Cargo height self-adaptive laser radar wire harness adjusting method and device and AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a cargo height self-adaptive laser radar wire harness adjusting method and device and an AGV vehicle. The method comprises the following steps: judging whether each laser wire harness emitted by a laser radar is shielded by cargoes on the vehicle or not; if the laser beams are shielded by the cargos on the vehicle, critical laser beams, not shielded by the cargos on the vehicle, in the laser beams emitted by the laser radar are obtained; one adjacent laser beam of the critical laser beam is shielded by the goods on the vehicle, and the other adjacent laser beam is not shielded by the goods on the vehicle; and based on the critical laser beam, the laser radar is controlled to redistribute the laser beams, so that all the redistributed laser beams are not shielded by the cargoes on the vehicle. According to the invention, the range of the laser beam emitted by the laser radar can be automatically adjusted according to the height of the cargo, so that the emitted laser beam is not shielded by the cargo on the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar harness adjustment, and in particular to a laser radar harness adjustment method and device for adaptive cargo height, and an AGV vehicle. Background Art

[0002] At present, AGV vehicles have been widely used in production and life. When AGV vehicles are carrying goods, when the goods are at a certain height, they may block the laser beam emitted by the laser radar, thereby blocking the laser radar from detecting the surrounding environment and affecting the construction of the AGV's panoramic map. In this way, during the driving process of the AGV vehicle, due to the inability to detect the surrounding environment or the narrow detection range, accidents are likely to occur, causing damage to goods or personal injury. Summary of the invention

[0003] The main purpose of the present invention is to overcome the above-mentioned defects in the prior art and to propose a laser radar beam adjustment method, device and AGV vehicle with adaptive cargo height, which can automatically adjust the range of the laser beam emitted by the laser radar according to the cargo height, thereby ensuring that the laser radar can detect the surrounding environment and prevent accidents.

[0004] The present invention adopts the following technical solution:

[0005] In one aspect, a method for adjusting a laser radar beam for adaptive cargo height includes:

[0006] Determine whether the laser beams emitted by the laser radar are blocked by the cargo on the vehicle;

[0007] If a laser beam is blocked by the cargo on the vehicle, a critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained; one adjacent laser beam of the critical laser beam is blocked by the cargo on the vehicle, and another adjacent laser beam is not blocked by the cargo on the vehicle;

[0008] Based on the critical laser beam, the lidar is controlled to reallocate the laser beam so that all the reallocated laser beams are not blocked by the cargo on the vehicle.

[0009] Preferably, the determining whether each laser beam emitted by the laser radar is blocked by cargo on the vehicle specifically includes:

[0010] Acquire detection parameters of each laser beam emitted by the laser radar; the detection parameters include the reflection intensity i of the laser beam and the line value m of the laser beam;

[0011] The reflection intensities of m laser beams are traversed in sequence. When it is detected that the reflection intensity i of a laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle.

[0012] Preferably, the detection parameters also include the distance value dis from the laser beam detected by the laser radar to the object, the angle value α of the laser beam relative to the laser radar xy plane, and the installation height h of the laser radar origin coordinate relative to the ground;

[0013] When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle, specifically including:

[0014] When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, the height H from the xy plane of the m laser beams to the upper surface of the object is calculated in sequence; wherein the height H is calculated based on the distance value dis and the angle value α;

[0015] Determine whether the height H of the laser beam corresponding to the minimum angle value is equal to the installation height h;

[0016] If they are equal, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if they are not equal, it is determined that the laser radar detects other objects besides the cargo on the vehicle or all the laser beams are blocked by the cargo on the vehicle, and an early warning is issued.

[0017] Preferably, after determining that part of the laser beam is blocked by the cargo on the vehicle, obtaining the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar specifically includes:

[0018] The height H from the xy plane of the m laser beams to the upper surface of the object is compared with the installation height h in turn;

[0019] If the heights from the xy planes of two adjacent laser beams to the upper surface of the object are respectively equal to the installation height h and less than the installation height h, the laser beam equal to the installation height h is determined to be the critical laser beam.

[0020] Preferably, the detection parameters also include an angle value α of the laser beam relative to the xy plane of the laser radar;

[0021] When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle, specifically including:

[0022] When it is detected that the reflection intensity of the laser beam is greater than the set intensity, it is determined whether the angle value of the laser beam relative to the xy plane of the laser radar is the minimum angle based on the reflection intensity of the laser beam; if not, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if so, it is determined that the laser radar detects other objects besides the cargo on the vehicle or all the laser beams are blocked by the cargo on the vehicle, and an early warning is issued.

[0023] Preferably, after determining that part of the laser beam is blocked by the cargo on the vehicle, obtaining the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar specifically includes:

[0024] The reflection intensity i of the m laser beams is compared with the set intensity in sequence;

[0025] If the reflection intensities of two adjacent laser beams are respectively greater than a set intensity and less than a set intensity, the laser beam whose reflection intensity is less than the set intensity is determined to be a critical laser beam.

[0026] Preferably, the determining whether each laser beam emitted by the laser radar is blocked by cargo on the vehicle specifically includes:

[0027] Acquire detection parameters of each laser beam emitted by the laser radar; the detection parameters include the distance value dis from the laser beam detected by the laser radar to the object, the angle value α of the laser beam relative to the laser radar xy plane, the installation height h of the laser radar origin coordinate relative to the ground, and the line value m of the laser beam;

[0028] The height H from the xy plane of m laser beams to the upper surface of the object is traversed in sequence. When it is detected that the height from the xy plane of the laser beam to the upper surface of the object is less than the installation height h, it is determined that the laser beam is blocked by the cargo on the vehicle; the height H is calculated based on the distance value dis and the angle value α.

[0029] Preferably, the controlling the laser radar to redistribute the laser beam based on the critical laser beam so that all the redistributed laser beams are not blocked by the cargo on the vehicle specifically includes:

[0030] Obtaining an angle value γ of the critical laser beam relative to the xy plane of the laser radar, and obtaining an angle value β of the laser beam adjacent to the critical laser beam and blocked by the cargo on the vehicle relative to the xy plane of the laser radar;

[0031] Difference is obtained by subtracting β from γ, and the difference is judged;

[0032] When the difference is less than or equal to the set angle, the laser radar is controlled to redistribute the laser beams so that the angle values ​​of all the redistributed laser beams relative to the xy plane of the laser radar are less than or equal to the angle value of the critical laser beam relative to the xy plane of the laser radar;

[0033] When the difference is greater than the set angle, the laser radar is controlled to reallocate the laser beam whose angle value is greater than the angle value of the critical laser beam relative to the xy plane of the laser radar; the critical laser beam is reacquired and updated until the angle values ​​of all reallocated laser beams to the xy plane of the laser radar are less than or equal to the angle value of the critical laser beam relative to the xy plane of the laser radar.

[0034] On the other hand, a laser radar harness adjustment device for adaptive cargo height includes:

[0035] The occlusion detection module is used to determine whether the laser beams emitted by the laser radar are blocked by the cargo on the vehicle;

[0036] The critical laser beam acquisition module is used to acquire the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar when it is determined that a laser beam is blocked by the cargo on the vehicle; one adjacent laser beam of the critical laser beam is blocked by the cargo on the vehicle, and another adjacent laser beam is not blocked by the cargo on the vehicle;

[0037] The laser beam adjustment module is used to control the laser radar to redistribute the laser beam based on the critical laser beam, so that all the redistributed laser beams are not blocked by the cargo on the vehicle.

[0038] On the other hand, an AGV vehicle is characterized by comprising a fork, a vehicle body and the laser radar harness adjustment device for adaptive cargo height; the fork is used to load cargo; and the laser radar is arranged on the top of the vehicle body.

[0039] It can be seen from the above description of the present invention that, compared with the prior art, the present invention has the following beneficial effects:

[0040] (1) The present invention determines whether the laser beam emitted by the laser radar is blocked by the cargo on the vehicle by detecting the laser beam. If all the laser beams are not blocked by the cargo on the vehicle, the laser radar is controlled to perform panoramic construction; if the laser beam is blocked by the cargo on the vehicle, the critical laser beam can be obtained based on the detection parameters of the laser beam, and the laser radar is controlled to redistribute the laser beam based on the critical laser beam, so that all the laser beams are not blocked by the cargo on the vehicle, and the laser radar beam is automatically adjusted to ensure that the laser radar can detect the surrounding environment and prevent accidents;

[0041] (2) The present invention detects and updates the acquired critical laser beam. If the angle difference between the acquired critical laser beam and the adjacent blocked laser beam exceeds a preset angle, the critical laser beam is updated while the laser beam is redistributed, so that the critical laser beam is close to the cargo and is not blocked by the cargo on the vehicle, thereby ensuring the accuracy of laser radar detection;

[0042] (3) When judging whether the laser beams emitted by the laser radar are blocked by cargo on the vehicle, the present invention can judge by the reflection intensity of the laser beam, the height from the xy plane of the laser beam to the upper surface of the object, or a combination of the two, thereby ensuring the accuracy of the laser radar in detecting cargo;

[0043] (4) When the present invention detects that all laser beams emitted by the laser radar are blocked, it determines that other actual objects (such as people, other AGV vehicles, etc.) appear around the goods or the goods are too high, and issues an early warning to warn the surrounding actual objects and prompt the staff to handle them to ensure safe transportation.

[0044] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments, but the laser radar harness adjustment method, device and AGV vehicle for adaptive cargo height of the present invention are not limited to the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flow chart of a method for adjusting a laser radar beam for self-adapting cargo height according to a first embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a panoramic image of a laser radar adaptively adjusting the cargo height according to the first embodiment of the present invention;

[0047] Figure 3 A detailed flow chart of a method for adjusting a laser radar beam for self-adapting cargo height according to Embodiment 1 of the present invention;

[0048] Figure 4 This is a structural block diagram of a laser radar harness adjustment device for adaptive cargo height according to Embodiment 1 of the present invention;

[0049] Figure 5 This is a schematic diagram of the structure of an AGV vehicle according to Embodiment 1 of the present invention;

[0050] Figure 6 Detailed flow chart of the laser radar beam adjustment method for adaptive cargo height according to the second embodiment;

[0051] Figure 7 Detailed flow chart of the laser radar beam adjustment method for adaptive cargo height of the third embodiment;

[0052] Figure 8 This is a detailed flow chart of the lidar beam adjustment method for adaptive cargo height of the fourth embodiment. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be described and discussed in detail below in conjunction with the accompanying drawings of the present invention. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] Embodiment 1

[0055] See also Figure 1 As shown, the present invention provides a method for adjusting a laser radar beam for self-adapting cargo height, comprising the following steps:

[0056] S101, determining whether each laser beam emitted by the laser radar is blocked by cargo on the vehicle;

[0057] S102, if a laser beam is blocked by the cargo on the vehicle, a critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained; one adjacent laser beam of the critical laser beam is blocked by the cargo on the vehicle, and another adjacent laser beam is not blocked by the cargo on the vehicle;

[0058] S103, based on the critical laser beam, controlling the laser radar to reallocate the laser beam so that all the reallocated laser beams are not blocked by the cargo on the vehicle.

[0059] The above-mentioned method for adjusting the laser radar harness for adaptive cargo height can be implemented on the vehicle controller of the AGV vehicle, or can be implemented through a separate controller, and this embodiment does not impose any specific restrictions.

[0060] Specifically, the laser radar may be a 3D laser radar.

[0061] In this embodiment, the step of determining whether each laser beam emitted by the laser radar is blocked by cargo on the vehicle specifically includes:

[0062] Acquire detection parameters of each laser beam emitted by the laser radar; the detection parameters include the reflection intensity i of the laser beam and the line value m of the laser beam;

[0063] The reflection intensities of m laser beams are traversed in sequence. When it is detected that the reflection intensity i of a laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle.

[0064] The detection parameters also include the distance value dis from the laser beam detected by the laser radar to the object, the angle value α of the laser beam relative to the laser radar xy plane, and the installation height h of the laser radar origin coordinate relative to the ground;

[0065] When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle, specifically including:

[0066] When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, the height H from the xy plane of the m laser beams to the upper surface of the object is calculated in sequence; wherein the height H is calculated based on the distance value dis and the angle value α;

[0067] Determine whether the height H of the laser beam corresponding to the minimum angle value is equal to the installation height h;

[0068] If they are equal, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if they are not equal, it is determined that the laser radar detects other objects besides the cargo on the vehicle or all the laser beams are blocked by the cargo on the vehicle, and an early warning is issued.

[0069] It should be noted that when objects other than cargo on the vehicle are detected (such as people on the ground, other vehicles or cargo on other vehicles, etc.), an early warning is required and the laser radar is controlled to stop adjusting the laser beam; when all laser beams are blocked by the cargo on the vehicle, it means that the cargo on the vehicle is too high, and an early warning is required, and the laser radar is controlled to stop adjusting the laser beam.

[0070] After determining that part of the laser beam is blocked by the cargo on the vehicle, the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained, specifically including:

[0071] The height H from the xy plane of the m laser beams to the upper surface of the object is compared with the installation height h in turn;

[0072] If the heights from the xy planes of two adjacent laser beams to the upper surface of the object are respectively equal to the installation height h and less than the installation height h, the laser beam equal to the installation height h is determined to be the critical laser beam.

[0073] The method of controlling the laser radar to redistribute the laser beam based on the critical laser beam so that all the redistributed laser beams are not blocked by the cargo on the vehicle specifically includes:

[0074] Obtaining an angle value γ of the critical laser beam relative to the xy plane of the laser radar, and obtaining an angle value β of the laser beam adjacent to the critical laser beam and blocked by the cargo on the vehicle relative to the xy plane of the laser radar;

[0075] Difference is obtained by subtracting β from γ, and the difference is judged;

[0076] When the difference is less than or equal to the set angle, the laser radar is controlled to redistribute the laser beams so that the angle values ​​of all the redistributed laser beams relative to the xy plane of the laser radar are less than or equal to the angle value of the critical laser beam relative to the xy plane of the laser radar;

[0077] When the difference is greater than the set angle, the laser radar is controlled to reallocate the laser beam whose angle value is greater than the angle value of the critical laser beam relative to the xy plane of the laser radar; the critical laser beam is reacquired and updated until the angle values ​​of all reallocated laser beams to the xy plane of the laser radar are less than or equal to the angle value of the critical laser beam relative to the xy plane of the laser radar.

[0078] For details, see Figure 2 and Figure 3As shown, in this embodiment, taking the line value m of the laser beam bundle equal to 8 as an example, the adjustment process of the lidar beam bundle and the panoramic view construction process are described.

[0079] The line value m is equal to 8, that is, the lidar has 8 laser beam bundles, which are Figure 2 m1, m2, m3, m4, m5, m6, m7, m8 in Figure 2 ; the angle value corresponding to the m1 beam bundle is α1, the angle value corresponding to the m2 beam bundle is α2, the angle value corresponding to the m3 beam bundle is α3, the angle value corresponding to the m4 beam bundle is α4, the angle value corresponding to the m5 beam bundle is α5, the angle value corresponding to the m6 beam bundle is α6, the angle value corresponding to the m7 beam bundle is α7, and the angle value corresponding to the m8 beam bundle is α8. It can be seen from Figure 2 that the reflection intensity i1 corresponding to the m1 beam bundle > iset (iset is the calibration threshold, which can be greater than or equal to the reflection intensity of the ground and less than the reflection intensity of the goods or other actual objects), the reflection intensity i2 corresponding to the m2 beam bundle > iset, the reflection intensity i3 corresponding to the m3 beam bundle < iset, the reflection intensity i4 corresponding to the m4 beam bundle < iset, the reflection intensity i5 corresponding to the m5 beam bundle < iset, the reflection intensity i6 corresponding to the m6 beam bundle < iset, the reflection intensity i7 corresponding to the m7 beam bundle < iset, and the reflection intensity i8 corresponding to the m8 beam bundle < iset. Figure 2 In

[0080] Refer to Figure 3 As shown, in the above implementation method, a lidar beam bundle adjustment method for adaptively adjusting the height of goods in this embodiment includes the following steps:

[0081] (1) After the AGV vehicle loads the goods, start to calculate the laser beam bundle coordinate function of the multi-line lidar f(m)=(dis,α,i,m,h); where dis represents the distance value from the laser beam bundle detected by the lidar to the object, x is the abscissa value based on the center origin of the lidar relative to the reflection point of the laser beam bundle, y is the ordinate value based on the center origin of the lidar relative to the reflection point of the laser beam bundle, z is the vertical coordinate value based on the origin in the lidar relative to the reflection point of the laser beam bundle; α is the angle value of the laser beam bundle relative to the xy plane of the lidar; h is the installation height of the lidar origin coordinate relative to the ground; i is the reflection intensity of the laser beam bundle.

[0082] (2) Traverse the reflection intensities of the 8 laser beam bundles in turn. Since i1>iset, that is, the first beam bundle detects the goods, then calculate the height H from the xy plane of all laser beam bundles to the upper surface of the object in turn: H = dis*sin(α);

[0083] (3) The minimum angle α is the m8 wire harness, and H8 = dis * sin(α8) = h holds. Execute step (4);

[0084] (4) Since H1 = dis * sin(α) < h, the m1 wire harness has detected the goods, and the blocked angle β = α1; since γ is still equal to 0 at this time, continue to calculate H2 = dis * sin(α) < h, then the m2 wire harness has detected the goods, and the blocked angle is updated to β = α2; since γ is still equal to 0 at this time, continue to calculate H3 = dis * sin(α) = h, then the m3 wire harness may be the critical line, and the unblocked angle γ = α3;

[0085] (5) If β - γ ≤ αset (αset is generally taken as 0° to 2°) does not hold, re - allocate the laser wire harnesses with an angle value ≥ γ, that is, re - allocate the α1, α2, α3 laser wire harnesses, and execute (6); otherwise, determine that the wire harness corresponding to γ is the critical laser wire harness, and re - allocate all laser wire harnesses based on this critical laser wire harness to ensure that the angles of all wire harnesses are less than the angle of this critical laser wire harness, and perform panoramic image construction;

[0086] (6) Loop and execute steps (3) to (5) until β - γ ≤ αset holds, that is, the wire harnesses corresponding to β and γ are infinitely close to the wire harness m0 corresponding to α0. Take the wire harness corresponding to γ as the critical laser wire harness, re - allocate the laser wire harnesses, ensure that the angles of all wire harnesses are less than the angle of this critical laser wire harness, and perform panoramic image construction.

[0087] See Figure 4 As shown, this embodiment also discloses a laser radar wire harness adjustment device for adapting to the height of goods, including:

[0088] An occlusion detection module 401, used to judge whether each laser wire harness emitted by the laser radar is blocked by the goods on the vehicle;

[0089] A critical laser wire harness acquisition module 402, used to acquire the critical laser wire harness that is not blocked by the goods on the vehicle among each laser wire harness emitted by the laser radar when it is judged that there is a laser wire harness blocked by the goods on the vehicle; one adjacent laser wire harness of this critical laser wire harness is blocked by the goods on the vehicle, and the other adjacent laser wire harness is not blocked by the goods on the vehicle;

[0090] A laser wire harness adjustment module 403, used to control the laser radar to re - allocate the laser wire harnesses based on the critical laser wire harness, so that all re - allocated laser wire harnesses are not blocked by the goods on the vehicle.

[0091] The specific implementation of a laser radar wire harness adjustment device for adapting to the height of goods is the same as that of a laser radar wire harness adjustment method for adapting to the height of goods, and this embodiment will not be repeated here.

[0092] See also Figure 5 As shown, an AGV vehicle includes a fork 50, a vehicle body 51, a laser radar 52 and the laser radar harness adjustment device 53 for adaptive cargo height (illustrated position, can also be installed in other positions); the fork 50 is used to load cargo 54 (the cargo 54 is the cargo on the vehicle mentioned above); the laser radar 52 is arranged on the top of the vehicle body 51.

[0093] Embodiment 2

[0094] See also Figure 6 As shown, the difference between this embodiment and the first embodiment is that when it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is judged that the laser beam is blocked by the cargo on the vehicle, specifically including:

[0095] When it is detected that the reflection intensity of the laser beam is greater than the set intensity, it is determined whether the angle value of the laser beam relative to the laser radar xy plane is the minimum angle based on the reflection intensity of the laser beam; if not, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if so, it is determined that the laser radar detects other objects other than the cargo on the vehicle or all the laser beams are blocked by the cargo on the vehicle (the cargo on the vehicle is too high), and an early warning is issued. That is, the first embodiment further distinguishes whether the laser beam is partially blocked by the cargo on the vehicle, or completely blocked by the cargo on the vehicle or blocked by other objects other than the cargo on the vehicle (such as people on the ground, other vehicles or cargo on other vehicles, etc.) by judging the height H from the xy plane of the laser beam to the upper surface of the object; while this embodiment directly judges by the reflection intensity of the acquired laser beam.

[0096] Furthermore, all laser beams are blocked by the cargo on the vehicle, and the critical laser beams that are not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar are obtained, specifically including:

[0097] The reflection intensity i of the m laser beams is compared with the set intensity in sequence;

[0098] If the reflection intensities of two adjacent laser beams are respectively greater than a set intensity and less than a set intensity, the laser beam whose reflection intensity is less than the set intensity is determined to be a critical laser beam.

[0099] Other implementation methods of this embodiment after obtaining the preliminary critical laser beam are the same as those of the first embodiment, and will not be repeated here.

[0100] Embodiment 3

[0101] See also Figure 7 As shown, the difference between this embodiment and the first embodiment is that S101 determines whether each laser beam emitted by the laser radar is blocked by the cargo on the vehicle, specifically including:

[0102] Acquire detection parameters of each laser beam emitted by the laser radar; the detection parameters include the distance value dis from the laser beam detected by the laser radar to the object, the angle value α of the laser beam relative to the laser radar xy plane, the installation height h of the laser radar origin coordinate relative to the ground, and the line value m of the laser beam;

[0103] The height H from the xy plane of m laser beams to the upper surface of the object is traversed in sequence. When it is detected that the height from the xy plane of the laser beam to the upper surface of the object is less than the installation height h, it is determined that the laser beam is blocked by the cargo on the vehicle; the height H is calculated based on the distance value dis and the angle value α.

[0104] That is, the first embodiment preliminarily determines whether the laser beam is blocked by cargo on the vehicle by detecting the reflection intensity i of the laser beam, while the present embodiment preliminarily determines whether the laser beam is blocked by cargo on the vehicle by sequentially traversing the xy plane of m laser beams to the height H of the upper surface of the object.

[0105] Furthermore, in order to distinguish whether the laser beam is partially blocked by the cargo on the vehicle, completely blocked by the cargo on the vehicle, or blocked by other objects other than the cargo on the vehicle (such as people on the ground, other vehicles or cargo on other vehicles, etc.), this embodiment judges by the height H from the xy plane of the laser beam to the upper surface of the object.

[0106] Specifically, when it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle, including:

[0107] When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, the height H from the xy plane of the m laser beams to the upper surface of the object is calculated in sequence; wherein the height H is calculated based on the distance value dis and the angle value α;

[0108] Determine whether the height H of the laser beam corresponding to the minimum angle value is equal to the installation height h;

[0109] If they are equal, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if they are not equal, it is determined that the laser radar detects other objects other than the cargo on the vehicle or all laser beams are blocked by the cargo on the vehicle (the cargo on the vehicle is too high), and an early warning is issued.

[0110] After determining that part of the laser beam is blocked by the cargo on the vehicle, the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained, specifically including:

[0111] The height H from the xy plane of the m laser beams to the upper surface of the object is compared with the installation height h in turn;

[0112] If the heights from the xy planes of two adjacent laser beams to the upper surface of the object are respectively equal to the installation height h and less than the installation height h, the laser beam equal to the installation height h is determined to be the critical laser beam.

[0113] Other implementations of this embodiment are the same as those of Embodiment 1 and will not be described again here.

[0114] Embodiment 4

[0115] See also Figure 8 As shown, the difference between this embodiment and the third embodiment is that when it is detected that the height H from the xy plane of the laser beam to the upper surface of the object is less than the installation height h, it is determined that the laser beam is blocked by the cargo on the vehicle, specifically including:

[0116] When it is detected that the height H from the xy plane of the laser beam to the upper surface of the object is less than the installation height h, it is determined whether the angle value of the laser beam relative to the xy plane of the laser radar is the minimum angle based on the reflection intensity of the laser beam; if not, it is determined that the laser beam is blocked by the cargo on the vehicle; if so, it is determined that the laser radar detects other objects besides the cargo on the vehicle or all laser beams are blocked by the cargo on the vehicle (the cargo on the vehicle is too high), and an early warning is issued.

[0117] That is, the third embodiment further distinguishes whether the laser beam is partially blocked by the cargo on the vehicle, completely blocked by the cargo on the vehicle, or blocked by other objects other than the cargo on the vehicle (such as people on the ground, other vehicles or cargo on other vehicles, etc.) by judging the height H from the xy plane of the laser beam to the upper surface of the object; and this embodiment directly makes the judgment based on the reflection intensity of the acquired laser beam.

[0118] Furthermore, after determining that part of the laser beam is blocked by the cargo on the vehicle, the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained, specifically including:

[0119] The reflection intensity i of the m laser beams is compared with the set intensity in sequence;

[0120] If the reflection intensities of two adjacent laser beams are respectively greater than a set intensity and less than a set intensity, the laser beam whose reflection intensity is less than the set intensity is determined to be a critical laser beam.

[0121] The other implementation methods of this embodiment after obtaining the preliminary critical laser beam are the same as those of the third embodiment, and will not be repeated here.

[0122] The above is only a specific implementation of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial changes to the present invention using this concept shall be deemed as an infringement of the protection scope of the present invention.

Claims

1. A method for adjusting the laser radar beam for self-adapting cargo height, characterized in that: include: Determine whether the laser beams emitted by the laser radar are blocked by the cargo on the vehicle; If a laser beam is blocked by the cargo on the vehicle, a critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained; one adjacent laser beam of the critical laser beam is blocked by the cargo on the vehicle, and another adjacent laser beam is not blocked by the cargo on the vehicle; Based on the critical laser beam, the lidar is controlled to reallocate the laser beam so that all the reallocated laser beams are not blocked by the cargo on the vehicle.

2. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 1, characterized in that: The determining whether each laser beam emitted by the laser radar is blocked by the cargo on the vehicle specifically includes: Acquire detection parameters of each laser beam emitted by the laser radar; the detection parameters include the reflection intensity i of the laser beam and the line value m of the laser beam; The reflection intensities of m laser beams are traversed in sequence. When it is detected that the reflection intensity i of a laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle.

3. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 2, characterized in that: The detection parameters also include the distance value dis from the laser beam detected by the laser radar to the object, the angle value α of the laser beam relative to the laser radar xy plane, and the installation height h of the laser radar origin coordinate relative to the ground; When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle, specifically including: When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, the height H from the xy plane of the m laser beams to the upper surface of the object is calculated in sequence; wherein the height H is calculated based on the distance value dis and the angle value α; Determine whether the height H of the laser beam corresponding to the minimum angle value is equal to the installation height h; If they are equal, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if they are not equal, it is determined that the laser radar detects other objects besides the cargo on the vehicle or all the laser beams are blocked by the cargo on the vehicle, and an early warning is issued.

4. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 3 is characterized in that: After determining that part of the laser beam is blocked by the cargo on the vehicle, the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained, specifically including: The height H from the xy plane of the m laser beams to the upper surface of the object is compared with the installation height h in turn; If the heights from the xy planes of two adjacent laser beams to the upper surface of the object are respectively equal to the installation height h and less than the installation height h, the laser beam equal to the installation height h is determined to be the critical laser beam.

5. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 2, characterized in that: The detection parameters also include the angle value α of the laser beam relative to the xy plane of the laser radar; When it is detected that the reflection intensity i of the laser beam is greater than the set intensity, it is determined that the laser beam is blocked by the cargo on the vehicle, specifically including: When it is detected that the reflection intensity of the laser beam is greater than the set intensity, it is determined whether the angle value of the laser beam relative to the xy plane of the laser radar is the minimum angle based on the reflection intensity of the laser beam; if not, it is determined that part of the laser beam is blocked by the cargo on the vehicle; if so, it is determined that the laser radar detects other objects besides the cargo on the vehicle or all the laser beams are blocked by the cargo on the vehicle, and an early warning is issued.

6. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 5, characterized in that: After determining that part of the laser beam is blocked by the cargo on the vehicle, the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar is obtained, specifically including: The reflection intensity i of the m laser beams is compared with the set intensity in sequence; If the reflection intensities of two adjacent laser beams are respectively greater than a set intensity and less than a set intensity, the laser beam whose reflection intensity is less than the set intensity is determined to be a critical laser beam.

7. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 1, characterized in that: The determining whether each laser beam emitted by the laser radar is blocked by the cargo on the vehicle specifically includes: Acquire detection parameters of each laser beam emitted by the laser radar; the detection parameters include the distance value dis from the laser beam detected by the laser radar to the object, the angle value α of the laser beam relative to the laser radar xy plane, the installation height h of the laser radar origin coordinate relative to the ground, and the line value m of the laser beam; The height H from the xy plane of m laser beams to the upper surface of the object is traversed in sequence. When it is detected that the height from the xy plane of the laser beam to the upper surface of the object is less than the installation height h, it is determined that the laser beam is blocked by the cargo on the vehicle; the height H is calculated based on the distance value dis and the angle value α.

8. The method for adjusting the laser radar beam for self-adapting cargo height according to claim 1, characterized in that: The method of controlling the laser radar to redistribute the laser beam based on the critical laser beam so that all the redistributed laser beams are not blocked by the cargo on the vehicle specifically includes: Obtaining an angle value γ of the critical laser beam relative to the xy plane of the laser radar, and obtaining an angle value β of the laser beam adjacent to the critical laser beam and blocked by the cargo on the vehicle relative to the xy plane of the laser radar; Difference is obtained by subtracting β from γ, and the difference is judged; When the difference is less than or equal to the set angle, the laser radar is controlled to redistribute the laser beams so that the angle values ​​of all the redistributed laser beams relative to the xy plane of the laser radar are less than or equal to the angle value of the critical laser beam relative to the xy plane of the laser radar; When the difference is greater than the set angle, the laser radar is controlled to reallocate the laser beam whose angle value is greater than the angle value of the critical laser beam relative to the xy plane of the laser radar; the critical laser beam is reacquired and updated until the angle values ​​of all reallocated laser beams to the xy plane of the laser radar are less than or equal to the angle value of the critical laser beam relative to the xy plane of the laser radar.

9. A laser radar harness adjustment device for self-adapting cargo height, characterized in that: include: The occlusion detection module is used to determine whether the laser beams emitted by the laser radar are blocked by the cargo on the vehicle; The critical laser beam acquisition module is used to acquire the critical laser beam that is not blocked by the cargo on the vehicle among the laser beams emitted by the laser radar when it is determined that a laser beam is blocked by the cargo on the vehicle; one adjacent laser beam of the critical laser beam is blocked by the cargo on the vehicle, and another adjacent laser beam is not blocked by the cargo on the vehicle; The laser beam adjustment module is used to control the laser radar to redistribute the laser beam based on the critical laser beam, so that all the redistributed laser beams are not blocked by the cargo on the vehicle.

10. An AGV vehicle, characterized in that: It comprises a cargo fork, a vehicle body and a laser radar harness adjustment device with adaptive cargo height as described in claim 9; the cargo fork is used to load cargo; and the laser radar is arranged on the top of the vehicle body.

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