the image acquisition module 1 during vehicle operation.

[0048] See appendix Figure 4The protective component 1.7 includes a fixed bracket 1.7.1, a stepper motor 1.7.2, a connecting shaft 1.7.4, and a dust cover 1.7.5. The stepper motor 1.7.2 is fixed inside the housing 1.1 by the fixed bracket 1.7.1. The output shaft of the stepper motor 1.7.2 is connected to the connecting shaft 1.7.4. The connecting shaft 1.7.4 is independently mounted on the mounting boss 1.5, and its outer end extends out of the mounting boss 1.5 and is connected to the dust cover 1.7.5.

[0049] This embodiment employs the above design, allowing the stepper motor 1.7.2's output shaft to rotate the dust cover 1.7.5 via connecting shaft 1.7.4 when the image acquisition module 1 is not in operation. This allows the dust cover 1.7.5 to rotate and cover the camera assembly 1.6, providing further protection. When the image acquisition module 1 is in operation, the stepper motor 1.7.2's output shaft, via connecting shaft 1.7.4, rotates the dust cover 1.7.5, exposing the camera assembly 1.6 to avoid interfering with its image acquisition. Therefore, the protective component 1.7 provides protection for the camera assembly 1.6, further extending the lifespan of the image acquisition module 1.

[0050] Preferably, a waterproof sheet 1.7.3 is provided between the stepper motor 1.7.2 and the inner wall of the housing 1.1, and a sealing ring assembly 1.7.6 is provided between the connecting shaft 1.7.4 and the housing 1.1. The waterproof sheet 1.7.3 and the sealing ring assembly 1.7.6 within the protective component 1.7 not only provide end-face sealing at the stepper motor 1.7.2 but also achieve radial sealing of the connecting shaft 1.7.4. This prevents water from entering through the connecting shaft 1.7.4 during use and thus avoids damage to the stepper motor 1.7.2, improving the waterproof performance of the protective component 1.7 and further extending the service life of the image acquisition module 1, thereby reducing the operating cost of the 3D target detection system to some extent.

[0051] from Figure 1 It can also be seen that the connecting hole group includes a first connecting hole 1.3 and a second connecting hole 1.4. The first connecting hole 1.3 is located above the second connecting hole 1.4. The first connecting hole 1.3 is an oblong hole, and the second connecting hole 1.4 is a circular hole. The combination of the oblong and circular holes allows for both adjustment and precise positioning during installation, facilitating the connection and fixation between the image acquisition module 1 and the vehicle, thus promoting the widespread use of this system.

[0052] In specific implementation, in order to provide supplementary lighting for the camera assembly 1.6 in low-light environments and improve the image information acquisition capability of the camera assembly 1.6 in different environments, this embodiment also provides a supplementary lighting module 1.8 on the mounting boss 1.5 below the camera assembly 1.6.

[0053] In summary, this system uses an image acquisition module 1 based on a high-definition camera to acquire images of the area in front of the vehicle. The acquired image data is amplified by a signal amplification module 2 and converted from digital to analog by a digital-to-analog conversion module 3 before being input to a control module 5. The control module 5 forwards the data to a target detection module 4, which uses a built-in 3D target recognition algorithm to detect the target and returns the detection result to the control module 5. The control module 5 then sends the detection result to an output display module 6 for display. Simultaneously, the acquired image data and detection results are uploaded to a cloud server 8 via a communication module 7 to prevent data loss. Therefore, this system achieves 3D target detection based on a high-definition camera with high accuracy. Compared to existing technologies using LiDAR, it is lower in cost and more cost-effective, overcoming the drawbacks of traditional 3D target detection systems that rely on LiDAR, which are too costly and cannot be widely adopted in the market. Furthermore, the camera component 1.6 in the image acquisition module 1 utilizes a waterproof structure composed of a built-in first sealing ring 1.6.5, a glass sheet 1.6.6, a second sealing ring 1.6.7, and a protective component 1.7 for dual protection, which effectively extends the service life of the image acquisition module 1 and thus reduces the cost of using the 3D target detection system to a certain extent.

Claims

1. A 3D target detection system, characterized in that: It includes an image acquisition module (1), a target detection module (4), a control module (5), and an output display module (6). The image acquisition module (1), the target detection module (4), the control module (5), and the output display module (6) are all electrically connected to the control module (5). The image acquisition module (1) includes a housing (1.1), a connecting lug (1.2), a mounting boss (1.5), a camera assembly (1.6), and a protective assembly (1.7). A connecting lug (1.2) is connected to the left and right sides of the housing (1.1). A group of connecting holes is provided on the connecting lug (1.2). A mounting boss (1.5) is formed on the front side wall of the housing (1.1). The camera assembly (1.6) and the protective assembly (1.7) are mounted on the mounting boss (1.5). The protective assembly (1.7) is located above the camera assembly (1.6). The protective assembly (1.7) is used to cover the camera assembly (1.6) after rotation to provide protection for the camera assembly (1.6) when it is not in operation.

2. The 3D target detection system according to claim 1, characterized in that: The camera assembly (1.6) includes a mounting bracket (1.6.1), a circuit board (1.6.3), a camera body (1.6.4), a first sealing ring (1.6.5), a glass plate (1.6.6), a second sealing ring (1.6.7), and a protective sheet (1.6.8). The camera body (1.6.4) is fixed on the circuit board (1.6.3). The circuit board (1.6.3) and the mounting bracket (1.6.1) are fixedly connected. The mounting bracket (1.6.1) is fixedly connected to the housing (1.1) by fixing screws (1.6.2). The glass plate (1.6.6) is covered on the lens of the camera body (1.6.4). The first sealing ring (1.6.5) and the second sealing ring (1.6.7) are arranged on the inner and outer sides of the glass plate (1.6.6). The protective sheet (1.6.8) is covered on the glass plate (1.6.6).

3. The 3D target detection system according to claim 2, characterized in that: A support cylinder (1.6.9) abuts against the side of the circuit board (1.6.3) away from the mounting bracket (1.6.1) and the housing (1.1).

4. The 3D target detection system according to claim 3, characterized in that: A plurality of support rings (1.6.10) for limiting the radial direction of the camera body (1.6.4) are also formed on the inner wall of the support cylinder (1.6.9).

5. The 3D target detection system according to claim 1, characterized in that: The protective component (1.7) includes a fixed bracket (1.7.1), a stepper motor (1.7.2), a connecting shaft (1.7.4), and a dust cover (1.7.5). The stepper motor (1.7.2) is fixed inside the housing (1.1) by the fixed bracket (1.7.1). The output shaft of the stepper motor (1.7.2) is connected to the connecting shaft (1.7.4). The connecting shaft (1.7.4) is independently mounted on the mounting boss (1.5) and its outer end extends out of the mounting boss (1.5) and is connected to the dust cover (1.7.5).

6. The 3D target detection system according to claim 5, characterized in that: A waterproof sheet (1.7.3) is provided between the stepper motor (1.7.2) and the inner wall of the housing (1.1), and a sealing ring assembly (1.7.6) is provided between the connecting shaft (1.7.4) and the housing (1.1).

7. The 3D target detection system according to claim 1, characterized in that: The connecting hole group includes a first connecting hole (1.3) and a second connecting hole (1.4). The first connecting hole (1.3) is located above the second connecting hole (1.4). The first connecting hole (1.3) is an oblong hole, and the second connecting hole (1.4) is a circular hole.

8. The 3D target detection system according to claim 1, characterized in that: A supplementary lighting module (1.8) is also provided on the mounting boss (1.5) below the camera assembly (1.6).

9. The 3D target detection system according to any one of claims 1-8, characterized in that: A signal amplification module (2) and a digital-to-analog conversion module (3) are also connected between the output end of the image acquisition module (1) and the input end of the control module.

10. The 3D target detection system according to claim 9, characterized in that: The control module (5) also interacts with the cloud server (8) through the communication module (7).

Images