An environment perception device based on multi-sensor fusion

Abstract

The utility model relates to the field of environment perception technology, concretely is an environment perception device based on multi -sensor fusion, including base, perception main part and multi -type sensor module. Perception main part bottom articulates in the base with installation hole, and base is equipped with universal cylinder and elastic ring, and the universal ball of cooperation perception main part realizes angle adjustment and locking, and perception main part is built -in master controller and power module, and surface is equipped with display screen, adjusting button, and side side is around and is equipped with modular interface and charging interface, and charging interface is matched with step -by -step charging pilot lamp, multi -type sensor module is connected to modular interface, and master controller is connected double -mode wireless transmission module, and this technical scheme is flexible to install, and the perception is comprehensive, and can real -time interaction and intelligent transmission, and is suitable for the demand of multiple scenes.

Description

Technical Field

[0001] This utility model relates to the field of environmental perception technology, specifically to an environmental perception device based on multi-sensor fusion. Background Technology

[0002] In fields such as autonomous driving, intelligent security, and outdoor environmental monitoring, environmental sensing devices are core equipment for scene assessment, risk warning, and decision control. Their sensing accuracy, scene adaptability, and ease of operation directly determine the system's performance. However, existing environmental sensing devices have many technical shortcomings, making it difficult to meet the application needs of complex scenarios.

[0003] In terms of installation and angle adjustment, traditional devices mostly use fixed brackets for connection, which makes it difficult to flexibly adjust the sensing angle, or the adjustment structure is complicated and needs to be disassembled and re-fixed, resulting in a limited sensing range and difficulty in covering multi-directional environmental targets; in addition, the base installation method is single and cannot be adapted to different carriers such as the ground and equipment brackets, resulting in poor applicability.

[0004] In terms of perception dimensions and data processing, existing devices often rely on a single sensor, such as a visual camera or lidar, or a simple combination of 2-3 types of sensors, resulting in significant perception blind spots: while lidar has high ranging accuracy, it is greatly affected by rain and fog; visual cameras are easily affected by changes in lighting, making accurate ranging impossible; environmental parameters such as temperature, humidity, and air quality are often ignored, making it difficult to achieve comprehensive perception of physical targets and environmental conditions. Furthermore, sensors are mostly fixed integrated designs, unable to be replaced or expanded according to scenario requirements; when one sensor fails, the entire system must be repaired, resulting in high maintenance costs. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides an environmental sensing device based on multi-sensor fusion. (II) Technical Solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: An environmental sensing device based on multi-sensor fusion, comprising a base, a sensing body, and multiple sensor modules, wherein the bottom of the sensing body is hinged to the base, the base has several mounting holes, a main controller and a power module are embedded inside the sensing body, a display screen and adjustment buttons are provided on the surface of the sensing body, and several modular interfaces are arranged around the sides of the sensing body, the multiple sensor modules are connected to the modular interfaces, the display screen, adjustment buttons, and modular interfaces are electrically connected to the main controller and the power module, and the power module is electrically connected to the main controller.

[0008] Preferably, the multi-type sensor module includes lidar, millimeter-wave radar, vision camera, temperature, humidity and pressure sensors, and gas sensors.

[0009] More preferably, the sensing subject has a charging interface and a charging indicator light on its side, and the charging interface and the charging indicator light are electrically connected to the power module.

[0010] Preferably, the charging indicator light has a stepped structure.

[0011] Preferably, the base is provided with a universal cylinder, the universal cylinder is provided with a universal groove, the bottom of the sensing body is provided with an adjusting rod, the end of the adjusting rod is provided with a universal ball, the universal ball is inserted into the universal groove, the outer wall of the universal cylinder is provided with a plurality of tensioning grooves, and a tensioning ring is fitted on the universal cylinder through a threaded structure.

[0012] More preferably, the main controller is equipped with a wireless transmission module, which supports 5G and LoRa dual-mode transmission. (III) Beneficial Effects

[0013] Compared with the prior art, this utility model provides an environmental sensing device based on multi-sensor fusion, which has the following beneficial effects: The sensing unit is hinged to a base with mounting holes. With the help of a universal joint, universal ball joint, and elastic ring structure, the sensing angle can be flexibly adjusted and locked to adapt to sensing needs of different directions and heights. The mounting holes on the base also make it easy to fix the device to various carriers, improving the applicability of different scenarios.

[0014] Multiple types of sensor modules are connected through modular interfaces, including LiDAR and millimeter-wave radar, which can collect environmental data in all directions, complement the shortcomings of single sensors, and combine with the main controller for data fusion, which greatly improves the accuracy and comprehensiveness of perception and avoids blind spots.

[0015] The main controller is equipped with a 5G and LoRa dual-mode wireless transmission module, which can switch transmission modes as needed. This not only meets the requirements of low-latency data transmission in high-speed dynamic scenarios, but also adapts to the needs of remote low-power monitoring, further expanding the application range of the device and taking into account both practicality and flexibility. Attached Figure Description

[0016] Figure 1 This is a front view schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a top view of the sensing subject of this utility model.

[0018] Figure 3 This is a schematic diagram of the assembly of the sensing subject and sensor module of this utility model.

[0019] Figure 4 This is a schematic diagram of the electrical connection structure between the main controller and each module of this utility model.

[0020] In the diagram: 1. Base; 2. Sensing unit; 3. Display screen; 4. Adjustment button; 5. Modular interface; 6. Charging interface; 7. Charging indicator light; 8. Universal cylinder; 9. Tensioning groove; 10. Adjustment rod; 11. Universal ball; 12. Mounting hole; 13. Tensioning ring; 14. Vision camera; 15. LiDAR; 16. Millimeter-wave radar; 17. Temperature, humidity and air pressure sensor; 18. Gas sensor. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1-4 This utility model discloses an environmental sensing device based on multi-sensor fusion, comprising a base 1, a sensing body 2, and multiple types of sensor modules. The bottom of the sensing body 2 is hinged to the base 1. The base 1 has several mounting holes 12. A main controller and a power module are embedded inside the sensing body 2. The surface of the sensing body 2 is provided with a display screen 3 and adjustment buttons 4. Several modular interfaces 5 are arranged around the sides of the sensing body 2. The multiple types of sensor modules are connected to the modular interfaces 5. The display screen 3, adjustment buttons 4, and modular interfaces 5 are electrically connected to the main controller and the power module. The power module is electrically connected to the main controller.

[0023] The base 1 of this technical solution provides support and installation foundation for the sensing body 2. The device can be fixed on the ground, equipment brackets and other carriers through the mounting holes 12 on the base 1 to meet the installation requirements of different scenarios. The bottom of the sensing body 2 is hinged to the base 1, which can flexibly adjust the sensing angle and expand the environmental sensing range. The main controller inside the sensing body 2 is the core control unit of the device, which is responsible for receiving and processing all data. The power module supplies power to the sensing body 2 and various types of sensor modules to ensure the continuous operation of the device.

[0024] Multiple sensor modules are connected to the sensing entity 2 via modular interface 5. Each sensor collects environmental data: LiDAR 15 acquires target distance and 3D contour; millimeter-wave radar 16 penetrates fog, rain, and other interference to detect target position and speed; visual camera 14 captures environmental images and target textures; temperature, humidity, and air pressure sensor 17 collects environmental temperature, humidity, and air pressure parameters; and gas sensor 18 detects air quality, such as PM2.5 and harmful gas concentrations. This data is transmitted to the main controller in real time. After processing, the environmental sensing results are displayed intuitively on screen 3 and output to an external terminal via wireless transmission module. Adjustment buttons 4 allow users to manually set sensor parameters and switch sensing modes, enabling human-machine interaction.

[0025] The high-precision ranging of the lidar 15 complements the anti-interference characteristics of the millimeter-wave radar 16, enabling accurate target positioning even in adverse weather conditions. The combination of image data from the visual camera 14 and contour data from the lidar 15 improves target recognition accuracy, such as distinguishing pedestrians from obstacles. The temperature, humidity, and air pressure sensors 17 and the gas sensor 18 supplement environmental meteorological and air quality parameters, enabling comprehensive perception of physical targets and environmental parameters and avoiding blind spots of single sensors.

[0026] Charging interface 6 and stepped charging indicator light 7: Charging interface 6 is used to connect an external power source to charge the power module. The charging indicator light 7 is electrically connected to the power module and provides real-time feedback on the charging status. The stepped charging indicator light 7, such as 3-level LED beads, can intuitively display the charging progress through different LED beads turning on and off or changing colors, such as red light indicating low charge, yellow light indicating medium charge, and green light indicating full charge. This allows users to easily judge the charging status and avoid overcharging or undercharging.

[0027] The universal cylinder 8 on the base 1 is adapted to the universal ball 11 at the bottom of the sensing body 2 through the universal groove. The universal ball 11 can rotate 360° in the universal groove, which drives the sensing body 2 to adjust the sensing angle. The tension groove 9 on the outer wall of the universal cylinder 8 gives the cylinder wall a certain elasticity. When the tension ring 13 is rotated, the tension ring 13 squeezes the wall of the universal cylinder 8 through the thread, reduces the diameter of the universal groove, fixes the universal ball 11, and locks the sensing angle. This structure can flexibly adjust the horizontal and vertical angles of the sensing body 2 to adapt to the environmental sensing needs of different heights and directions.

[0028] The main controller is equipped with a dual-mode wireless transmission module, which can switch transmission modes according to scenario requirements. In high-speed dynamic scenarios such as autonomous driving and intelligent security, 5G transmission is used with a latency of ≤10ms to ensure that the sensed data is synchronized to the control terminal in real time. In low-power remote scenarios such as outdoor environmental monitoring, such as forests and remote areas, LoRa transmission is switched to reduce power consumption while achieving long-distance data backhaul, improving the device's scenario adaptability.

[0029] The main controller and power module in this technical solution can adopt the existing mature equipment structure. The main controller is a general-purpose high-performance main controller such as STM32F103C8T6 or AMT32VF103 series, and the power module is an integrated charging management power module such as AM317 / 318 or TP4056+LM1117 combination module.

[0030] Detailed Workflow Device installation and initialization Using the mounting holes 12 on the base 1, fix the device at the target position, such as the ground bracket of the monitoring point or the top of the autonomous vehicle; rotate the tension ring 13 on the base 1 to adjust the angle of the sensing subject 2 through the universal ball 11 and the universal groove, such as aligning it with the area to be monitored, and tighten the tension ring 13 to lock the angle after adjustment.

[0031] Check the power module's charge level. If the charge level is low, connect an external power source to charge via the charging port 6 on the side of the sensing body 2. Observe the stepped charging indicator light 7: when all the LEDs are constantly lit in green, the power module is fully charged. Disconnect the charging power source.

[0032] Multiple sensor modules, such as LiDAR 15, millimeter-wave radar 16, and vision camera 14, are connected to the sensing body 2 one by one through the modular interface 5 to ensure a stable interface connection. Pressing the power button on the sensing body 2 will power the components and the device will be initialized and started.

[0033] Parameter settings and sensor activation By adjusting button 4, the sensing parameters can be set, such as the scanning frequency of lidar 15, the resolution of vision camera 14, and the detection interval of gas sensor 18. The parameter setting results are displayed on display screen 3 in real time.

[0034] Select data transmission mode: If real-time transmission is required, such as in autonomous driving scenarios, switch the wireless transmission module to 5G mode by adjusting button 4; if remote low-power transmission is required, such as in field monitoring, switch to LoRa mode. After completing the settings, the device will enter the automatic sensing state.

[0035] Environmental data acquisition and processing Multiple types of sensor modules synchronously collect environmental data: LiDAR 15 scans target distance and outline, millimeter-wave radar 16 penetrates interference to detect dynamic targets, visual camera 14 captures images, temperature, humidity and air pressure sensors 17 and gas sensor 18 collect environmental parameters, and all data are transmitted to the main controller in real time through modular interface 5.

[0036] The main controller performs fusion processing on the received multi-sensor data: calibrating the spatiotemporal deviation of each sensor, such as aligning the timestamps of the lidar 15 and the vision camera 14, and combining the characteristics of each sensor to weight and fuse the data, such as increasing the weight of the millimeter-wave radar 16 in severe weather, to generate complete environmental perception results, such as target location, ambient temperature and humidity, and air quality level.

[0037] Data display and transmission The main controller transmits the fused perception results to the display screen 3, which can be displayed in numerical or image form, such as real-time display of temperature and humidity values ​​and air quality curves, and simultaneously plays environmental images from the visual camera 14 and marks targets identified by the lidar 15, such as pedestrians, at a distance of 5m.

[0038] Meanwhile, the wireless transmission module outputs data according to preset modes: in 5G mode, it sends data to the nearest control terminal in real time, such as the central control unit for autonomous driving; in LoRa mode, it periodically, such as every 30 seconds, sends data back to the remote platform to realize real-time monitoring or remote storage of data.

[0039] Equipment maintenance and shutdown During the sensing operation, the working status of each sensor can be checked at any time by adjusting button 4, such as whether the lidar 15 is scanning normally. If a sensor fails, the display screen 3 will indicate the fault type. At this time, the modular interface 5 of the sensor can be disconnected for replacement without stopping the operation of the entire device.

[0040] After the operation is completed, press the power button to turn off the device and disconnect all sensor modules from the modular interface 5. If the device will not be used for a long time, the power module can be fully charged again through the charging interface 6 to avoid damage from power depletion. Finally, clean the dust off the surface of the device to complete the maintenance.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An environmental sensing device based on multi-sensor fusion, characterized in that, The device includes a base (1), a sensing body (2), and multiple types of sensor modules. The bottom of the sensing body (2) is hinged to the base (1). The base (1) has several mounting holes (12). The sensing body (2) has a main controller and a power module embedded inside. The surface of the sensing body (2) has a display screen (3) and adjustment buttons (4). The sides of the sensing body (2) are surrounded by several modular interfaces (5). The multiple types of sensor modules are connected to the modular interfaces (5). The display screen (3), adjustment buttons (4), and modular interfaces (5) are electrically connected to the main controller and the power module. The power module is electrically connected to the main controller.

2. The environmental sensing device based on multi-sensor fusion according to claim 1, characterized in that, The multi-type sensor module includes a lidar (15), a millimeter-wave radar (16), a vision camera (14), a temperature, humidity and pressure sensor (17), and a gas sensor (18).

3. The environmental sensing device based on multi-sensor fusion according to claim 1, characterized in that, The sensing subject (2) is provided with a charging interface (6) and a charging indicator light (7) on its side. The charging interface (6) and the charging indicator light (7) are electrically connected to the power module.

4. The environmental sensing device based on multi-sensor fusion according to claim 3, characterized in that, The charging indicator light (7) has a stepped structure.

5. An environmental sensing device based on multi-sensor fusion according to claim 1, characterized in that, The base (1) is provided with a universal cylinder (8), the universal cylinder (8) is provided with a universal groove, the bottom of the sensing body (2) is provided with an adjusting rod (10), the end of the adjusting rod (10) is provided with a universal ball (11), the universal ball (11) is inserted into the universal groove, the outer wall of the universal cylinder (8) is provided with several tension grooves (9), and the universal cylinder (8) is provided with a tension ring (13) through a threaded structure.

6. The environmental sensing device based on multi-sensor fusion according to claim 1, characterized in that, The main controller is equipped with a wireless transmission module that supports 5G and LoRa dual-mode transmission.

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