Laser scanning device and rail foreign object detection method

Abstract

Embodiments of the present application provide a laser scanning device and a track foreign matter detection method, the laser scanning device comprises a three-dimensional laser radar and a plurality of mirrors, the three-dimensional laser radar can emit a plurality of scanning light rays, and the included angle between adjacent two scanning light rays is the same, the plurality of mirrors are one-to-one corresponding to the plurality of scanning light rays, and the mirrors are located on the paths of the corresponding scanning light rays to make part of the corresponding scanning light rays be deflected and form deflected light rays, the included angle between the deflected light rays and the scanning light rays is alpha, the paths of the plurality of scanning light rays after deflection correspond to the same included angle alpha, and the included angle alpha is smaller than the included angle between adjacent two scanning light rays. The laser scanning device of the embodiments of the present application sets the plurality of mirrors to be one-to-one corresponding to the plurality of scanning light rays, deflects part of the scanning light rays through the mirrors to form deflected light rays, thereby improving the resolution of the three-dimensional laser radar.

Description

Technical Field

[0001] This invention relates to the field of laser testing technology, specifically to a laser scanning device and a method for detecting foreign objects in orbit. Background Technology

[0002] Related technologies employ 3D LiDAR to detect and identify foreign objects on tracks to ensure rail traffic safety. However, the 3D LiDAR in these technologies can only effectively identify larger foreign objects that intrude into the tracks. For smaller foreign objects, such as those smaller than 20cm×20cm×20cm, the low resolution of the 3D LiDAR in these technologies makes effective identification impossible, resulting in a high false alarm rate. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a laser scanning device, which is equipped with multiple reflectors corresponding one-to-one with multiple scanning rays. The reflectors deflect a portion of the scanning rays to form deflected rays, thereby improving the resolution of a three-dimensional lidar.

[0004] The laser scanning device of this invention includes:

[0005] A three-dimensional lidar, wherein the three-dimensional lidar can emit multiple scanning rays, and the included angle between two adjacent scanning rays is the same;

[0006] A plurality of reflectors are provided, each corresponding to one of the scanning rays. The reflectors are positioned on the path of the corresponding scanning ray to deflect a portion of the corresponding scanning ray and form a deflected ray. The angle between the deflected ray and the scanning ray is α. The angle α corresponding to the paths of the multiple deflected scanning rays is the same, and the angle α is smaller than the angle between two adjacent scanning rays.

[0007] The laser scanning device of this invention is equipped with multiple reflectors that correspond one-to-one with multiple scanning rays. The reflectors deflect a portion of the scanning rays to form deflected rays. The angle between the deflected rays and the scanning rays is α, which is smaller than the angle between two adjacent scanning rays, thereby improving the resolution of the three-dimensional lidar through the reflectors.

[0008] In some embodiments, multiple scanning beams are emitted sequentially by the three-dimensional lidar;

[0009] The laser scanning device further includes a switching device, on which a plurality of the reflectors are disposed. The switching device drives the plurality of reflectors to move sequentially to the path of the corresponding scanning light and drives the reflectors to move away from the path of the corresponding scanning light after a portion of the corresponding scanning light is deflected.

[0010] In some embodiments, the switching device includes a first rotating member, and a plurality of the reflectors are arranged around the rotation axis of the first rotating member. The rotation of the first rotating member drives the plurality of reflectors to move sequentially to the path of the corresponding scanning light and drives the reflectors to deflect away from the path of the corresponding scanning light after a portion of the corresponding scanning light is deflected.

[0011] In some embodiments, the switching device further includes a connecting seat connected to the first rotating member to rotate around the rotation axis of the first rotating member under the drive of the first rotating member. The connecting seat has a plurality of connecting base surfaces arranged around the rotation axis of the first rotating member, and a plurality of reflectors are disposed on the plurality of connecting base surfaces in a one-to-one correspondence.

[0012] In some embodiments, the switching device further includes an adjustment component disposed on the connecting base and connected to the plurality of reflectors, the adjustment component driving the plurality of reflectors to rotate relative to the connecting base to change the plurality of included angles α.

[0013] In some embodiments, the adjustment assembly includes a plurality of second rotating members, which are arranged around the rotation axis of the first rotating member, and the plurality of second rotating members are connected to a plurality of the reflectors in a one-to-one correspondence, and the second rotating members drive the corresponding reflectors to rotate relative to the connecting base.

[0014] In some embodiments, the laser scanning device further includes:

[0015] A first rotating component is connected to the three-dimensional lidar to drive the three-dimensional lidar to rotate in a vertical plane;

[0016] The second rotating component is connected to the three-dimensional lidar to drive the three-dimensional lidar to rotate in the horizontal plane;

[0017] The controller is electrically connected to the three-dimensional lidar to acquire the scanning data of the three-dimensional lidar. The controller is electrically connected to the first rotating component to control the opening and closing of the first rotating component. The controller is also connected to the second rotating component to control the opening and closing of the second rotating component.

[0018] In some embodiments, the laser scanning device further includes a third rotating member, which is connected to the three-dimensional lidar to drive the three-dimensional lidar to rotate in a horizontal direction. The rotation angle of the three-dimensional lidar driven by the third rotating member is greater than the rotation angle of the three-dimensional lidar driven by the second rotating member. The controller is electrically connected to the third rotating member to control the opening and closing of the third rotating member.

[0019] Embodiments of the present invention also propose a method for detecting foreign objects on a track. The method for detecting foreign objects on a track according to embodiments of the present invention includes:

[0020] S1. Multiple scanning rays are emitted into the orbit using a three-dimensional lidar, and the included angle between two adjacent scanning rays is the same;

[0021] S2. Multiple mirrors are arranged one-to-one on the paths of the multiple scanning rays, so that a portion of the scanning rays is deflected on the surface of the corresponding mirror and forms deflected rays. The angle between the deflected rays and the scanning rays is α. The angle α corresponding to the paths of the multiple deflected scanning rays is the same, and the angle α is smaller than the angle between two adjacent scanning rays.

[0022] The track foreign object detection method of this invention sets up multiple reflectors one-to-one on the paths of multiple scanning light rays. The reflectors deflect part of the scanning light rays to form deflected light rays. The angle between the deflected light rays and the scanning light rays is α. The angle α is smaller than the angle between two adjacent scanning light rays. The resolution of the three-dimensional lidar is improved by the reflectors so as to identify small foreign objects that intrude into the track.

[0023] In some embodiments, multiple scanning rays are emitted sequentially by the three-dimensional lidar.

[0024] Step S2 includes:

[0025] The switching device drives multiple mirrors to move sequentially onto the path of the corresponding scanning light beam, and drives the mirrors to deflect away from the path of the corresponding scanning light beam after a portion of the corresponding scanning light beam is deflected.

[0026] In some embodiments, prior to step S1, the orbital foreign object detection method further includes:

[0027] The three-dimensional lidar emits multiple calibration scanning rays toward the track, with the angle between two adjacent calibration scanning rays being the same, so as to acquire background point cloud images through the multiple calibration scanning rays, and construct a reference plane based on the top surface of the track in the background point cloud images;

[0028] A calibration foreign object is placed at the end of the scanning area of ​​the three-dimensional lidar that is away from the three-dimensional lidar;

[0029] The orbital foreign object detection method also includes:

[0030] S3. Collect and detect point cloud maps using multiple deflected light rays;

[0031] S4. Compare and analyze the detection point cloud map with the background point cloud map. If a point cloud corresponding to the calibration foreign object is found in the detection point cloud map, then all point clouds higher than the reference plane in the detection point cloud map are marked as foreign objects.

[0032] If no point cloud corresponding to the calibration foreign object is found in the detection point cloud map, the angles of the multiple reflectors relative to the switching device are adjusted to change the multiple included angles α, and steps S2 and S3 are repeated to obtain the next detection point cloud map. The next detection point cloud map is then compared with the background point cloud map until a point cloud corresponding to the calibration foreign object is found in the detection point cloud map. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the laser scanning device according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the connecting base and multiple reflectors in the laser scanning device according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the paths when multiple scanning beams deflect in the laser scanning device of this invention.

[0036] Figure label:

[0037] 1. Three-dimensional lidar; 2. Reflector; 3. Switching device; 31. Connecting seat; 4. First rotating component; 5. Controller; 6. Second rotating component; 7. Third rotating component; 8. Support component; 9. Track. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] The following is a reference appendix. Figure 1 -Appendix Figure 3 A laser scanning apparatus and a method for detecting foreign objects on a track are described according to embodiments of the present invention.

[0040] like Figures 1-3As shown, the laser scanning device of this embodiment includes a three-dimensional lidar 1 and a reflector 2. The three-dimensional lidar 1 can emit multiple scanning rays, and the included angle between two adjacent scanning rays is the same. Specifically, as shown... Figure 1 and Figure 3 As shown, the 3D LiDAR emits five scanning rays from top to bottom. The angle of the first scanning ray is θ-0.2 degrees, the angle of the second scanning ray is θ-0.1 degrees, the angle of the third scanning ray is θ degrees, the angle of the fourth scanning ray is θ+0.1 degrees, and the angle of the fifth scanning ray is θ+0.2 degrees. The included angle between any two adjacent scanning rays is 0.1 degrees. In other words, the original scanning resolution of the 3D LiDAR 1 is 0.1 degrees.

[0041] There are multiple reflectors 2, and each reflector 2 is set up in a one-to-one correspondence with multiple scanning rays. The reflector 2 is located on the path of the corresponding scanning ray so that part of the corresponding scanning ray is deflected and a deflected ray is formed. The angle between the deflected ray and the scanning ray is α. The angle α corresponding to the paths of multiple scanning rays after deflection is the same, and the angle α is smaller than the angle between two adjacent scanning rays.

[0042] Specifically, such as Figure 3 As shown, five reflectors 2 are configured, each corresponding to one of the five scanning rays. This ensures that the scanning rays are deflected after striking the surfaces of the reflectors 2, forming deflected rays. From top to bottom, the surface tilt angle of reflector A is (θ-0.2)-σ1 degrees. The angle of deflection formed by the first scanning ray striking the surface of reflector A is (θ-0.2)-2σ1 degrees. In other words, the included angle α corresponding to the first scanning ray is 2σ1 degrees. The surface tilt angle of reflector B is (θ-0.1)-σ2 degrees. The angle of deflection formed by the second scanning ray striking the surface of reflector B is (θ-0.1)-2σ2 degrees. In other words, the included angle α corresponding to the second scanning ray is 2σ2 degrees. The surface tilt angle of reflector C is θ- The angle of deflection of the third scanning ray after it strikes the surface of mirror C is θ - 2σ3 degrees. In other words, the included angle α corresponding to the third scanning ray is 2σ3 degrees. The tilt angle of the surface of mirror D is (θ + 0.1) - σ4 degrees. The angle of deflection of the fourth scanning ray after it strikes the surface of mirror D is (θ + 0.1) - 2σ4 degrees. In other words, the included angle α corresponding to the fourth scanning ray is 2σ4 degrees. The tilt angle of the surface of mirror E is (θ + 0.2) - σ5 degrees. The angle of deflection of the fifth scanning ray after it strikes the surface of mirror E is (θ + 0.2) - 2σ5 degrees. In other words, the included angle α corresponding to the fifth scanning ray is 2σ5 degrees. 2σ1 = 2σ2 = 2σ3 = 2σ4 = 2σ5 ≤ 0.1.

[0043] When scanning directly with scanning light using the 3D LiDAR 1, the original scanning resolution of the 3D LiDAR 1 is 0.1 degrees. Foreign objects located at an angle of 0.1 degrees between two adjacent scanning light beams will not be detected. By setting up a reflector 2, part of the scanning light beam is deflected to form a deflected light beam. The deflected light beam is located between the paths of two adjacent scanning light beams. Therefore, when scanning with the deflected light beam, foreign objects located between the paths of two adjacent scanning light beams will be detected by the scanning light beam. Compared with the original scanning resolution of the 3D LiDAR 1, the scanning resolution is improved after setting up the reflector 2, so that smaller objects can be detected.

[0044] Understandably, the number of scanning rays is not limited to five, nor is the number of mirrors limited to five.

[0045] The laser scanning device of this invention is equipped with multiple reflectors that correspond one-to-one with multiple scanning rays. The reflectors deflect a portion of the scanning rays to form deflected rays. The angle between the deflected rays and the scanning rays is α, which is smaller than the angle between two adjacent scanning rays, thereby improving the resolution of the three-dimensional lidar through the reflectors.

[0046] In some embodiments, multiple scanning beams are emitted sequentially by a three-dimensional lidar 1. The laser scanning device also includes a switching device 3, on which multiple reflectors 2 are disposed. The switching device 3 drives the multiple reflectors 2 to move sequentially onto the path of the corresponding scanning beam and drives the reflectors 2 to deflect away from the path of the corresponding scanning beam after a portion of the corresponding scanning beam is deflected.

[0047] Specifically, such as Figure 3 As shown, from top to bottom, the first, second, third, fourth, and fifth scanning rays are emitted sequentially. When the first scanning ray moves along its path, the switching device 3 drives the reflector A to move onto the path of the first scanning ray, thereby deflecting part of the first scanning ray. After the first scanning ray is deflected, the switching device 3 drives the reflector A away from the path of the first scanning ray, and drives the reflector B to move onto the path of the second scanning ray when the second scanning ray moves along its path, thereby deflecting part of the second scanning ray. And so on, the switching device 3 continues to drive the reflector C to move onto the path of the third scanning ray, the reflector D to move onto the path of the fourth scanning ray, and the reflector E to move onto the path of the fifth scanning ray, so that all the first to fifth scanning rays can be deflected, and the angle between the deflected ray and the scanning ray is α.

[0048] The switching device drives multiple mirrors to move sequentially onto the path of the corresponding scanning light beam and drives the mirrors to deflect away from the path of the corresponding scanning light beam after a portion of the beam is deflected. This avoids the mirrors interfering with or deflecting other scanning light beams that are not corresponding to them. For example, if mirror A interferes with the second scanning light beam, causing it to be blocked, or if mirror A deflects the second scanning light beam, the angle of each scanning light beam is different, and the surface tilt of the corresponding mirror is also different. Therefore, when a mirror deflects other scanning light beams that are not corresponding to it, the deflected light beam cannot meet the requirement that the angle between the deflected light beam and the scanning light beam is α. For example, after mirror A deflects the second scanning light beam, the angle between the deflected light beam and the scanning light beam is not α.

[0049] Of course, in other embodiments, the laser scanning device may not have a switching device. In this case, since multiple reflectors are set at the output port of the three-dimensional laser radar, and since the interval angle between the scanning beams is small, the distance between the scanning beams is very small. Therefore, the size of the reflectors needs to be very small, which is difficult to manufacture.

[0050] In some embodiments, the switching device 3 includes a first rotating member, and a plurality of reflectors 2 are arranged around the rotation axis of the first rotating member. The rotation of the first rotating member drives the plurality of reflectors 2 to move sequentially to the path of the corresponding scanning light and drives the reflectors 2 to deflect away from the path of the corresponding scanning light after the portion of the corresponding scanning light is deflected.

[0051] Specifically, the first rotating component is preferably a first rotating motor, and the five reflectors 2 are arranged around the rotation axis of the first rotating motor. When the shaft of the first rotating motor rotates, it drives the five reflectors 2 to move sequentially to the path of the corresponding scanning light, and at the same time drives the reflectors 2 to deflect away from the path of the corresponding scanning light after the corresponding part of the scanning light is deflected.

[0052] It is understood that the structure of the switching device is not limited to including the first rotating member. In other embodiments, the switching device includes multiple telescopic devices, and multiple reflectors are arranged one-to-one on the multiple telescopic devices. The telescopic movement of the telescopic devices drives the reflectors located on the telescopic devices to move to the path of the corresponding scanning light and drives the reflectors to deflect away from the path of the corresponding scanning light after the corresponding part of the scanning light is deflected. The multiple telescopic devices move in sequence.

[0053] In some embodiments, the switching device 3 further includes a connecting seat 31, which is connected to the first rotating member to rotate around the rotation axis of the first rotating member under the drive of the first rotating member. The connecting seat 31 has multiple connecting base surfaces, which are arranged around the rotation axis of the first rotating member, and multiple reflectors 2 are correspondingly disposed on the multiple connecting base surfaces.

[0054] like Figure 2 As shown, the connecting seat 31 is a polygonal prism. One end of the polygonal prism is connected to a first rotary motor, which is the first rotating component, so that it can rotate under the drive of the first rotary motor. Each side of the polygonal prism serves as a connecting base surface. Multiple reflectors 2 are arranged one-to-one on multiple sides of the polygonal prism so that the multiple reflectors 2 rotate synchronously with the connecting seat 31.

[0055] The connection base facilitates the indirect mounting of the reflector on the first rotating component, reducing the installation difficulty of the reflector and the first rotating component.

[0056] In other embodiments, the switching device may not have a connecting base, and multiple reflectors may be disposed on the outer peripheral surface of the shaft of the first rotating member.

[0057] In some embodiments, the switching device 3 further includes an adjustment component, which is disposed on the connecting seat 31 and connected to the plurality of reflectors 2. The adjustment component drives the plurality of reflectors 2 to rotate relative to the connecting seat 31 to change the plurality of included angles α.

[0058] Specifically, the connecting base 31 has one or more adjustment components. When multiple adjustment components are provided, each adjustment component is connected to a corresponding mirror 2, so that each adjustment component can drive the mirror 2 connected to it to rotate relative to the connecting base 31. When one adjustment component is provided, one adjustment component is connected to multiple mirrors 2 at the same time, so that the adjustment component can drive multiple mirrors 2 to rotate relative to the connecting base 31 at the same time. By rotating the mirror 2 relative to the connecting base 31, the tilt of the surface of the mirror 2 is changed, thereby changing the angle α of the scanning light corresponding to the mirror 2, so as to change the resolution.

[0059] The adjustment component can adjust the included angle α, which means that between the paths of two adjacent scanning rays, the deflected rays have multiple paths under the adjustment of the adjustment component, thereby further improving the scanning resolution.

[0060] It is understood that in other embodiments, the switching device may not have an adjustment component, in which case the tilt of the reflector surface is fixed, or the resolution can be changed by replacing the reflector with a different surface tilt.

[0061] In some embodiments, the adjustment component includes a plurality of second rotating members, which are arranged around the rotation axis of the first rotating member, and the plurality of second rotating members are connected to a plurality of reflectors 2 in a one-to-one correspondence. The second rotating members drive the corresponding reflectors 2 to rotate relative to the connecting base 31.

[0062] Specifically, a second rotating component is provided on each side of the connecting seat 31 of the polygonal prism. The second rotating component is preferably a second rotary motor. A corresponding reflector 2 is provided on the rotating shaft of the second rotary motor. The end face of the reflector 2 away from the connecting seat 31 is used to deflect the corresponding scanning light. The rotation of the rotating shaft of the second rotary motor can drive the corresponding reflector 2 to rotate relative to the connecting seat 31, so as to change the inclination of the end face of the reflector 2 used to deflect the scanning light, thereby adjusting the resolution.

[0063] It is understood that the structure of the adjustment component is not limited to including the second rotating member. In other embodiments, the adjustment component includes multiple telescopic members, which are correspondingly disposed on multiple sides of the connecting seat. The side of the reflector facing the end face of the connecting seat is hinged to the connecting seat, and the other side of the reflector facing the end face of the connecting seat is connected to the corresponding telescopic member. By the telescopic movement of the telescopic members, the reflector is driven to rotate around the hinge axis, so as to rotate relative to the connecting seat.

[0064] In some embodiments, the laser scanning device of the present invention further includes a first rotating member 4, a second rotating member 6, and a controller 5. The first rotating member 4 is connected to the three-dimensional lidar 1 to drive the three-dimensional lidar 1 to rotate in a vertical plane. The second rotating member 6 is connected to the three-dimensional lidar 1 to drive the three-dimensional lidar 1 to rotate in a horizontal plane. The controller 5 is electrically connected to the three-dimensional lidar 1 to acquire the scanning data of the three-dimensional lidar 1. The controller 5 is electrically connected to the first rotating member 4 to control the opening and closing of the first rotating member 4, and the controller 5 is connected to the second rotating member 6 to control the opening and closing of the second rotating member 6.

[0065] like Figure 1As shown, a 3D LiDAR 1 is mounted on a first rotating component 4. The first rotating component 4 drives the 3D LiDAR 1 to rotate in a vertical plane to adjust the position of the scanning light beam in the front-back direction and expand the scanning range of the 3D LiDAR 1 in the front-back direction. The first rotating component 4 is mounted on a second rotating component 6. The second rotating component 6 drives the first rotating component 4 and the 3D LiDAR 1 to rotate in a horizontal plane to adjust the position of the scanning light beam in the direction orthogonal to the vertical and front-back directions, in other words, the position perpendicular to the plane of the paper, and expand the scanning range of the 3D LiDAR 1 in the direction perpendicular to the plane of the paper. A controller 5 is electrically connected to the 3D LiDAR 1, the first rotating component 4, and the second rotating component 6 to acquire the scanning data of the 3D LiDAR 1 to generate a point cloud map for analysis. Simultaneously, it can control the opening and closing of the first rotating component 4 and the second rotating component 6 to adjust the position of the scanning light beam of the 3D LiDAR 1 in the front-back direction and in the direction perpendicular to the plane of the paper.

[0066] In some embodiments, the laser scanning device of the present invention further includes a third rotating member 7, which is connected to the three-dimensional lidar 1 to drive the three-dimensional lidar 1 to rotate in the horizontal direction. The rotation angle of the three-dimensional lidar 1 driven by the third rotating member 7 is greater than the rotation angle of the three-dimensional lidar 1 driven by the second rotating member 6. The controller 5 is electrically connected to the third rotating member 7 to control the opening and closing of the third rotating member 7.

[0067] like Figure 1 As shown, the second rotating member 6 is mounted on the third rotating member 7. The third rotating member 7 drives the second rotating member 6, the first rotating member 4, and the 3D LiDAR 1 to rotate in the horizontal plane. The rotation angle driven by the third rotating member 7 to the 3D LiDAR 1 is greater than the rotation angle driven by the second rotating member 6. This allows the second rotating member 6 to fine-tune the position of the scanning light beam of the 3D LiDAR 1 in the direction perpendicular to the paper, while the third rotating member 7 is used to coarsely adjust the position of the scanning light beam of the 3D LiDAR 1 in the direction perpendicular to the paper. The controller 5 is electrically connected to the third rotating member 7 to control its opening and closing, thereby coarsely adjusting the position of the scanning light beam of the 3D LiDAR 1 in the direction perpendicular to the paper. Preferably, the third rotating member 7 can drive the 3D LiDAR 1 to rotate 360° in the horizontal plane.

[0068] In some embodiments, the laser scanning device of the present invention further includes a support member 8, which extends in a vertical direction, and the three-dimensional laser radar 1 and the reflector 2 are both disposed on the top of the support member 8.

[0069] like Figure 1As shown, the third rotating component 7, the second rotating component 6, the first rotating component 4, the three-dimensional lidar 1, multiple reflectors 2 and the switching device 3 are all mounted on the support component 8, and the three-dimensional lidar 1, multiple reflectors 2 and the switching device 3 are located on the top of the support component 8 to avoid the scanning light being blocked by obstacles on the ground.

[0070] like Figures 1-3 As shown, the orbital foreign object detection method of this invention includes:

[0071] S1. Multiple scanning rays are emitted from the three-dimensional lidar 1 to the orbit 9, and the included angle between two adjacent scanning rays is the same.

[0072] S2. Multiple mirrors 2 are set one-to-one on the paths of multiple scanning rays so that part of the scanning rays are deflected on the surface of the corresponding mirror 2 to form deflected rays. The angle between the deflected rays and the scanning rays is α. The angle α corresponding to the paths of multiple deflected scanning rays is the same, and the angle α is smaller than the angle between two adjacent scanning rays.

[0073] like Figure 1 and Figure 3 As shown, the three-dimensional lidar 1 emits multiple scanning rays, which are directed one-to-one onto multiple reflectors 2 and deflected. The deflected scanning rays land in the area with the track 9 to identify foreign objects on the track.

[0074] The track foreign object detection method of this invention sets up multiple reflectors one-to-one on the paths of multiple scanning light rays. The reflectors deflect part of the scanning light rays to form deflected light rays. The angle between the deflected light rays and the scanning light rays is α. The angle α is smaller than the angle between two adjacent scanning light rays. The resolution of the three-dimensional lidar is improved by the reflectors so as to identify small foreign objects that intrude into the track.

[0075] In some embodiments, multiple scanning beams are emitted sequentially by the three-dimensional lidar 1. Step S2 includes driving multiple reflectors 2 to move sequentially to the path of the corresponding scanning beams via the switching device 3, and driving the reflectors 2 to deflect away from the path of the corresponding scanning beams after the corresponding portion of the scanning beams is deflected.

[0076] Specifically, such as Figure 3As shown, from top to bottom, the first, second, third, fourth, and fifth scanning rays are emitted sequentially. When the first scanning ray moves along its path, the switching device 3 drives the reflector A to move onto the path of the first scanning ray, thereby deflecting part of the first scanning ray. After the first scanning ray is deflected, the switching device 3 drives the reflector A away from the path of the first scanning ray, and drives the reflector B to move onto the path of the second scanning ray when the second scanning ray moves along its path, thereby deflecting part of the second scanning ray. And so on, the switching device 3 continues to drive the reflector C to move onto the path of the third scanning ray, the reflector D to move onto the path of the fourth scanning ray, and the reflector E to move onto the path of the fifth scanning ray, so that all the first to fifth scanning rays can be deflected, and the angle between the deflected ray and the scanning ray is α.

[0077] In some embodiments, prior to step S1, the orbital foreign object detection method further includes:

[0078] Multiple calibration scanning rays are emitted from the three-dimensional lidar 1 towards the track 9, with the angle between adjacent calibration scanning rays being the same. This allows for the acquisition of a background point cloud image using these multiple calibration scanning rays, and the construction of a reference plane based on the top surface of the track 9 within the background point cloud image. Specifically, without the multiple reflectors 2, the three-dimensional lidar 1 emits multiple calibration scanning rays towards the track 9, with the angle between adjacent calibration scanning rays being the same, preferably 0.1°. These multiple calibration scanning rays acquire a background point cloud image in the area where the track 9 is located and transmit it to the controller 5. The controller 5 identifies the top surface of the track 9 within the background point cloud image and constructs a reference plane based on the top surface of the track 9.

[0079] A calibration foreign object is placed at the end of the scanning area of ​​the 3D LiDAR 1, away from the 3D LiDAR 1. Specifically, in Figure 1 A calibration foreign object is set at the rear end of the scanning area shown. The calibration foreign object is located on the top surface of track 9, and the size of the calibration foreign object is preferably 20cm×20cm×20cm.

[0080] Orbital foreign object detection methods also include:

[0081] S3. Collect and detect point cloud map using multiple deflected rays. Specifically, multiple deflected rays are emitted to track 9 through steps S1 and S2, and the point cloud map is collected and transmitted to controller 5 using the deflected rays. Preferably, the included angle α corresponding to the deflected rays is 0.03° at this time.

[0082] S4. Compare and analyze the detection point cloud map with the background point cloud map. If a point cloud corresponding to the calibration foreign object is found in the detection point cloud map, all point clouds above the reference plane in the detection point cloud map are marked as foreign objects. If no point cloud corresponding to the calibration foreign object is found in the detection point cloud map, adjust the angles of multiple reflectors 2 relative to the switching device 3 to change multiple included angles α, and repeat steps S2 and S3 to obtain the next detection point cloud map. Compare the next detection point cloud map with the background point cloud map until a point cloud corresponding to the calibration foreign object is found in the detection point cloud map.

[0083] Specifically, the controller 5 compares and analyzes the detection point cloud map with the background point cloud map, and searches for the point cloud map corresponding to the calibration foreign object in the detection point cloud map. If the point cloud map corresponding to the calibration foreign object is found, it means that the scanning resolution meets the requirements and can identify all foreign objects in the scanning area, including small foreign objects. Therefore, the point cloud map above the reference plane is marked as a foreign object, and the cleaning personnel can clean the track according to the marked position. If no point cloud corresponding to the calibration foreign object is found, it means that the scanning resolution at this time has not met the requirements and cannot identify all foreign objects in the scanning area. Further improvement is still needed. Therefore, by adjusting the component to drive multiple reflectors 2 to rotate relative to the connecting seat 31, multiple included angles α are changed to further improve the scanning resolution. Preferably, the included angle α at this time is 0.02°. Then, steps S2 and S3 are repeated to obtain the next detection point cloud map and transmit it to the controller 5. The controller 5 compares the next detection point cloud map with the background point cloud map. If a point cloud corresponding to the calibration foreign object is found, it means that the scanning resolution at this time has met the requirements. Point clouds higher than the reference plane are marked as foreign objects. If no point cloud corresponding to the calibration foreign object is found, the included angle α is further adjusted by adjusting the component, preferably to 0.01°, and scanning is performed until a point cloud corresponding to the calibration foreign object is found in the detection point cloud map, and the detection work is completed.

[0084] In other embodiments, when acquiring the background point cloud map, multiple reflectors 2 can be set one-to-one on the paths of multiple scanning rays to acquire the background point cloud map through multiple deflected rays. In this case, the acquired background point cloud map has higher resolution, which can improve the accuracy of constructing the reference plane and comparative analysis.

[0085] In some embodiments, step S4 further includes, if no point cloud corresponding to the calibration foreign object is found in the detection point cloud image, driving the 3D LiDAR 1 to rotate in the horizontal plane via the third rotating member 7 to adjust the position of the scanning area of ​​the 3D LiDAR 1, and repeating steps S2 and S3 to obtain the next detection point cloud image, comparing the next detection point cloud image with the background point cloud image until a point cloud corresponding to the calibration foreign object is found in the detection point cloud image. At this point, it is considered that the reason for not finding a point cloud corresponding to the calibration foreign object may be due to the small field of view of the 3D LiDAR 1, failing to scan the area containing the calibration foreign object. Therefore, the position of the scanning area of ​​the 3D LiDAR 1 is changed by the third rotating member 7. Since the third rotating member 7 can rotate 360°, it has multiple evenly spaced rotation positions. The third rotating member 7 rotates sequentially along these multiple rotation positions, and the angle between two adjacent rotation positions is smaller than the original field of view of the 3D LiDAR 1. Preferably, eight rotation positions are provided.

[0086] The steps of driving the three-dimensional lidar 1 to rotate in the horizontal plane by the third rotating component 7 and adjusting the angles of the multiple reflectors 2 relative to the switching device 3 can be performed one or in sequence.

[0087] In some embodiments, multiple background point cloud images and multiple detection point cloud images of different scanning areas acquired by the three-dimensional lidar 1 can be stitched together at the controller 5 to form a larger background point cloud image and a larger detection point cloud image, which are then compared and analyzed to simultaneously acquire information on foreign objects over a larger area. During stitching, the controller 5 stitches the images according to the position information of the third rotating component 7, the second rotating component 6, and the first rotating component 4 corresponding to each background point cloud image and detection point cloud image.

[0088] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0089] Furthermore, the terms "first" and "second" are used only for distinction and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0091] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0092] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A laser scanning device, characterized in that, include: A three-dimensional laser radar (1) is capable of emitting multiple scanning rays, and the included angle between two adjacent scanning rays is the same. A reflector (2) is provided, and multiple reflectors (2) are provided, each of which is corresponding to a single scanning light. The reflector (2) is located on the path of the corresponding scanning light so that a portion of the corresponding scanning light is deflected and a deflected light is formed. The angle between the deflected light and the scanning light is α. The angle α corresponding to the paths of the multiple deflected scanning lights is the same, and the angle α is smaller than the angle between two adjacent scanning lights. Multiple scanning beams are emitted sequentially by the three-dimensional lidar (1); The laser scanning device also includes a switching device (3), and a plurality of the reflectors (2) are disposed on the switching device (3). The switching device (3) drives the plurality of reflectors (2) to move sequentially to the path of the corresponding scanning light and drives the reflectors (2) to move away from the path of the corresponding scanning light after the corresponding part of the scanning light is deflected. The switching device (3) includes a first rotating member, and a plurality of the reflectors (2) are arranged around the rotation axis of the first rotating member. The rotation of the first rotating member drives the plurality of reflectors (2) to move sequentially to the path of the corresponding scanning light and drives the reflectors (2) to deflect away from the path of the corresponding scanning light after the corresponding part of the scanning light is deflected. The switching device (3) further includes a connecting seat (31), which is connected to the first rotating member to rotate around the rotation axis of the first rotating member under the drive of the first rotating member. The connecting seat (31) has multiple connecting base surfaces, which are arranged around the rotation axis of the first rotating member. Multiple reflectors (2) are correspondingly disposed on the multiple connecting base surfaces. The switching device (3) further includes an adjustment component, which is disposed on the connecting seat (31) and connected to the plurality of the reflectors (2). The adjustment component drives the plurality of reflectors (2) to rotate relative to the connecting seat (31) to change the plurality of included angles α.

2. The laser scanning device according to claim 1, characterized in that, The adjustment assembly includes a plurality of second rotating parts, which are arranged around the rotation axis of the first rotating part, and the plurality of second rotating parts are connected to the plurality of reflectors (2) in a one-to-one correspondence. The second rotating parts drive the corresponding reflector (2) to rotate relative to the connecting seat (31).

3. The laser scanning device according to claim 1 or 2, characterized in that, Also includes: The first rotating component (4) is connected to the three-dimensional laser radar (1) to drive the three-dimensional laser radar (1) to rotate in the vertical plane; The second rotating component (6) is connected to the three-dimensional laser radar (1) to drive the three-dimensional laser radar (1) to rotate in the horizontal plane; The controller (5) is electrically connected to the three-dimensional laser radar (1) to obtain the scanning data of the three-dimensional laser radar (1). The controller (5) is electrically connected to the first rotating component (4) to control the opening and closing of the first rotating component (4). The controller (5) is connected to the second rotating component (6) to control the opening and closing of the second rotating component (6).

4. The laser scanning device according to claim 3, characterized in that, It also includes a third rotating component (7), which is connected to the three-dimensional laser radar (1) to drive the three-dimensional laser radar (1) to rotate in the horizontal direction. The rotation angle of the three-dimensional laser radar (1) driven by the third rotating component (7) is greater than the rotation angle of the three-dimensional laser radar (1) driven by the second rotating component (6). The controller (5) is electrically connected to the third rotating component (7) to control the opening and closing of the third rotating component (7).

5. A method for detecting foreign objects on a track, characterized in that, The orbital foreign object detection method, implemented using the laser scanning device according to any one of claims 1-4, includes: S1. Multiple scanning rays are emitted into the orbit (9) by a three-dimensional laser radar (1), and the included angle between two adjacent scanning rays is the same; S2. Multiple mirrors (2) are set one-to-one on the paths of multiple scanning rays so that part of the scanning rays are deflected on the surface of the corresponding mirror (2) and form deflected rays. The angle between the deflected rays and the scanning rays is α. The angle α corresponding to the paths of multiple deflected scanning rays is the same, and the angle α is smaller than the angle between two adjacent scanning rays.

6. The method for detecting foreign objects on a track according to claim 5, characterized in that, Multiple scanning rays are emitted sequentially by the three-dimensional lidar (1). Step S2 includes: The switching device (3) drives multiple mirrors (2) to move sequentially onto the path of the corresponding scanning light and drives the mirrors (2) to deflect away from the path of the corresponding scanning light after the corresponding portion of the scanning light is deflected.

7. The method for detecting foreign objects on a track according to claim 6, characterized in that, Prior to step S1, the orbital foreign object detection method further includes: Multiple calibration scanning rays are emitted from the three-dimensional laser radar (1) toward the track (9), and the included angle between two adjacent calibration scanning rays is the same, so as to collect background point cloud map through the multiple calibration scanning rays, and construct a reference plane based on the top surface of the track (9) in the background point cloud map; A calibration foreign object is placed at one end of the scanning area of ​​the three-dimensional lidar (1) away from the three-dimensional lidar (1); The orbital foreign object detection method also includes: S3. Collect and detect point cloud maps using multiple deflected light rays; S4. Compare and analyze the detection point cloud map with the background point cloud map. If a point cloud corresponding to the calibration foreign object is found in the detection point cloud map, then all point clouds higher than the reference plane in the detection point cloud map are marked as foreign objects. If no point cloud corresponding to the calibration foreign object is found in the detection point cloud map, the angles of the multiple reflectors (2) relative to the switching device (3) are adjusted to change the multiple included angles α, and steps S2 and S3 are repeated to obtain the next detection point cloud map. The next detection point cloud map is then compared with the background point cloud map until a point cloud corresponding to the calibration foreign object is found in the detection point cloud map.

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