Control method of laser obstacle removing instrument and laser obstacle removing instrument

Abstract

The invention provides a control method of a laser obstacle clearing instrument and the laser obstacle clearing instrument, and relates to the technical field of laser obstacle clearing. The laser obstacle removing instrument comprises a lens assembly, a holder and a host. A gyroscope is configured in the holder, the gyroscope is in communication connection with a host, the host is provided with a laser generator, and the method comprises the following steps: the gyroscope sends attitude data to the host; the host judges whether the posture of the laser obstacle clearing instrument changes according to the posture data; when the posture of the laser obstacle removing instrument changes, the host controls the laser generator to stop generating laser. The gyroscope is arranged in the holder, and when the gyroscope detects that the posture of the laser obstacle removing instrument changes, the laser generator stops generating laser in time, so that when the laser obstacle removing instrument topples, inclines and the like to change the emitting direction of an original laser beam, laser beam emission can be stopped in time; the damage to surrounding personnel and other safety objects is avoided, and the safety of the laser obstacle removing instrument in use is improved.

Description

Technical Field

[0001] The present application relates to the technical field of laser obstacle removal, and in particular to a control method of a laser obstacle removal device and a laser obstacle removal device. Background Art

[0002] With the development of laser obstacle removal technology, the energy of the laser beam emitted by the laser obstacle removal device for clearing obstacles is getting higher and higher, and the focusing effect is getting better and better. While improving the obstacle removal efficiency, it also puts forward new requirements for the safety of the laser obstacle removal device. How to improve the safety of the laser obstacle removal device during operation and reduce the probability of causing harm to personnel and other safe objects is an urgent problem to be solved in the field of laser obstacle removal.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The present application provides a control method for a laser obstacle remover and a laser obstacle remover, which at least to a certain extent provide a method for improving the safety of the laser obstacle remover during operation and reducing the probability of causing harm to safety objects such as personnel.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to one aspect of the present application, a control method for a laser obstacle clearer is provided, the laser obstacle clearer comprising a lens assembly, a gimbal and a host; the gimbal is provided with a gyroscope, the gyroscope is communicatively connected with the host, the host is provided with a laser generator, and the method comprises: the gyroscope sends attitude data to the host; the host determines whether the attitude of the laser obstacle clearer has changed according to the attitude data; when the attitude of the laser obstacle clearer changes, the host controls the laser generator to stop generating laser.

[0007] By configuring a gyroscope in the gimbal and using the gyroscope to detect changes in the posture of the laser obstacle remover, the laser generator can be stopped from generating lasers in a timely manner. When the laser obstacle remover falls over, tilts, or changes the emission direction of the original laser beam, the laser beam can be shut down and stopped in a timely manner to avoid causing harm to surrounding personnel and other safe objects, thereby improving the safety of the laser obstacle remover.

[0008] In one embodiment of the present application, the posture data includes angular velocity; the host determines whether the posture of the laser obstacle remover has changed based on the posture data, including: the host determines the relationship between the angular velocity and an angular velocity threshold, and when the angular velocity is greater than the angular velocity threshold, determines that the posture of the laser obstacle remover has changed.

[0009] In one embodiment of the present application, the gimbal is further configured with a speed sensor, and the speed sensor is communicatively connected to the host. The method further includes: the speed sensor sends speed data to the host; the host determines whether the posture of the laser obstacle remover has changed based on the posture data, including: the host determines whether the posture of the laser obstacle remover has changed based on the posture data and the speed data.

[0010] At the same time, a gyroscope and a speed sensor are configured in the gimbal, and the speed data detected by the speed sensor and the attitude data monitored by the gyroscope are used to determine whether the attitude of the laser obstacle remover has changed. This can more accurately identify whether the attitude of the laser obstacle remover has changed, and reduce the misjudgment of whether the attitude of the laser obstacle remover has changed.

[0011] In one embodiment of the present application, the lens assembly includes: a first camera module, a laser focusing lens, a laser lens focal length adjustment module, a camera angle adjustment module, a lens control mainboard and a communication aerial plug; the lens control mainboard is respectively connected to the laser lens focal length adjustment module and the camera angle adjustment module, and the first camera module and the lens control mainboard are connected to the host through the communication aerial plug; the first camera module is parallel to the laser focusing lens; the method also includes: the first camera module shoots and transmits the captured image of the obstacle object to the host through the communication aerial plug; the host calculates the first distance between the obstacle object and the laser focusing lens based on the image, and the first distance is used to control the laser lens focal length adjustment module to adjust the focal length of the laser focusing lens.

[0012] By setting the laser focusing lens and the first camera module paraxially in the lens assembly, the focusing effect of the laser focusing lens can be improved compared to the coaxial setting, thereby improving the efficiency of laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the image captured by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing of the laser obstacle remover before working can be completed more quickly and accurately.

[0013] In one embodiment of the present application, the lens assembly also includes a laser rangefinder, and the laser rangefinder is connected to the host via the communication aerial plug. The method also includes: the laser rangefinder measures and sends to the host a second distance between the obstacle object and the laser focusing lens; the host uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens to facilitate control of the laser lens focal length adjustment module.

[0014] By measuring the distance between the obstacle and the laser focusing lens by a laser rangefinder and calculating the distance between the obstacle and the laser focusing lens by using the image captured by the first camera module, the laser lens can be applied in different environments using a distance measurement method that is more suitable for the current environment, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0015] In one embodiment of the present application, the lens assembly also includes a laser rangefinder, and the laser rangefinder is connected to the host through the communication aerial plug. The method also includes: the laser rangefinder measures and sends a second distance between the obstacle object and the laser focusing lens to the host; when the first distance is less than a threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens to facilitate control of the laser lens focal length adjustment module; when the second distance is not less than a threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens to facilitate control of the laser lens focal length adjustment module.

[0016] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance. When the measured first distance is less than the threshold distance, the first distance is used as the actual distance between the obstacle object and the laser focusing lens, and when the second distance is not less than the threshold distance, the second distance is used as the actual distance between the obstacle object and the laser focusing lens. This makes it possible to make the distance between the obstacle object and the laser focusing lens measured more accurate at both long and short distances, which is conducive to improving the focusing effect of the laser beam and the efficiency of laser obstacle removal.

[0017] In one embodiment of the present application, the lens assembly further includes: a first camera protection cover, used to protect the lens of the first camera module.

[0018] By providing the first camera protection cover, the lens of the first camera module can be protected, thereby increasing the service life of the lens of the first camera module.

[0019] In one embodiment of the present application, the lens assembly further includes: a laser lens protection cover for protecting the laser focusing lens.

[0020] By providing a laser lens protection cover, the laser focusing lens can be protected, thereby increasing the service life of the laser focusing lens.

[0021] In one embodiment of the present application, the lens assembly also includes at least one second camera module, which is used to capture a picture within a preset angle range centered on the light emitting direction of the laser focusing lens, and each second camera module is connected to the host via the communication aviation plug; each second camera module sends the captured picture to the host; the host performs target detection on the picture sent by each second camera module; when the host detects a target object in the picture captured by any second camera module, it controls the laser generator to stop generating laser.

[0022] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture shooting will be small, and it is difficult to predict in advance whether the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and shooting the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to shoot a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether there is a target object passing in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid damage to the target object, thereby improving the safety of the laser obstacle remover when in use.

[0023] In one embodiment of the present application, the at least one second camera module is one second camera module; the lens assembly further includes a laser rangefinder, and the laser rangefinder is coaxial with the second camera module.

[0024] By coaxially arranging the second camera module and the laser rangefinder, the image captured by the second camera module can better cover the area around the laser beam. In addition, the number of parts of the lens assembly can be reduced, which is conducive to the miniaturization of the lens assembly.

[0025] In one embodiment of the present application, the at least one second camera module is a second camera module; the camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module, the first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

[0026] By configuring the second camera angle adjustment module, the shooting direction of the second camera module can be flexibly adjusted, so that the shooting direction of the second camera module can be flexibly adjusted in different shooting environments, so as to better predict in advance whether there is a target object passing in front of the laser obstacle remover.

[0027] In one embodiment of the present application, it also includes: at least one second camera protection cover, one second camera protection cover corresponds to one second camera module, and is used to protect the lens of the second camera module.

[0028] By providing the second camera protection cover, the lens of the second camera module can be protected, thereby increasing the service life of the lens of the second camera module.

[0029] In another aspect of the present application, a laser obstacle clearer is provided, which uses a control method for a laser obstacle clearer such as that described in any one of the above embodiments.

[0030] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a laser obstacle remover in one embodiment of the present application is shown;

[0033] Figure 2 A flow chart of a control method of a laser obstacle remover in one embodiment of the present application is shown;

[0034] Figure 3 A schematic diagram showing a laser obstacle remover in another embodiment of the present application is shown;

[0035] Figure 4 A schematic diagram showing a lens assembly of a laser obstacle remover in one embodiment of the present application;

[0036] Figure 5 Shows Figure 4 A front view of the lens assembly of the laser obstacle remover;

[0037] Figure 6 Shows Figure 4 The right side view of the lens assembly of the laser obstacle remover;

[0038] Figure 7A flow chart of a control method of a laser obstacle remover in another embodiment of the present application is shown;

[0039] Figure 8 Shows Figure 4 The left side view of the lens assembly of the laser obstacle remover;

[0040] Fig. 9 A schematic diagram showing a range captured by at least one second camera module in one embodiment of the present application;

[0041] Fig.10 A flow chart of a control method of a laser obstacle remover in another embodiment of the present application is shown;

[0042] Fig.11 A schematic diagram showing a shooting range of the second camera module in one embodiment of the present application. DETAILED DESCRIPTION

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0044] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus their repeated descriptions will be omitted. It should be noted that the concepts of "first", "second", etc. mentioned in the present application are only used to distinguish different camera modules, camera protective covers, etc.

[0045] like Figure 1 As shown, the laser obstacle remover in one embodiment of the present application may include a lens assembly 1, a gimbal 2 and a host 3; the gimbal 2 is configured with a gyroscope 21, the gyroscope 21 is communicatively connected with the host 3, and the host 3 is configured with a laser generator 31.

[0046] like Figure 2 As shown, in Figure 1 In the laser obstacle remover shown, a control method of the laser obstacle remover in one embodiment of the present application may include S201 to S203.

[0047] S201, the gyroscope sends attitude data to the host.

[0048] S202: The host determines whether the posture of the laser obstacle remover has changed according to the posture data.

[0049] S203, when the posture of the laser obstacle remover changes, the host controls the laser generator to stop generating laser.

[0050] The gyroscope can monitor the attitude of the laser obstacle remover in real time and generate attitude data, and then send the attitude data to the host through the communication plug.

[0051] The embodiment of the present application does not limit the specific type of data of the posture data. For example, the posture data may include one or more of angular velocity, angle, and angular acceleration.

[0052] After receiving the posture data, the host determines whether the posture of the laser obstacle remover has changed according to the posture data, and controls the laser generator to stop generating laser when it is determined that the posture of the laser obstacle remover has changed.

[0053] By configuring a gyroscope in the gimbal and using the gyroscope to detect changes in the posture of the laser obstacle remover, the laser generator can be stopped from generating lasers in a timely manner. When the laser obstacle remover falls over, tilts, or changes the emission direction of the original laser beam, the laser beam can be shut down and stopped in a timely manner to avoid causing harm to surrounding personnel and other safe objects, thereby improving the safety of the laser obstacle remover.

[0054] The embodiments of the present application do not limit how the host determines whether the posture of the laser obstacle remover has changed based on the posture data.

[0055] In one embodiment, the posture data includes angular velocity, and the host determines whether the posture of the laser obstacle remover has changed according to the posture data, which may include: the host determines the relationship between the angular velocity and the angular velocity threshold, and when the angular velocity is greater than the angular velocity threshold, determines that the posture of the laser obstacle remover has changed.

[0056] The embodiments of the present application do not limit the specific value of the angular velocity threshold.

[0057] The posture of the laser obstacle remover changes, which may be caused by the laser obstacle remover tipping over, tilting, etc., resulting in a significant change in the direction of the laser beam emitted by the laser obstacle remover.

[0058] In one embodiment, Figure 3 As shown, in Figure 1 On the basis of the laser obstacle remover shown, the pan / tilt 2 may be further configured with a speed sensor 22, and the speed sensor 22 is communicatively connected with the host 3, and the control of the laser obstacle remover may further include: the speed sensor 22 sends speed data to the host 3. The host 3 determines whether the posture of the laser obstacle remover has changed according to the posture data, which may include: the host 3 determines whether the posture of the laser obstacle remover has changed according to the posture data and the speed data.

[0059] The speed sensor 22 can monitor the speed and speed change of the laser obstacle remover, and send the monitored speed data to the host 3.

[0060] After the host 3 receives the speed data, how to judge whether the posture of the laser obstacle remover has changed based on the speed data and the posture data is not limited in the embodiments of the present application. In one embodiment, the speed data includes the speed of the laser obstacle remover, and the posture data includes the angular velocity. The host 3 judges whether the posture of the laser obstacle remover has changed based on the posture data, which may include: the host 3 determines the relationship between the speed of the laser obstacle remover and the speed threshold, and the relationship between the angular velocity and the angular velocity threshold, and when the speed of the laser obstacle remover is greater than the speed threshold and / or the angular velocity is greater than the angular velocity threshold, it is determined that the posture of the obstacle remover has changed.

[0061] The embodiments of the present application do not limit the specific value of the speed threshold, and it can be set based on experience.

[0062] At the same time, a gyroscope and a speed sensor are configured in the gimbal, and the speed data detected by the speed sensor and the attitude data monitored by the gyroscope are used to determine whether the attitude of the laser obstacle remover has changed. This can more accurately identify whether the attitude of the laser obstacle remover has changed, and reduce the misjudgment of whether the attitude of the laser obstacle remover has changed.

[0063] In one embodiment, Figure 4 , Figure 5 and Figure 6 As shown, the lens assembly of the laser obstacle clearer in one embodiment of the present application may include: a first camera module 11, a laser focusing lens 12, a laser lens focal length adjustment module 13, a camera angle adjustment module 14, a lens control mainboard 15 and a communication aviation plug 16.

[0064] The lens control mainboard 5 is connected to the laser lens focal length adjustment module 13 and the camera angle adjustment module 14 respectively, and the first camera module 11 and the lens control mainboard 15 are connected to the host 3 via the communication connector 16 .

[0065] The first camera module 11 is paraxial with the laser focusing lens 12 .

[0066] exist Figure 4 , Figure 5 and Figure 6 Based on the lens assembly of the laser obstacle remover shown in FIG. 1 , the control method of the laser obstacle remover may further include: Figure 7 S701 and S702 shown.

[0067] S701: The first camera module captures and transmits the captured image of the obstacle to the host through the communication interface.

[0068] S702, the host calculates a first distance between the obstacle object and the laser focusing lens based on the picture, and the first distance is used to control the laser lens focal length adjustment module to adjust the focal length of the laser focusing lens.

[0069] The lens control mainboard 15 can send control instructions to the laser lens focus adjustment module 13 and the camera angle adjustment module 14 to control the laser lens focus adjustment module 13 and the camera angle adjustment module 14 .

[0070] The embodiment of the present application does not limit how the host calculates the first distance between the obstacle object and the laser focusing lens 12 according to the picture captured by the first camera module 11. For example, the first distance between the obstacle object and the laser focusing lens 12 can be calculated based on any visual method.

[0071] For example, the host may pre-process the image to extract the edge contour of the obstacle object. Then, based on the edge contour, the pixel width P of the obstacle object in the image is determined. According to the similar triangle method, the calculation of the first distance can be shown in the following formula 1.

[0072] D=(W×f) / P (1)

[0073] Among them, D is the distance between the obstacle object and the first camera module 11 (which can be used as the first distance between the obstacle object and the laser focusing lens 12), W is the actual width of the obstacle object, f is the focal length of the first camera module 11, and P is the pixel width P of the obstacle object in the picture.

[0074] The host can detect and obtain the focal length f of the first camera module 11 in real time, and can determine the actual width W of the obstacle object corresponding to the pixel width P based on the relationship between the focal length of the first camera 11 and the actual width corresponding to a single pixel. Thereafter, the distance between the obstacle object and the first camera module 11 is calculated according to Formula 1, and the distance is used as the first distance.

[0075] In one embodiment, the obstacle object can also perform empirical correction on the distance between the obstacle object and the first camera module 11 (for example, by calibrating the correspondence between the distance between the obstacle object and the first camera module 11 and the first distance, and using the correspondence to perform empirical correction on the distance between the obstacle object and the first camera module 11), and use the corrected distance as the first distance.

[0076] For another example, the host stores the internal parameters of the first camera module 11, and then the internal parameters and the coordinate information of the obstacle object in the picture can be directly used to calculate the distance between the obstacle object and the first camera module 11 through methods such as projection matrix, and then determine the first distance.

[0077] The embodiments of the present application do not limit how to pre-process the image. For example, the pre-processing includes: gray-scaling, filtering, edge detection and contour detection.

[0078] By setting the laser focusing lens and the first camera module paraxially in the lens assembly, the focusing effect of the laser focusing lens can be improved compared to the coaxial setting, thereby improving the efficiency of laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the image captured by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing of the laser obstacle remover before working can be completed more quickly and accurately.

[0079] In one embodiment, Figure 4 and Figure 5 As shown, the lens assembly of the laser obstacle remover may also include: a laser rangefinder 17 for measuring a second distance between the obstacle object and the laser focusing lens 12; the laser rangefinder 17 is connected to the host 3 via a communication aviation plug 16.

[0080] The control method for the laser obstacle remover may also include: the laser rangefinder 17 measures and sends the second distance between the obstacle object and the laser focusing lens 12 to the host 3; the host 3 uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens 12 to facilitate control of the laser lens focal length adjustment module 13.

[0081] By measuring the distance between the obstacle and the laser focusing lens by a laser rangefinder and calculating the distance between the obstacle and the laser focusing lens by using the image captured by the first camera module, the laser lens can be applied in different environments using a distance measurement method that is more suitable for the current environment, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0082] The embodiment of the present application does not limit how the host 3 uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens 12. For example, in response to receiving a signal from the control device selecting the first distance or the second distance, the host uses the first distance or the second distance indicated by the signal as the actual distance between the obstacle object and the laser focusing lens 12.

[0083] In another embodiment, when the first distance is less than the threshold distance, the host 3 uses the first distance as the actual distance between the obstacle object and the laser focusing lens 12 to facilitate control of the laser lens focal length adjustment module 13; when the second distance is not less than the threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens 12 to facilitate control of the laser lens focal length adjustment module 13.

[0084] The embodiments of the present application do not limit the specific value of the threshold distance, and it can be set based on experience.

[0085] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance (because the relative position between the laser rangefinder and the laser focusing lens is fixed and has a certain position difference, when the distance between the laser focusing lens and the obstacle object is far, the position difference between the laser rangefinder and the laser focusing lens can be ignored, and the distance measured by the laser rangefinder is closer to the actual distance between the laser focusing lens and the obstacle object). By using the first distance as the actual distance between the obstacle object and the laser focusing lens when the measured first distance is less than the threshold distance, and using the second distance as the actual distance between the obstacle object and the laser focusing lens when the second distance is not less than the threshold distance, the distance between the obstacle object and the laser focusing lens can be measured more accurately at both long and short distances, which is conducive to improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0086] In one embodiment, Figure 8 As shown, the lens assembly of the laser obstacle remover may further include: a first camera protection cover 19 for protecting the lens of the first camera module 11 .

[0087] By providing the first camera protection cover, the lens of the first camera module can be protected, thereby increasing the service life of the lens of the first camera module.

[0088] In one embodiment, Figure 8 As shown, the lens assembly of the laser obstacle remover may further include: a laser lens protection cover 18 for protecting the laser focusing lens 12 .

[0089] By providing a laser lens protection cover, the laser focusing lens can be protected, thereby increasing the service life of the laser focusing lens.

[0090] In one embodiment, Fig. 9As shown, the lens assembly of the laser obstacle remover may also include: at least one second camera module 110, which is used to shoot a picture with a preset angle range centered on the light emitting direction of the laser focusing lens, and each second camera module 110 is connected to the host 3 via a communication connector 16.

[0091] exist Fig. 9 On the basis of Fig.10 S1001 to S1003 shown.

[0092] S1001, each second camera module sends the captured image to the host.

[0093] S1002, the host performs target detection on each picture sent by the second camera module.

[0094] S1003: When the host detects a target object in a picture taken by any second camera module, the host controls the laser generator to stop generating laser.

[0095] The embodiments of the present application do not limit what the target object specifically includes. For example, the target object may include preset objects such as people and birds.

[0096] The embodiment of the present application does not limit how the host 3 performs target detection on the picture taken by the second camera module 110. For example, the host 3 can detect the picture reported by each second camera module 110 in real time through the target detection model, and when it is detected that there is a target object in the picture reported by any second camera module 110, the laser obstacle remover is forcibly turned off, thereby avoiding the laser from causing damage to the target object, and improving the safety of the laser obstacle remover when in use.

[0097] The embodiments of the present application do not limit the specific module of the target detection model. For example, the target detection model can be R-CNN (Region-based Convolutional Neural Network), Fast R-CNN (Fast Regional Convolutional Neural Network), SSD (Single Shot MultiBox Detector), etc.

[0098] It should be noted that Fig. 9 The at least one second camera module 110 is drawn as two second camera modules 110 as an example, and the embodiment of the present application does not limit the specific number of the at least one second camera module 110. The embodiment of the present application also does not limit how to set the at least one second camera module 110 to capture the areas in front of the laser obstacle remover.

[0099] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture shooting will be small, and it is difficult to predict in advance whether the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and shooting the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to shoot a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether the target object passes in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid damage to the target object, thereby improving the safety of the laser obstacle remover when in use.

[0100] In one embodiment, Fig.11 As shown, the at least one second camera module 110 is one second camera module 110 .

[0101] The lens assembly also includes a laser rangefinder, which is coaxial with the second camera module.

[0102] By coaxially arranging the second camera module and the laser rangefinder, the image captured by the second camera module can better cover the area around the laser beam. In addition, the number of parts of the lens assembly can be reduced, which is conducive to the miniaturization of the lens assembly.

[0103] In one embodiment, the at least one second camera module is one second camera module.

[0104] The camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module. The first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

[0105] By configuring the second camera angle adjustment module, the shooting direction of the second camera module can be flexibly adjusted, so that the shooting direction of the second camera module can be flexibly adjusted in different shooting environments, so as to better predict in advance whether there is a target object passing in front of the laser obstacle remover.

[0106] In one embodiment, the lens assembly of the laser obstacle remover may further include: at least one second camera protection cover, one second camera protection cover corresponding to one second camera module, and used to protect the lens of the second camera module.

[0107] By providing the second camera protection cover, the lens of the second camera module can be protected, thereby increasing the service life of the lens of the second camera module.

[0108] The laser obstacle remover in one embodiment of the present application may apply a control method for the laser obstacle remover in any of the above embodiments.

[0109] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope of the present application is indicated by the appended claims.

Claims

1. A control method for a laser obstacle remover, characterized in that: The laser obstacle remover comprises a lens assembly, a pan / tilt platform and a host; The gimbal is provided with a gyroscope, the gyroscope is in communication connection with the host, the host is provided with a laser generator, and the method comprises: The gyroscope sends attitude data to the host; The host determines whether the posture of the laser obstacle remover has changed according to the posture data; When the posture of the laser obstacle remover changes, the host controls the laser generator to stop generating laser.

2. The control method of the laser obstacle remover according to claim 1, characterized in that: The posture data includes angular velocity; The host determines whether the posture of the laser obstacle remover has changed according to the posture data, including: The host determines the magnitude relationship between the angular velocity and an angular velocity threshold, and determines that the posture of the laser obstacle remover has changed when the angular velocity is greater than the angular velocity threshold.

3. The control method of the laser obstacle remover according to claim 1, characterized in that: The pan / tilt is also provided with a speed sensor, and the speed sensor is communicatively connected with the host. The method further comprises: The speed sensor sends speed data to the host; The host determines whether the posture of the laser obstacle remover has changed according to the posture data, including: The host determines whether the posture of the laser obstacle remover has changed according to the posture data and the speed data.

4. The control method of the laser obstacle remover according to claim 1, characterized in that: The lens assembly comprises: a first camera module, a laser focusing lens, a laser lens focal length adjustment module, a camera angle adjustment module, a lens control mainboard and a communication aviation plug; the lens control mainboard is connected to the laser lens focal length adjustment module and the camera angle adjustment module respectively, the first camera module and the lens control mainboard are connected to the host through the communication aviation plug; the first camera module is parallel to the laser focusing lens; the method further comprises: The first camera module captures and transmits the captured image of the obstacle to the host through the communication hub; The host calculates a first distance between the obstacle object and the laser focusing lens based on the picture, and the first distance is used to control the laser lens focal length adjustment module to adjust the focal length of the laser focusing lens.

5. The control method of the laser obstacle remover according to claim 4, characterized in that: The lens assembly further includes a laser rangefinder, and the laser rangefinder is connected to the host through the communication aviation plug. The method further includes: The laser rangefinder measures and sends to the host a second distance between the obstacle object and the laser focusing lens; The host uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens, so as to control the laser lens focal length adjustment module.

6. The control method of the laser obstacle remover according to claim 4, characterized in that: The lens assembly further includes a laser rangefinder, and the laser rangefinder is connected to the host through the communication aviation plug. The method further includes: The laser rangefinder measures and sends to the host a second distance between the obstacle object and the laser focusing lens; When the first distance is less than a threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens, so as to control the laser lens focal length adjustment module; When the second distance is not less than a threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens, so as to control the laser lens focal length adjustment module.

7. The control method of the laser obstacle remover according to claim 4, characterized in that: The lens assembly further includes at least one second camera module, which is used to shoot a picture with a preset angle range as the center of the light emitting direction of the laser focusing lens, and each second camera module is connected to the host through the communication aviation plug; Each second camera module sends the captured image to the host; The host performs target detection on the picture sent by each second camera module; When the host detects a target object in a picture taken by any second camera module, the host controls the laser generator to stop generating laser light.

8. The control method of the laser obstacle remover according to claim 7, characterized in that: The at least one second camera module is a second camera module; The lens assembly also includes a laser rangefinder, which is coaxial with the second camera module.

9. The control method of the laser obstacle remover according to claim 7, characterized in that: The at least one second camera module is a second camera module; The camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module, the first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

10. A laser obstacle remover, characterized in that: A control method for a laser obstacle remover as described in any one of claims 1 to 9 is applied.

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