Explosion-proof multimodal visual monitoring and sensing equipment

Abstract

This utility model relates to an explosion-proof multimodal visual monitoring and sensing equipment. The equipment includes a rotating pan-tilt unit, an explosion-proof protective shell, a short-focus explosion-proof camera device, a long-focus explosion-proof camera device, and an explosion-proof lidar device. The explosion-proof protective shell makes it difficult for the concentration of methane and coal dust in the air surrounding the short-focus binocular camera, long-focus binocular camera, and lidar to reach the explosion limit, thus improving the safety of the equipment. It also limits the explosion range to within the explosion-proof protective shell, further enhancing its safety. The lidar, short-focus binocular camera, and long-focus binocular camera form a comprehensive acquisition system of "contour positioning + near-field wide-angle + far-field detail," solving the problem of image blurring and detail loss caused by ordinary cameras in low-light environments like mines, further improving monitoring accuracy.

Description

Technical Field

[0001] This utility model relates to the field of mine safety monitoring technology, and in particular to an explosion-proof multimodal visual monitoring and sensing equipment. Background Technology

[0002] my country has abundant coal reserves, and most coal mines are high-gas mines. The underground mining environment is harsh and dangerous, making the protection of personnel and the continuous and stable operation of production core priorities for the coal mining industry. Therefore, accurate and safe monitoring of the underground environment is crucial. Methane (gas) and coal dust are continuously generated during underground operations. When the concentration of these substances reaches the explosive limit, ordinary detection equipment, if it has issues such as electrical sparks or overheating of chips or lenses, can easily trigger an explosion, posing a significant threat to personnel and mine facilities. Furthermore, key areas such as corners in underground tunnels and equipment operating areas are complex and poorly lit, requiring close-range and accurate detection of details such as track flatness, loose equipment parts, and changes in surrounding gas concentration. This detection equipment can be mounted on mining trucks or underground engineering machinery for on-the-go monitoring. However, ordinary non-explosion-proof detection equipment not only fails to meet explosion-proof safety requirements, but may also suffer from problems such as rapid equipment damage, insufficient sensing accuracy, poor lens compatibility leading to blurry images, and large monitoring blind spots due to insufficient protection levels (such as weak dust and water resistance). It cannot achieve comprehensive, high-precision dynamic perception of the underground environment and equipment status, and thus cannot meet monitoring needs. Utility Model Content

[0003] Therefore, it is necessary to provide an explosion-proof multimodal visual monitoring and sensing equipment that can improve safety performance and enhance monitoring accuracy and extend camera lifespan in complex environments such as high dust, low lighting, and humidity.

[0004] An explosion-proof multimodal visual monitoring and sensing equipment is characterized by comprising a rotating pan-tilt unit, an explosion-proof protective shell, a short-focus explosion-proof camera device, a long-focus explosion-proof camera device, and an explosion-proof lidar device; the rotating pan-tilt unit has a mounting plane; the explosion-proof protective shell is mounted on the mounting plane and connected to the rotating pan-tilt unit; the side wall of the explosion-proof protective shell has a protective transparent window; the short-focus explosion-proof camera device includes a short-focus binocular camera; the long-focus explosion-proof camera device includes a long-focus binocular camera; the explosion-proof lidar device includes a lidar; the short-focus binocular camera, the long-focus binocular camera, and the lidar are all installed inside the explosion-proof protective shell; the lenses of the short-focus binocular camera, the long-focus binocular camera, and the laser emission outlet of the lidar are all oriented towards the protective transparent window.

[0005] The aforementioned explosion-proof multimodal visual monitoring and sensing equipment installs a short-focus binocular camera, a long-focus binocular camera, and a lidar within a sealed space formed by an explosion-proof protective shell. This reduces the probability of external dust, impurities, moisture, etc., entering the short-focus binocular camera, long-focus binocular camera, and lidar, thereby improving the detection reliability of the short-focus binocular camera, long-focus binocular camera, and lidar, and extending their service life.

[0006] Meanwhile, because outside air has difficulty entering the explosion-proof protective enclosure, even if the concentration of methane and coal dust in the mine air is already very high, the concentration of methane and coal dust around the short-focus binocular camera, long-focus binocular camera, and lidar is unlikely to reach the explosion limit. This effectively reduces the probability of explosions triggered by electrical sparks or high temperatures of chips / lenses, thus improving the safety of the explosion-proof multimodal visual monitoring and sensing equipment. Furthermore, in actual use, even if the short-focus binocular camera, long-focus binocular camera, and lidar explode under extremely low probability, the explosion range can be confined within the explosion-proof protective enclosure, reducing the probability of damage to mine workers and mine facilities, further improving the safety of the explosion-proof multimodal visual monitoring and sensing equipment.

[0007] Both short-focus and long-focus binocular cameras can mimic the parallax principle of the human eye and capture the same scene from two slightly different angles, achieving a technological leap from "clear" two-dimensional monitoring to "accurate and in-depth" three-dimensional perception, thus improving monitoring accuracy.

[0008] The LiDAR, short-focus binocular camera, and long-focus binocular camera form a comprehensive acquisition system of "contour positioning + near-field wide-angle + far-field detail", which ultimately achieves full-range, high-definition image output in no-light or low-light environments. This solves the problem of image blurring and detail loss caused by ordinary cameras in low-light environments in mines, and further improves monitoring accuracy. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the structure of an explosion-proof multimodal visual monitoring and sensing equipment in one embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the structure of the explosion-proof multimodal visual monitoring and sensing equipment after removing part of the explosion-proof protective shell. Figure 3 for Figure 2 The diagram shows the structure of the short-focal-length explosion-proof camera device in the explosion-proof multimodal visual monitoring and sensing equipment. Figure 4 for Figure 3 A cross-sectional view of the short-focus explosion-proof camera device shown. Figure 5 for Figure 3 The diagram shows the structure of the explosion-proof housing in the short-focus explosion-proof camera device. Figure 6 for Figure 3 The short-focus explosion-proof camera shown is a front view after the protective cover has been removed. Figure 7 for Figure 3 A cross-sectional view of the positioning end cap in the short-focus explosion-proof camera device shown. Figure 8 for Figure 3 The diagram shows the structure of the elastic sealing ring in the short-focus explosion-proof camera device. Figure 9 for Figure 3 The diagram shows the structure of the mounting base in the short-focus explosion-proof camera device.

[0010] Reference numerals: 100, Explosion-proof multimodal visual monitoring and sensing equipment; 110, Rotary pan-tilt head; 111, Mounting plane; 112, Support platform; 113, Rotary platform; 114, Rotary drive component; 120, Explosion-proof protective shell; 130, Short-throw explosion-proof camera device; 131, Short-throw binocular camera; 1311, Imaging unit; 1312, Mounting base; 13121, Base plate; 13122, Connecting plate; 13123, Mounting plate; 132, Short-throw explosion-proof shell; 1321, Explosion-proof shell; 1322, Explosion-proof housing; 1323, Explosion-proof housing; 1324, Explosion-proof housing; 1325, Explosion-proof housing; 1326, Explosion-proof housing; 1327, Explosion-proof housing; 1328, Explosion-proof housing; 1329, Explosion-proof housing; 1321 ... 1. Mounting port; 13212. Mounting part; 13213. Connecting hole; 1322. Positioning end cap; 13221. First mounting groove; 13222. Second mounting groove; 1323. Protective cover; 1324. Elastic sealing ring; 13241. Alternating groove; 13242. Through hole; 1325. Pressing end cap; 133. Connector; 134. Safety plug; 135. Connecting sleeve; 140. Long-focus explosion-proof camera device; 150. Explosion-proof lidar device; 160. Slide rail; 170. Base. Detailed Implementation

[0011] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0012] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0013] When describing positional relationships, unless otherwise specified, when an element is referred to as being "on" another element, it may be directly on the other element or there may be intermediate elements. It is also understood that when an element is referred to as being "between" two elements, it may be the only one between the two elements, or there may be one or more intermediate elements.

[0014] When using the terms “including,” “having,” and “comprising” as described herein, another component may be added unless explicitly qualifying terms such as “only,” “consisting of,” etc. are used. Unless otherwise stated, singular terms may include plural forms and should not be construed as having a quantity of one.

[0015] Appendix Figure 1 and Figure 2 The diagram illustrates the structure of an explosion-proof multimodal visual monitoring and sensing device according to one embodiment of the present invention. For ease of explanation, the accompanying drawings only show structures relevant to embodiments of the present invention.

[0016] Please see Figure 1 and Figure 2 The explosion-proof multimodal visual monitoring and sensing equipment 100 in the preferred embodiment of this utility model includes a rotating gimbal 110, an explosion-proof protective shell 120, a short-focus explosion-proof camera device 130, a long-focus explosion-proof camera device 140, and an explosion-proof lidar device 150.

[0017] The gimbal 110 has a mounting surface 111. An explosion-proof protective housing 120 covers the mounting surface 111 and is connected to the gimbal 110. The side wall of the explosion-proof protective housing 120 has a protective transparent window (not shown). The explosion-proof protective housing 120 is made of high-strength, explosion-resistant materials such as DHT250 gray cast iron or AL6061-T6 aluminum alloy, and a sealed protective cavity is formed between the explosion-proof protective housing 120 and the mounting surface 111, providing good mechanical spark suppression. The protective transparent window is made of high-hardness tempered glass or other materials with high light transmittance and scratch resistance.

[0018] The short-focus explosion-proof camera device 130 includes a short-focus binocular camera 131. The long-focus explosion-proof camera device 140 includes a long-focus binocular camera (not shown). The explosion-proof lidar device 150 includes a lidar (not shown). The short-focus binocular camera 131, the long-focus binocular camera, and the lidar are all installed inside the explosion-proof protective housing 120. The lenses of the short-focus binocular camera 131, the long-focus binocular camera, and the laser emission outlet of the lidar are all oriented towards the protective transparent viewing window.

[0019] The aforementioned explosion-proof multimodal visual monitoring and sensing equipment 100 installs a short-focus binocular camera 131, a long-focus binocular camera, and a lidar within a sealed space formed by an explosion-proof protective shell 120. This reduces the probability of external dust, impurities, moisture, etc., entering the short-focus binocular camera 131, the long-focus binocular camera, and the lidar, thereby improving the detection reliability of the short-focus binocular camera 131, the long-focus binocular camera, and the lidar, and extending their service life.

[0020] Meanwhile, because outside air has difficulty entering the explosion-proof protective enclosure 120, even if the concentration of methane and coal dust in the mine air is already very high, the concentration of methane and coal dust in the air around the short-focus binocular camera 131, the long-focus binocular camera, and the lidar is unlikely to reach the explosion limit. This effectively reduces the probability of explosions triggered by electrical sparks or high temperatures of the chip / lens, thus improving the safety of the explosion-proof multimodal visual monitoring and sensing equipment 100. Furthermore, in actual use, even if the short-focus binocular camera 131, the long-focus binocular camera, and the lidar explode with an extremely low probability, the explosion range can be limited to within the explosion-proof protective enclosure 120, reducing the probability of damage to mine workers and mine facilities, further improving the safety of the explosion-proof multimodal visual monitoring and sensing equipment 100.

[0021] Both the short-focus binocular camera 131 and the long-focus binocular camera can mimic the parallax principle of the human eye and capture the same scene from two slightly different angles, achieving a technological leap from "clear" two-dimensional monitoring to "accurate and deep" three-dimensional perception, thus improving monitoring accuracy.

[0022] LiDAR can actively detect 3D environmental information in dimly lit or dark tunnels, generating point cloud maps to provide accurate scene contour references for the short-focus binocular camera 131 and the long-focus binocular camera. Relying on the contour data from the LiDAR, the short-focus binocular camera 131 can clearly capture wide-angle images of the tunnel at close range. The long-focus binocular camera, combined with the long-range detection capability of the LiDAR, can accurately lock onto key information at a distance in low-light environments. The three form a comprehensive acquisition system of "contour positioning + near-field wide-angle + far-field detail", ultimately achieving full-range, high-definition image output in dark or low-light environments. This solves the problem of image blurring and detail loss caused by ordinary cameras in low-light environments in mines, further improving monitoring accuracy.

[0023] Please refer to the following: Figure 3 and Figure 4 In some embodiments, the short-focus explosion-proof camera device 130 further includes a short-focus explosion-proof housing 132 with a short-focus transparent window (not shown). A short-focus binocular camera 131 is installed inside the short-focus explosion-proof housing 132, with its lens facing the short-focus transparent window. The long-focus explosion-proof camera device 140 further includes a long-focus explosion-proof housing (not shown) with a long-focus transparent window. A long-focus binocular camera is installed inside the long-focus explosion-proof housing, with its lens facing the long-focus transparent window. The explosion-proof lidar device 150 further includes a radar explosion-proof housing (not shown) with a radar transparent window. The lidar is installed inside the radar explosion-proof housing, with its laser emission outlet facing the radar transparent window. The short-focus explosion-proof housing 132, the long-focus explosion-proof housing, and the radar explosion-proof housing are all installed within the protective cavity formed by the explosion-proof protective housing 120 and the mounting plane 111. The short-focus explosion-proof housing 132, long-focus explosion-proof housing, radar explosion-proof housing, and explosion-proof protective housing 120 all require precise finite element analysis and simulation optimization during the design process to ensure that the structure will not undergo permanent deformation or rupture in the event of an internal explosion.

[0024] The short-focus explosion-proof housing 132 and the explosion-proof protective housing 120 together form a double-layer explosion-proof protection for the short-focus camera; the long-focus explosion-proof housing and the explosion-proof protective housing 120 together form a double-layer explosion-proof protection for the long-focus camera; and the radar explosion-proof housing and the explosion-proof protective housing 120 together form a double-layer explosion-proof protection for the lidar. This further reduces the probability of external dust, impurities, moisture, etc., entering the short-focus camera, long-focus camera, and lidar respectively, further improving the detection reliability of the short-focus binocular camera, long-focus binocular camera, and lidar, and further extending their service life.

[0025] The double-layer explosion-proof protection further ensures that the concentration of methane and coal dust in the air around the short-focus binocular camera 131, long-focus binocular camera, and lidar is very low, or even non-existent, when the concentration of methane and coal dust in the air in the mine is already very high. This further reduces the probability of explosions triggered by electrical sparks in the short-focus binocular camera 131, long-focus binocular camera, and lidar due to high temperatures in the chip / lens, making the explosion-proof multimodal visual monitoring and sensing equipment 100 safer to use.

[0026] Furthermore, even if the short-focus binocular camera 131, the long-focus binocular camera, and the lidar explode with an extremely small probability, the double-layer explosion-proof protection structure can further reduce the probability of the explosion affecting the miners and mine facilities, thus further improving the safety of the multimodal visual monitoring and perception system.

[0027] Please refer to the following: Figure 5 Furthermore, in some embodiments, the short-focus explosion-proof housing 132 includes an explosion-proof housing 1321 with a mounting port 13211 at one end, a positioning end cap 1322, and a protective cover 1323. The positioning end cap 1322 is disposed circumferentially along the mounting port 13211 and is sealed and detachably connected to the end of the explosion-proof housing 1321 with the mounting port 13211, so as to detachably mount the short-focus binocular camera 131 inside the explosion-proof housing 1321. The protective cover 1323 is detachably mounted on the end of the positioning end cap 1322 away from the explosion-proof housing 1321 to seal the positioning end cap 1322. At least a portion of the protective cover 1323 has a short-focus transparent viewing window.

[0028] Thus, the positioning end cap 1322 is detachably connected to the explosion-proof housing 1321, enabling the installation of the short-focal-length binocular camera 131 within the explosion-proof housing 1321 and facilitating the installation of the protective cover 1323. The protective cover 1323, the positioning end cap 1322, and the explosion-proof housing 1321 together form a sealed short-focal-length explosion-proof housing 132, which not only seals the short-focal-length binocular camera 131 but also facilitates its installation. The protective cover 1323 is designed to form a short-focal-length transparent window on the short-focal-length explosion-proof housing 132, allowing the lens of the short-focal-length binocular camera 131 to capture images.

[0029] Please refer to the following: Figure 6Furthermore, in some embodiments, a mounting portion 13212 is provided along the circumference of the mounting opening 13211 at its edge. The short-focal-length binocular camera 131 includes two imaging units 1311 and mounting seats 1312 respectively disposed on the two imaging units 1311. A positioning end cap 1322 is detachably mounted on the mounting portion 13212, and presses the two mounting seats 1312 side by side between the positioning end cap 1322 and the mounting portion 13212. An elastic sealing ring 1324 is also sandwiched between the mounting portion 13212 and the positioning end cap 1322. The elastic sealing ring 1324 has elastic deformation capability to seal the contact surfaces between the positioning end cap 1322 and the mounting portion 13212, the contact surfaces between the mounting seats 1312 and the mounting portion 13212, and the contact surfaces between the positioning end cap 1322 and the mounting seat 1312.

[0030] Thus, during the manufacturing process of the short-focus explosion-proof camera device 130, the positioning end cap 1322 is detachably installed on the mounting part 13212, so that the two positioning seats are pressed side by side between the positioning end cap 1322 and the mounting part 13212, thereby realizing the detachable installation of the two imaging units 1311 within the explosion-proof housing 1321. The elastic sealing ring 1324 is used to seal the contact points between the positioning end cap 1322, the mounting part 13212, and the mounting seat 1312, improving the sealing performance of the short-focus explosion-proof housing 132.

[0031] Please refer to the following: Figure 7 and Figure 8 Furthermore, in some embodiments, the elastic sealing ring 1324 has a recessed groove 13241 on its inner edge facing the mounting portion 13212. The mounting base 1312 is pressed into the recessed groove 13241. The recessed groove 13241 not only increases the sealing area between the elastic sealing ring 1324 and the mounting base 1312, and increases the stability of the mounting base 1312, but also further improves the sealing performance between the positioning end cap 1322 and the explosion-proof housing 1321, and can also shorten the volume of the positioning end cap 1322 and the explosion-proof housing 1321 in the direction they point to each other.

[0032] Furthermore, in some embodiments, the inner wall of the positioning end cap 1322 has a first mounting groove 13221 and a second mounting groove 13222 respectively formed on the edge portion facing the explosion-proof housing 1321 and the edge portion facing away from the explosion-proof housing 1321 along the circumference of the mounting opening 13211. The mounting base 1312 and the elastic sealing ring 1324 are both pressed into the first mounting groove 13221. The short-focal-length explosion-proof housing 132 also includes a pressing end cap 1325 and a connector 133. The pressing end cap 1325 is inserted into the second mounting groove 13222 and is arranged circumferentially along the mounting opening 13211. An mounting step is formed between the inner wall of the pressing end cap 1325 and the axial inner wall of the second mounting groove 13222. The protective cover 1323 is snapped into the mounting step. A connecting hole 13213 is formed on the mounting part 13212. A through hole 13242 is provided at the position corresponding to the connecting hole 13213 of the elastic sealing ring 1324. A first mounting through hole (not shown) and a second mounting through hole (not shown) are respectively provided on the inner wall of the first mounting groove 13221 and the clamping end cap 1325 at the positions corresponding to the connecting hole 13213. One end of the connector 133 passes through the second mounting through hole, and the other end passes through the first mounting through hole and the through hole 13242 in sequence, and is detachably connected to the connecting hole 13213.

[0033] Thus, the arrangement of the first mounting groove 13221 and the second mounting groove 13222 not only facilitates the installation of the elastic sealing ring 1324, the mounting base 1312, and the pressing end cap 1325, but also forms multiple bent joint surfaces between the protective cover 1323 and the pressing end cap 1325, the pressing end cap 1325 and the positioning end cap 1322, the positioning end cap 1322 and the elastic sealing ring 1324, the positioning end cap 1322 and the mounting base 1312, and the positioning end cap 1322 and the mounting part 13212 of the explosion-proof housing 1321. This helps to further improve the sealing performance of the short-focal-length explosion-proof housing 132. At the same time, it can also absorb some of the pressure released during an internal explosion, avoid metal collisions under explosion pressure to generate sparks, and reduce the probability of an aggravated explosion.

[0034] Please refer to the following: Figure 9Furthermore, in some embodiments, the mounting base 1312 includes a base plate 13121, two connecting plates 13122 spaced apart from the base plate 13121 in a direction perpendicular to the parallel direction of the two imaging units 1311, and two mounting plates 13123 respectively disposed on the outer wall of the two connecting plates 13122 at the ends away from the base plate 13121. The imaging unit 1311 is disposed on the corresponding base plate 13121 so that the mounting base 1312 is disposed on the corresponding imaging unit 1311. The mounting plate 13123 is clamped between the positioning end cap 1322 and the mounting part 13212. The base plate 13121, the connecting plate 13122 and the mounting plate 13123 can be fixedly connected by welding or other means, or can be integrally formed by 3D printing, mechanical bending, casting or other means.

[0035] Therefore, the mounting base 1312 is a bent structure with a concave center, consisting of a base plate 13121, two connecting plates 13122 and two mounting plates 13123. The imaging unit 1311, which is set on the base plate 13121, is retracted into the explosion-proof housing 1321 to further reduce the probability of the explosion wave of the imaging unit 1311 affecting mine workers and mine facilities, further improve the safety of use of the explosion-proof multimodal visual monitoring and sensing equipment 100, and further reduce the size of the short-focal-length explosion-proof binocular device.

[0036] Furthermore, in some embodiments, the short-focal-length binocular explosion-proof camera device also includes a connecting sleeve 135. The connecting sleeve 135 is fitted onto the lenses of the two imaging units 1311 and is detachably connected to the two base plates 13121. By connecting the two base plates 13121, the connecting sleeve 135 realizes the connection between the two imaging units 1311, ensuring a rigid connection between the two imaging units and the explosion-proof housing 1321. It also facilitates ensuring that the optical axis parallelism and relative position (baseline distance) of the two imaging units 1311 never change after factory calibration, thereby improving the reliability of the short-focal-length binocular explosion-proof camera device.

[0037] Furthermore, in some embodiments, the explosion-proof housing 1321 has a mounting hole at the end away from the mounting port 13211. A safety plug 134 is detachably installed in the mounting hole. The safety plug 134, also known as an explosion-proof plug, is installed at all redundant electrical interfaces. Its material is flame-retardant engineering plastic, which ensures the mechanical strength of the interface and eliminates the risk of minor sparks that may be generated due to foreign object intrusion or joint oxidation.

[0038] In some embodiments, the gimbal 110 includes a support platform 112 with a rotation hole, a rotation platform 113 with a mounting plane 111, and a rotation drive 114. The rotation platform 113 is rotatably mounted within the rotation hole. The rotation drive 114 is drively connected to the rotation platform 113 and is used to drive the rotation platform 113 to rotate around the central axis of the rotation hole by a preset angle.

[0039] In practical applications, the rotating platform 113 is driven by the rotating drive component 114 to rotate relative to the support platform 112 around the central axis of the rotating hole by a preset angle. This allows for the adjustment of the monitoring angles of the short-focus binocular camera 131, the long-focus binocular camera, and the lidar. Consequently, the monitoring field of view of the short-focus binocular camera 131, the long-focus binocular camera, and the lidar covers a 360° range around the rotating gimbal 113, thereby improving the monitoring range of the explosion-proof multimodal visual monitoring and sensing equipment 100.

[0040] In some embodiments, the explosion-proof multimodal visual monitoring and sensing equipment 100 further includes a slide rail 160. A rotary pan-tilt unit 110 is movably mounted on the slide rail 160. Specifically, when the rotary pan-tilt unit 110 includes a support platform 112 and a rotating platform 113, the support platform 112 is movably mounted on the slide rail 160. Thus, by adjusting the position of the rotary pan-tilt unit 110 on the slide rail 160, the information acquisition positions of the short-focus binocular camera 131, the long-focus binocular camera, and the lidar in the extension direction of the slide rail 160 can be adjusted, thereby improving the monitoring range of the explosion-proof multimodal visual monitoring and sensing equipment 100.

[0041] Furthermore, in some embodiments, the explosion-proof multimodal visual monitoring and sensing equipment 100 also includes a base 170 made of magnetic material. A slide rail 160 is mounted on the base 170. The base 170 allows the slide rail 160 to be magnetically attached to the locomotive roof or other mining equipment, enabling the fixing and removal of the rotating gimbal 110 on the locomotive roof or other mining equipment, thus improving the ease of use and versatility of the explosion-proof multimodal visual monitoring and sensing equipment 100.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An explosion-proof multi-modal visual monitoring perception apparatus, characterized in that, The device includes a rotating gimbal, an explosion-proof protective housing, a short-focus explosion-proof camera device, a long-focus explosion-proof camera device, and an explosion-proof lidar device. The rotating gimbal has a mounting surface. The explosion-proof protective housing is mounted on the mounting surface and connected to the rotating gimbal. The side wall of the explosion-proof protective housing has a protective transparent window. The short-focus explosion-proof camera device includes a short-focus binocular camera. The long-focus explosion-proof camera device includes a long-focus binocular camera. The explosion-proof lidar device includes a lidar. The short-focus binocular camera, the long-focus binocular camera, and the lidar are all installed inside the explosion-proof protective housing. The lenses of the short-focus binocular camera, the long-focus binocular camera, and the laser emission outlet of the lidar are all oriented towards the protective transparent window.

2. The explosion-proof multi-modal visual monitoring awareness equipment according to claim 1, characterized in that, The short-focus explosion-proof camera device also includes a short-focus explosion-proof housing with a short-focus transparent window; the short-focus binocular camera is installed inside the short-focus explosion-proof housing and the lens of the short-focus binocular camera is positioned facing the short-focus transparent window. The long-focus explosion-proof camera device also includes a long-focus explosion-proof housing with a long-focus transparent window; the long-focus binocular camera is installed inside the long-focus explosion-proof housing and the lens of the long-focus binocular camera is positioned facing the long-focus transparent window. The explosion-proof lidar device also includes a radar explosion-proof housing with a radar transparent window; the lidar is installed inside the radar explosion-proof housing, and the laser emission outlet of the lidar is positioned facing the radar transparent window; The short-focus explosion-proof housing, the long-focus explosion-proof housing, and the radar explosion-proof housing are all installed inside the explosion-proof protective housing.

3. The explosion-proof multi-modal visual monitoring awareness equipment of claim 2, wherein, The short-focal-length explosion-proof housing includes an explosion-proof housing with an installation port at one end, a positioning end cap, and a protective cover; the positioning end cap is arranged circumferentially along the installation port and is sealed and detachably connected to the end of the explosion-proof housing with the installation port; the protective cover is detachably installed on the end of the positioning end cap away from the explosion-proof housing to seal the positioning end cap; At least a portion of the protective cover has the short-focus transparent window; the short-focus binocular camera is installed inside the explosion-proof housing.

4. The explosion-proof multimodal visual monitoring and sensing equipment according to claim 3, characterized in that, The edge of the mounting port is provided with a mounting portion along the circumference of the mounting port; the short-focal-length binocular camera includes two imaging units and mounting seats respectively disposed on the two imaging units; the positioning end cap is detachably mounted on the mounting portion, and the two mounting seats are pressed side by side between the positioning end cap and the mounting portion; an elastic sealing ring is also clamped between the mounting portion and the positioning end cap; the elastic sealing ring has elastic deformation capability to seal the contact surface between the positioning end cap and the mounting portion, the contact surface between the mounting seat and the mounting portion, and the contact surface between the positioning end cap and the mounting seat.

5. The explosion-proof multi-modal visual monitoring awareness equipment according to claim 4, characterized in that, The elastic sealing ring has a recessed groove on its inner edge facing the mounting portion; the mounting seat is pressed into the recessed groove; and / or The inner wall of the positioning end cap has a first mounting groove and a second mounting groove respectively formed on the edge portion facing the explosion-proof housing and the edge portion facing away from the explosion-proof housing, along the circumference of the mounting opening; the mounting base and the elastic sealing ring are both pressed into the first mounting groove; the short-coil explosion-proof housing also includes a pressing end cap and a connector; the pressing end cap is inserted into the second mounting groove and is arranged along the circumference of the mounting opening; an mounting step is formed between the inner wall of the pressing end cap and the axial inner wall of the second mounting groove; the protective cover is inserted into the mounting step; The mounting part has a connecting hole; the elastic sealing ring has a through hole at the position corresponding to the connecting hole; the inner wall of the first mounting groove and the pressing end cap have a first mounting through hole and a second mounting through hole at the position corresponding to the connecting hole, respectively; one end of the connector passes through the second mounting through hole, and the other end passes through the first mounting through hole and the through hole in sequence, and is detachably connected to the connecting hole.

6. The explosion-proof multi-modal visual monitoring awareness equipment of claim 4, wherein, The mounting base includes a base plate, two connecting plates spaced apart from the base plate in a direction perpendicular to the parallel direction of the two imaging units, and two mounting plates respectively disposed on the outer wall of the two connecting plates at the ends away from the base plate; the imaging units are disposed on the corresponding base plates; the mounting plates are clamped between the positioning end cap and the mounting part.

7. The explosion-proof multi-modal visual monitoring awareness equipment according to claim 6, characterized in that, It also includes a connecting sleeve; the connecting sleeve is fitted onto the lenses of the two imaging units and is detachably connected to the two base plates.

8. The explosion-proof multi-modal visual monitoring awareness equipment of claim 1, wherein, The rotating gimbal includes a support platform with a rotating hole, a rotating platform with the mounting plane, and a rotating drive component; the rotating platform is rotatably mounted in the rotating hole; the rotating drive component is connected to the rotating platform and is used to drive the rotating platform to rotate around the central axis of the rotating hole by a preset angle.

9. The explosion-proof multimodal visual monitoring and sensing equipment according to claim 1, characterized in that, It also includes a slide rail; the gimbal is movably mounted on the slide rail.

10. The explosion-proof multimodal visual monitoring and sensing equipment according to claim 9, characterized in that, It also includes a base made of magnetic material; the slide rail is mounted on the base.

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