3D laser radar attitude rapid adjustment device

Abstract

The present invention relates to the field of laser radar technology, and in particular to a 3D laser radar posture rapid adjustment device and method. The device includes a front-end detection device, in which a 3D laser radar, an intelligent control module electrically connected to the 3D laser radar, and a sound-emitting component are provided; the sound-emitting component is electrically connected to the intelligent control module; wherein the intelligent control module synchronously controls the 3D laser radar and the sound-emitting component; the present invention utilizes the computing power of the front-end detection device, and without the need for an external computer to view the screen, guides construction personnel to correctly adjust the radar posture through the prompt sound of the sound-emitting component of the front-end detection device, thereby greatly improving the efficiency of radar posture adjustment.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a 3D laser radar posture rapid adjustment device. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] Mounting posture is crucial for 3D LiDAR inspections. Improper mounting posture significantly reduces the effective detection point cloud output by the 3D LiDAR, leading to reduced detection performance. Correct installation is typically determined by viewing the radar's real-time point cloud when adjusting the radar's mounting posture. This point cloud can only be viewed via a network cable, transmitting data from the radar to a computer, where it is viewed by the human eye through software on the screen. In actual construction, connecting a separate network cable for posture adjustment is time-consuming and laborious. Furthermore, since the installation site is typically outdoors, the actual point cloud image cannot be clearly seen on a computer screen under strong natural light. Therefore, current radar posture adjustment methods are inefficient.

[0004] The existing publication number CN113867339A is titled "A method for extracting navigation lines for agricultural robots based on 3D lidar navigation", which discloses the following steps: acquiring point clouds of plant rows, correcting the attitude of point clouds, intercepting the point cloud data of plant rows in the area of ​​interest, denoising, clustering, and obtaining a point cloud classification for each plant; performing adaptive trunk segmentation on the point cloud of each plant, vertically projecting the trunk point cloud of each plant to obtain a projected point cloud cluster for each plant; averaging the projected point cloud clusters of each plant to obtain the center point of the plant, fitting the plant row according to the center point of each plant in each plant row, and then extracting the navigation path. Although a technical solution is provided for performing attitude correction on point cloud data so that the measurement path is not affected by motion attitude, there is still a problem that it is difficult to see the actual point cloud image on the computer screen under strong natural light outdoors, resulting in low efficiency of radar attitude adjustment. Summary of the Invention

[0005] Through research, the inventors found that since 3D lidar is usually installed outdoors, it is difficult to see the actual point cloud image on the computer screen under strong natural light, which in turn leads to inefficient radar attitude adjustment methods and inability to provide timely detection feedback.

[0006] The purpose of the present disclosure is to provide a 3D laser radar attitude rapid adjustment device, which solves the technical problem that the existing technology cannot correctly adjust the radar attitude without an external computer screen by setting an end detection device, an intelligent control module and a sound-emitting component.

[0007] According to one aspect of the present disclosure, a 3D laser radar posture rapid adjustment device is provided, including a front-end detection device, in which a 3D laser radar, an intelligent control module electrically connected to the 3D laser radar by wire, and a sound-emitting component are provided; the sound-emitting component is electrically connected to the intelligent control module by wire; wherein the intelligent control module synchronously controls the 3D laser radar and the sound-emitting component.

[0008] In some embodiments of the present disclosure, a detection unit is electrically connected to the 3D laser radar via a wired connection, and the detection unit is electrically connected to the intelligent control module via a wired connection.

[0009] In some embodiments of the present disclosure, the sound-emitting component is a buzzer or a speaker.

[0010] According to another aspect of the present disclosure, a method is provided, comprising the following steps:

[0011] Step 1. Based on the actual location of the on-site defense zone, place a cross marker at the track center, closest to the radar, and at the track center, farthest from the radar.

[0012] Step 2. The front-end integrated detection device is roughly aligned with the defense zone, and then powered on. The intelligent control module automatically searches for markers based on the point cloud in the attitude adjustment mode, and uses a buzzer or speaker to indicate the location of the marker in the point cloud:

[0013] The prompt tone is defined as follows:

[0014] A. No landmark is found in the point cloud: the buzzer or speaker does not sound;

[0015] B. If one marker is found in the point cloud, the buzzer or speaker will repeatedly beep at an interval of 2 seconds. If two markers are found in the point cloud, the buzzer or speaker will repeatedly beep at an interval of 2 seconds.

[0016] C. If the marker found in the point cloud is within the center of the point cloud, the buzzer or speaker interval is 0 (i.e., long beep). If the marker is no more than 1 / 2 of the distance from the center of the point cloud, the buzzer or speaker interval is 1 second.

[0017] If the marker deviates more than 1 / 2 from the center of the point cloud, the buzzer or speaker interval is 2 seconds;

[0018] Step 3. When the attitude is adjusted to the correct position, the buzzer or speaker will sound for a long time as a reminder. The operator fixes the radar attitude at this time, completes the adjustment, and sets the front-end integrated detection device to the normal detection state.

[0019] Compared with the currently disclosed technology, the present disclosure has the following advantages and beneficial effects: the present disclosure utilizes the computing power of the front-end detection device, and guides construction personnel to correctly adjust the radar posture through the prompt sound of the sound-emitting component of the front-end detection device without the need for an external computer to view the screen, thereby greatly improving the efficiency of radar posture adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the connection structure of the present invention;

[0021] Figure 2 This is the first practical scenario of posture adjustment of the present invention;

[0022] Figure 3 This is the second practical scenario of posture adjustment of the present invention.

[0023] Legend:

[0024] 1-Front-end detection device; 2-Sound-generating component; 3-3D laser radar; 4-Intelligent control module. DETAILED DESCRIPTION

[0025] Please refer to the attached instructions Figure 1 This embodiment provides a 3D laser radar posture rapid adjustment device, which is already in the actual use stage.

[0026] In the following paragraphs, different aspects of the embodiments are defined in more detail. Each aspect defined in this manner may be combined with any other aspect or aspects unless expressly stated otherwise. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous. The terms "first," "second," and the like that appear in the present invention are used solely for convenience of description to distinguish between different components having the same name and do not indicate a precedence or primary / secondary relationship.

[0027] Example

[0028] This embodiment includes at least the following contents: a front-end detection device 1, in which a 3D laser radar 3, an intelligent control module 4 electrically connected to the 3D laser radar 3, and a sound-emitting component 2 are provided; the sound-emitting component 2 is electrically connected to the intelligent control module 4; the intelligent control module 4 synchronously controls the 3D laser radar 3 and the sound-emitting component 2; a detection unit is electrically connected to the 3D laser radar 3, and the detection unit is electrically connected to the intelligent control module 4; the sound-emitting component 2 is a buzzer or a speaker.

[0029] The detection unit detects the point cloud data generated by the detection. The detection unit can automatically identify the radar attitude adjustment markers and perform attitude adjustment.

[0030] In order to more clearly describe the working process of the present disclosure, the working process is now explained as follows:

[0031] Step 1. Based on the actual location of the on-site defense zone, place a cross marker at the track center, closest to the radar, and at the track center, farthest from the radar.

[0032] Step 2. The front-end integrated detection device is roughly aligned with the defense zone, and then powered on. The intelligent control module automatically searches for markers based on the point cloud in the attitude adjustment mode (default mode), and uses a buzzer or speaker to indicate the location of the marker in the point cloud.

[0033] The prompt tone is defined as follows:

[0034] A. No landmark is found in the point cloud: the buzzer or speaker does not sound.

[0035] B. If one landmark is found in the point cloud, the buzzer or speaker will repeatedly beep at intervals of 2 seconds. If two landmarks are found in the point cloud, the buzzer or speaker will repeatedly beep at intervals of 2 seconds.

[0036] C. If the marker found in the point cloud is within a certain distance from the center of the point cloud, the buzzer or horn interval is 0 (i.e., a long beep). If the marker is no more than 1 / 2 of the distance from the center of the point cloud, the buzzer or horn interval is 1 second.

[0037] If the marker deviates more than 1 / 2 from the center of the point cloud, the buzzer or speaker interval is 2 seconds;

[0038] Step 3. When the attitude is adjusted to the correct position, the buzzer or speaker will sound continuously. The operator fixes the radar attitude at this point, completing the adjustment. This setting puts the front-end integrated detection device into normal detection mode.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. 3D laser radar attitude rapid adjustment device, characterized by: The front-end detection device (1) comprises a 3D laser radar (3), an intelligent control module (4) electrically connected to the 3D laser radar (3), and a sound-generating component (2); the sound-generating component (2) is electrically connected to the intelligent control module (4); and the intelligent control module (4) synchronously controls the 3D laser radar (3) and the sound-generating component (2). A method for rapidly adjusting a device based on a 3D laser radar attitude comprises the following steps: Step 1. Based on the actual location of the on-site defense zone, place a cross marker at the track center, closest to the radar, and at the track center, farthest from the radar. Step 2. The front-end integrated detection device is roughly aligned with the defense zone and then powered on. The intelligent control module automatically searches for the marker based on the point cloud in the attitude adjustment mode and uses a buzzer or speaker to indicate the location of the marker in the point cloud. The prompt tone is defined as follows: A. No landmark is found in the point cloud: the buzzer or speaker does not sound; B. If one landmark is found in the point cloud, the buzzer or speaker will repeatedly beep at a 2-second interval. If two landmarks are found in the point cloud, the buzzer or speaker will repeatedly beep at a 2-second interval. C. If the distance between the marker found in the point cloud and the center of the point cloud is less than 1 / 2, the buzzer or speaker interval is 0 seconds, i.e., a long beep. If the distance between the marker and the center of the point cloud is less than 1 / 2, the buzzer or speaker interval is 1 second. If the marker deviates more than 1 / 2 from the center of the point cloud, the buzzer or speaker interval is 2 seconds; Step 3. When the attitude is adjusted to the correct position, the buzzer or speaker will sound for a long time as a reminder. The operator fixes the radar attitude at this time, completes the adjustment, and sets the front-end integrated detection device to the normal detection state.

2. The 3D laser radar attitude rapid adjustment device according to claim 1, characterized in that: The 3D laser radar (3) is electrically connected to a detection unit via a wired connection, and the detection unit is electrically connected to the intelligent control module (4) via a wired connection.

3. The 3D laser radar attitude rapid adjustment device according to claim 1, characterized in that: The sound-generating component (2) is a buzzer or a speaker.

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