Method and device for adjusting radar level consistency, equipment and storage medium

Abstract

The present application relates to the field of digital control, and discloses a radar level consistency adjusting method, device, equipment and storage medium.The method comprises the following steps: collecting a first infrared image of a reference light emitted by a laser level, determining pixel corner point information according to the first infrared image, and determining reference light width information according to the first infrared image; collecting a second infrared image of a laser beam light emitted by a radar, and calculating the coincidence degree of the laser beam light and the reference light according to the first infrared image and the second infrared image; determining whether the coincidence degree is in a preset threshold interval according to the pixel corner point information and the reference light width information; and outputting prompt information of the level consistency of the radar if the coincidence degree is in the preset threshold. The adjusting precision of the radar level consistency is improved.

Description

Technical Field

[0001] This invention relates to the field of digital control, and more particularly to a method, apparatus, device, and storage medium for adjusting radar level consistency. Background Technology

[0002] With the continuous development of intelligent industrial robot flexible logistics technology, the autonomy and flexibility of unmanned forklifts based on LiDAR positioning are getting higher and higher. Consistency in picking and placing goods under multi-vehicle collaboration is a key and difficult problem to be solved in warehouse location management.

[0003] The levelness of the LiDAR installation is crucial for ensuring consistency in the loading and unloading process for multiple forklifts. Currently, the LiDAR installation positions on most forklifts are based on parameters provided by the mechanical structure. However, due to differences in manufacturing processes, the installation positions and levelness of the LiDAR on each forklift can vary slightly. This inconsistency in LiDAR levelness can lead to situations where the first forklift can place goods at a certain location, but the second forklift fails to retrieve the goods from the same location. Therefore, the accuracy of adjusting the LiDAR levelness consistency is low. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem of low consistency adjustment accuracy of radar level.

[0005] The first aspect of the present invention provides a method for adjusting radar levelness consistency, the method comprising:

[0006] Acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image;

[0007] Acquire a second infrared image of the laser beam emitted by the radar and calculate the degree of overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image;

[0008] Determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information;

[0009] If the overlap is within the preset threshold, a prompt message indicating that the radar's level is consistent is output.

[0010] Optionally, in a first implementation of the first aspect of the present invention, after the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information, the method further includes:

[0011] If the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0012] Optionally, in a second implementation of the first aspect of the present invention, after the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information, the method further includes:

[0013] If the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and periodically return to the step of collecting the second infrared image of the laser beam emitted by the radar.

[0014] Optionally, in a third implementation of the first aspect of the present invention, after the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information, the method further includes:

[0015] If the overlap is not at the preset threshold, adjust the incident angle of the laser beam and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0016] Optionally, in a fourth implementation of the first aspect of the present invention, after the step of acquiring the second infrared image of the laser beam emitted by the radar, the method further includes:

[0017] Detect whether there are interfering line segments in the second infrared image;

[0018] If the interference line segment exists in the second infrared image, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0019] Optionally, in a fifth implementation of the first aspect of the present invention, the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information includes:

[0020] The threshold range is determined and saved based on the pixel corner information and the reference ray width information to obtain the preset threshold range;

[0021] Determine whether the degree of overlap is within the preset threshold range.

[0022] Optionally, in a sixth implementation of the first aspect of the present invention, the step of determining pixel corner information based on the first infrared image includes:

[0023] Output selection prompt message;

[0024] When a selection command is detected, the selection area is determined in the first infrared image according to the selection command to obtain the detection area;

[0025] Determine the pixel corner information corresponding to the detection area.

[0026] A second aspect of the present invention provides a radar levelness consistency adjustment device, comprising:

[0027] The acquisition module is used to acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image.

[0028] The calculation module is used to acquire a second infrared image of the laser beam emitted by the radar and calculate the overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image.

[0029] The determination module is used to determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information;

[0030] The output module is used to output a prompt message indicating that the radar's level is consistent if the overlap is at the preset threshold.

[0031] A third aspect of the present invention provides a radar level consistency adjustment device, comprising: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; the at least one processor invokes the instructions in the memory to cause the radar level consistency adjustment device to perform the radar level consistency adjustment method described above.

[0032] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described method for adjusting radar level consistency.

[0033] In this embodiment of the invention, a first infrared image of the reference light emitted by the laser level is acquired, and pixel corner information and reference light width information are determined based on the first infrared image; a second infrared image of the laser beam emitted by the radar is acquired, and the overlap between the laser beam and the reference light is calculated based on the first and second infrared images; the overlap is determined to be within a preset threshold range based on the pixel corner information and the reference light width information; if the overlap is within the preset threshold, a prompt message indicating that the radar's level is consistent is output. The radar level consistency adjustment device forms a radar level consistency adjustment system consisting of an infrared camera and a laser level. The radar level consistency adjustment device is placed on a level surface, while the laser level is placed at the height of the radar laser beam emission plane to serve as a leveling baseline reference; the infrared camera captures the reference light emitted by the laser level and the laser beam emitted by the radar, and simultaneously detects the leveling result in real time based on its imaging. When the difference in overlap between the laser beam emitted by the laser level and the laser beam emitted by the radar is within an acceptable error range, a voice prompt is played to indicate that the radar has been leveled. This allows the debugging personnel to know the current leveling result, and the visual feedback on the detected radar levelness in real time improves the adjustment accuracy of the radar levelness consistency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an embodiment of the radar level consistency adjustment method in the present invention;

[0035] Figure 2 This is a schematic diagram of one embodiment of the radar level consistency adjustment device in the present invention;

[0036] Figure 3 This is a schematic diagram of one embodiment of the radar level consistency adjustment device in this invention. Detailed Implementation

[0037] This invention provides a method, apparatus, device, and storage medium for adjusting radar horizontality consistency.

[0038] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 One embodiment of the radar level consistency adjustment method in this invention includes:

[0040] 101. Acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image;

[0041] Specifically, the radar level consistency adjustment device carries an infrared camera, which is used to acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image.

[0042] Optionally, a selection prompt message is output; upon detecting a selection instruction, the selection area is determined in the first infrared image according to the selection instruction to obtain the detection region; the pixel corner information corresponding to the detection region is determined. Specifically, the camera driver first controls the infrared camera to acquire its image data. Simultaneously, to avoid interference from other line segments with the detection results, the light emitted by the laser level is selected within the image, and the selected area is used as the detection region. At the same time, a visual algorithm is used to calculate the width of the light emitted by the laser level. Finally, the pixel corner information of the selected area and the light width are saved to a text file.

[0043] 102. Acquire a second infrared image of the laser beam emitted by the radar and calculate the overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image;

[0044] Specifically, the radar mounting angle can be adjusted by adjusting the height of the spring screws on the radar base of the radar leveling consistency adjustment device, thereby leveling the radar. At the same time, the visual detection module in the radar leveling consistency adjustment device calculates the overlap between the laser beam and the reference beam based on the stored pixel corner information of the frame area and the reference beam width information, so as to detect the leveling result in real time.

[0045] 103. Determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information;

[0046] Optionally, a threshold range is determined and saved based on the pixel corner information and the reference ray width information to obtain the preset threshold range; it is then determined whether the overlap is within the preset threshold range.

[0047] Optionally, if the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0048] Optionally, if the overlap is not at the preset threshold, an alert message indicating that the radar's level is inconsistent is output, and the process periodically returns to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0049] Optionally, if the overlap is not at the preset threshold, the incident angle of the laser beam is adjusted and the process returns to the step of acquiring the second infrared image of the laser beam emitted by the radar. Specifically, the radar mounting tilt angle is adjusted automatically based on preset control parameters by adjusting the height of the radar base spring screws, thereby leveling the radar. This method uses a visual algorithm to provide real-time feedback on the leveling result, which has higher leveling accuracy compared to observing the leveling result with the human eye or using a bubble level to detect the leveling degree. The instruments used in this embodiment are simple, with key components requiring only an infrared camera and a laser level. The visual algorithm detects the radar leveling result in real time, resulting in high leveling accuracy. The algorithm has wide adaptability and can level different types of radars. Furthermore, it is easy to operate, allowing the radar leveling consistency adjustment device to be applied to practical scenarios, such as unmanned forklifts, where the radar leveling degree of the vehicle can be quickly adjusted.

[0050] 104. If the overlap is at the preset threshold, output a prompt message indicating that the radar's level is consistent;

[0051] Specifically, the radar mounting angle can be adjusted by adjusting the height of the radar base spring screws in the radar leveling consistency adjustment device, thereby leveling the radar. Simultaneously, the vision detection module in the radar leveling consistency adjustment device detects the leveling result in real time based on stored pixel corner information of the frame area (detection area) and reference ray width information. When the leveling result is within an acceptable error range, a voice prompt announces successful leveling to the operator. This step utilizes a visual algorithm to provide real-time feedback on the leveling result, offering higher leveling accuracy compared to observing the leveling result with the human eye or using a bubble level to detect leveling, and enabling rapid adjustment of the leveling consistency of multiple vehicle radars.

[0052] In one example, the camera captures an image; it frames the reference ray emitted by the laser level; if the frame selection fails, it tries to frame the ray again; if the frame selection is successful, it extracts the reference ray and calculates its width; if the calculation is successful, it stores the corner point information of the framed area and the width information of the reference ray.

[0053] Further, it begins reading the stored corner point information; if the reading is successful, it reads the stored width information of the reference ray; if the reading is successful, it adjusts the support height of the radar base; it visually detects whether there are other line segments; if so, it prints the message "Radar not adjusted to level" every 1 second as a reminder; it visually detects whether the width of the reference line is within the set threshold; if so, it prints the message "Radar not adjusted to level" every 1 second as a reminder; if not, it prints the message "Radar adjusted to level" every 1 second as a reminder.

[0054] In this embodiment of the invention, a first infrared image of the reference light emitted by the laser level is acquired, and pixel corner information and reference light width information are determined based on the first infrared image; a second infrared image of the laser beam emitted by the radar is acquired, and the overlap between the laser beam and the reference light is calculated based on the first and second infrared images; the overlap is determined to be within a preset threshold range based on the pixel corner information and the reference light width information; if the overlap is within the preset threshold, a prompt message indicating that the radar's level is consistent is output. The radar level consistency adjustment device forms a radar level consistency adjustment system consisting of an infrared camera and a laser level. The radar level consistency adjustment device is placed on a level surface, while the laser level is placed at the height of the radar laser beam emission plane to serve as a leveling baseline reference; the infrared camera captures the reference light emitted by the laser level and the laser beam emitted by the radar, and simultaneously detects the leveling result in real time based on its imaging. When the difference in overlap between the laser beam emitted by the laser level and the laser beam emitted by the radar is within an acceptable error range, a voice prompt is played to indicate that the radar has been leveled. This allows the debugging personnel to know the current leveling result, and the visual feedback on the detected radar levelness in real time improves the adjustment accuracy of the radar levelness consistency.

[0055] The acquisition module 301 is used to acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image.

[0056] The calculation module 302 is used to acquire a second infrared image of the laser beam emitted by the radar and calculate the overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image.

[0057] The determining module 303 is used to determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information;

[0058] The output module 304 is used to output a prompt message indicating that the radar's level is consistent if the overlap is at the preset threshold.

[0059] In this embodiment of the invention, a first infrared image of the reference light emitted by the laser level is acquired, and pixel corner information and reference light width information are determined based on the first infrared image; a second infrared image of the laser beam emitted by the radar is acquired, and the overlap between the laser beam and the reference light is calculated based on the first and second infrared images; the overlap is determined to be within a preset threshold range based on the pixel corner information and the reference light width information; if the overlap is within the preset threshold, a prompt message indicating that the radar's level is consistent is output. The radar level consistency adjustment device forms a radar level consistency adjustment system consisting of an infrared camera and a laser level. The radar level consistency adjustment device is placed on a level surface, while the laser level is placed at the height of the radar laser beam emission plane to serve as a leveling baseline reference; the infrared camera captures the reference light emitted by the laser level and the laser beam emitted by the radar, and simultaneously detects the leveling result in real time based on its imaging. When the difference in overlap between the laser beam emitted by the laser level and the laser beam emitted by the radar is within an acceptable error range, a voice prompt is played to indicate that the radar has been leveled. This allows the debugging personnel to know the current leveling result, and the visual feedback on the detected radar levelness in real time improves the adjustment accuracy of the radar levelness consistency.

[0060] The method for adjusting radar level consistency in embodiments of the present invention has been described above. The following describes the device for adjusting radar level consistency in embodiments of the present invention. Please refer to [link to relevant documentation]. Figure 2 One embodiment of the radar level consistency adjustment device in this invention includes:

[0061] The acquisition module 301 is used to acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image.

[0062] The calculation module 302 is used to acquire a second infrared image of the laser beam emitted by the radar and calculate the overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image.

[0063] The determining module 303 is used to determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information;

[0064] The output module 304 is used to output a prompt message indicating that the radar's level is consistent if the overlap is at the preset threshold.

[0065] Optionally, the output module 304 can also be specifically used for:

[0066] If the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0067] Optionally, the output module 304 can also be specifically used for:

[0068] If the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and periodically return to the step of collecting the second infrared image of the laser beam emitted by the radar.

[0069] Optionally, the output module 304 can also be specifically used for:

[0070] If the overlap is not at the preset threshold, adjust the incident angle of the laser beam and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0071] Optionally, the acquisition module 301 can also be specifically used for:

[0072] Detect whether there are interfering line segments in the second infrared image;

[0073] If the interference line segment exists in the second infrared image, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

[0074] Optionally, the acquisition module 301 can also be specifically used for:

[0075] The threshold range is determined and saved based on the pixel corner information and the reference ray width information to obtain the preset threshold range;

[0076] Determine whether the degree of overlap is within the preset threshold range.

[0077] Optionally, the acquisition module 301 can also be specifically used for:

[0078] Output selection prompt message;

[0079] When a selection command is detected, the selection area is determined in the first infrared image according to the selection command to obtain the detection area;

[0080] Determine the pixel corner information corresponding to the detection area.

[0081] In this embodiment of the invention, a first infrared image of the reference light emitted by the laser level is acquired, and pixel corner information and reference light width information are determined based on the first infrared image; a second infrared image of the laser beam emitted by the radar is acquired, and the overlap between the laser beam and the reference light is calculated based on the first and second infrared images; the overlap is determined to be within a preset threshold range based on the pixel corner information and the reference light width information; if the overlap is within the preset threshold, a prompt message indicating that the radar's level is consistent is output. The radar level consistency adjustment device forms a radar level consistency adjustment system consisting of an infrared camera and a laser level. The radar level consistency adjustment device is placed on a level surface, while the laser level is placed at the height of the radar laser beam emission plane to serve as a leveling baseline reference; the infrared camera captures the reference light emitted by the laser level and the laser beam emitted by the radar, and simultaneously detects the leveling result in real time based on its imaging. When the difference in overlap between the laser beam emitted by the laser level and the laser beam emitted by the radar is within an acceptable error range, a voice prompt is played to indicate that the radar has been leveled. This allows the debugging personnel to know the current leveling result, and the visual feedback on the detected radar levelness in real time improves the adjustment accuracy of the radar levelness consistency.

[0082] above Figure 2 The radar level consistency adjustment device in the embodiments of the present invention will be described in detail from the perspective of modular functional entities. The radar level consistency adjustment device in the embodiments of the present invention will be described in detail from the perspective of hardware processing.

[0083] Figure 3 This is a schematic diagram of a radar level consistency adjustment device 500 provided in an embodiment of the present invention. The radar level consistency adjustment device 500 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. The memory 520 and storage media 530 can be temporary or persistent storage. The program stored in the storage media 530 may include one or more modules (not shown in the diagram), each module may include a series of instruction operations on the radar level consistency adjustment device 500. Furthermore, the processor 510 may be configured to communicate with the storage media 530 and execute the series of instruction operations in the storage media 530 on the radar level consistency adjustment device 500.

[0084] The radar level consistency-based adjustment device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input / output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 3 The illustrated radar level consistency adjustment device structure does not constitute a limitation on radar level consistency adjustment devices, which may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0085] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the radar level consistency adjustment method.

[0086] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system, device, or unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0087] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0088] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting radar levelness consistency, characterized in that, The method for adjusting radar horizontality consistency includes: Acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image; Acquire a second infrared image of the laser beam emitted by the radar and calculate the degree of overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image; Determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information; If the overlap is within the preset threshold, output a prompt message indicating that the radar's level is consistent; After the step of acquiring a second infrared image of the laser beam emitted by the radar, the method further includes: Detect whether there are interfering line segments in the second infrared image; If the interference line segment exists in the second infrared image, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

2. The method for adjusting radar levelness consistency according to claim 1, characterized in that, After the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information, the method further includes: If the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

3. The method for adjusting radar levelness consistency according to claim 1, characterized in that, After the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information, the method further includes: If the overlap is not at the preset threshold, output a prompt message indicating that the radar's level is inconsistent and periodically return to the step of collecting the second infrared image of the laser beam emitted by the radar.

4. The method for adjusting radar levelness consistency according to claim 1, characterized in that, After the step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information, the method further includes: if the overlap is not within the preset threshold, adjusting the incident angle of the laser beam and returning to the step of acquiring the second infrared image of the laser beam emitted by the radar.

5. The method for adjusting radar levelness consistency according to claim 1, characterized in that, The step of determining whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information includes: The threshold range is determined and saved based on the pixel corner information and the reference ray width information to obtain the preset threshold range; Determine whether the degree of overlap is within the preset threshold range.

6. The method for adjusting radar levelness consistency according to claim 1, characterized in that, The step of determining pixel corner information based on the first infrared image includes: Output selection prompt message; When a selection command is detected, the selection area is determined in the first infrared image according to the selection command to obtain the detection area; Determine the pixel corner information corresponding to the detection area.

7. A radar levelness consistency adjustment device, characterized in that, The radar level consistency adjustment device includes: The acquisition module is used to acquire a first infrared image of the reference light emitted by the laser level and determine pixel corner information and reference light width information based on the first infrared image. The calculation module is used to acquire a second infrared image of the laser beam emitted by the radar and calculate the overlap between the laser beam and the reference beam based on the first infrared image and the second infrared image. The determination module is used to determine whether the overlap is within a preset threshold range based on the pixel corner information and the reference ray width information; The output module is used to output a prompt message indicating that the radar's level is consistent if the overlap is at the preset threshold. The acquisition module is also used for: Detect whether there are interfering line segments in the second infrared image; If the interference line segment exists in the second infrared image, output a prompt message indicating that the radar's level is inconsistent and return to the step of acquiring the second infrared image of the laser beam emitted by the radar.

8. A radar level consistency adjustment device, characterized in that, The radar level consistency adjustment device includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor invokes the instructions in the memory to cause the radar level consistency adjustment device to perform the radar level consistency adjustment method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the method for adjusting radar level consistency as described in any one of claims 1-6.

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