Indirect height measurement device and method based on laser radar

Abstract

The invention discloses an indirect height measurement device and method based on a laser radar, and relates to the technical field of measurement, and the device comprises a main control board, a horizontal axis motor, a longitudinal axis motor, the laser radar and an ink box adapter. The main control board is connected with the transverse shaft motor and the longitudinal shaft motor and used for controlling the transverse shaft motor and the longitudinal shaft motor to move. The laser radar is installed on the ink box adapter. The ink box adapter is installed on the longitudinal axis motor through a connecting plate, and the longitudinal axis motor drives the ink box adapter to move up and down in the moving process so as to drive the laser radar to move up and down. The longitudinal-axis motor is connected with the transverse-axis motor through the connecting piece, and the transverse-axis motor drives the whole longitudinal-axis motor to move left and right in the moving process, so that the laser radar is driven to move left and right, and more flexible and effective indirect height measurement is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and particularly to an indirect height measurement device and method based on lidar. Background Art

[0002] In many fields such as industrial production and scientific research experiments, it is often necessary to accurately measure the specific height of an object to be measured within a limited height range. Currently, conventional height measurement methods mostly use ranging sensors such as ultrasonic sensors and laser sensors. The specific operation is to place the object to be measured on the measurement platform, make the detection source of the sensor perpendicular to the object to be measured, and the sensor traverses the measurement platform or the measurement object through point ranging or surface ranging, and then measures the distance between the detection source and the object to be measured. Then, by subtracting the known height difference between the sensor position and the measurement platform, the height of the object is finally obtained.

[0003] However, the accuracy error of this measurement method is limited by the accuracy of the sensor module itself. Generally, the accuracy error of the ranging sensor is divided into two aspects. On the one hand, the ranging error range of the sensor itself is relatively large, ranging from millimeters to centimeters. On the other hand, the errors brought by the object to be measured and the environment cannot be ignored, and it will be affected by factors such as the reflectivity, material, and ambient light of the object to be measured, thus reducing the measurement accuracy.

[0004] Currently, with the development of machine vision technology, new measurement methods such as monocular ranging and binocular ranging based on cameras have emerged. Among them, monocular ranging estimates the object to be measured based on an existing database and the captured pictures. Although it consumes less computing resources, the accuracy is poor. Initially, a reference object is required, and after optimization, it can be calculated through the pinhole model and similar triangles. Binocular ranging does not rely on a sample database and calculates the distance through the view correction of the left and right cameras. The accuracy is better than that of monocular ranging, but there is a problem of high computing resource consumption, and it has strict requirements for the lighting environment.

[0005] In addition, the current height measurement methods have three basic requirements for the recognition of the object height: First, the center of the detection source and the object to be measured need to be perpendicular to the measurement platform; second, the height of the device is sufficient, and there is enough height space to retain sufficient effective measurement accuracy outside the height of the object to be measured; third, the area of the measurement platform is moderate, and the coverage area of the device can cover most of the measurement platform. Only when all the above three basic requirements are met, the traditional height measurement method is feasible, but such a design has obvious defects. A large area of movement space needs to be left above the measurement platform for the sensor to perform motion detection, which not only causes the device appearance to not meet the requirements of weight and space occupation, increases the height and weight of the device, but also limits the measurement size to the entire measurement platform, making the measurement time-consuming and inefficient.

[0006] Therefore, there is an urgent need for a device that can more accurately, efficiently, and conveniently measure the height of an object to be measured without significantly increasing the height and weight of the device. Summary of the Invention

[0007] In view of this, the present invention provides an indirect height measurement device and method based on lidar, which can more accurately, efficiently, and conveniently measure the height of an object to be measured without significantly increasing the height and weight of the device.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An indirect height measurement device based on lidar includes a main control board, a horizontal axis motor, a vertical axis motor, a lidar, and an ink cartridge adapter;

[0010] The main control board is respectively connected to the horizontal axis motor and the vertical axis motor, and is used to control the movement of the horizontal axis motor and the vertical axis motor;

[0011] The lidar is installed on the ink cartridge adapter;

[0012] The ink cartridge adapter is installed on the vertical axis motor through a connecting plate, and the vertical axis motor drives the ink cartridge adapter to move up and down during movement, thereby driving the lidar to move up and down;

[0013] The vertical axis motor is connected to the horizontal axis motor through a connecting member, and the horizontal axis motor drives the entire vertical axis motor to move left and right during movement, thereby driving the lidar to move left and right.

[0014] Based on the above technical solutions, the present invention can also be improved as follows:

[0015] An indirect height measurement method based on lidar, which applies the above indirect height measurement device based on lidar, includes:

[0016] Controlling the vertical axis motor by the main control board to perform a detection at the minimum value and the maximum value of the vertical axis respectively. When the vertical axis motor detects the object to be measured at the minimum value of the vertical axis and does not detect the object to be measured at the maximum value of the vertical axis, perform the dichotomy detection until the difference between the minimum value and the maximum value of the vertical axis is less than the specified accuracy;

[0017] Calculating the height of the object to be measured based on the minimum value and the maximum value of the vertical axis less than the specified accuracy.

[0018] Optionally, before controlling the vertical axis motor by the main control board to perform a detection at the minimum value and the maximum value of the vertical axis respectively, it further includes:

[0019] Initialize the vertical-axis motor and the horizontal-axis motor through the main control board, so that the vertical-axis motor stops at the minimum vertical value that the vertical-axis motor can drive the lidar to move to in the vertical direction, and the horizontal-axis motor stops at the minimum horizontal value that the horizontal-axis motor can drive the lidar to move to in the horizontal direction;

[0020] Move the horizontal-axis motor to the maximum horizontal value that the horizontal-axis motor can drive the lidar to move to in the horizontal direction;

[0021] Send the uplink data to the main control board through the horizontal-axis motor;

[0022] Process the uplink data through the main control board.

[0023] Optionally, the processing of the uplink data through the main control board includes:

[0024] Initialize the minimum vertical value, the maximum vertical value, and the middle vertical value through the main control board;

[0025] Judge whether there is a value within the length of the measurement platform. If so, it is determined that the object to be measured is detected at the minimum vertical value, the vertical-axis motor is raised to the maximum vertical value, and then judge whether there is a value within the length of the measurement platform. If so, it is determined that the height of the object to be measured exceeds the limit, and the measurement ends. If not, perform the binary search detection;

[0026] Judge whether there is a value within the length of the measurement platform. If not, it is determined that the object to be measured is not detected at the minimum vertical value. The main control board controls the vertical-axis motor to move to the middle vertical value position each time, waits for the horizontal-axis motor to complete the movement detection. If the object to be measured is detected, perform the binary search detection.

[0027] Optionally, performing the binary search detection includes:

[0028] The main control board controls the vertical-axis motor to move to the middle vertical value position each time, waits for the horizontal-axis motor to complete the movement detection. If the object to be measured is detected, the main control board updates the minimum vertical value and the middle vertical value. If the object to be measured is not detected, the main control board updates the maximum vertical value and the middle vertical value until the difference between the minimum vertical value and the maximum vertical value is less than the specified accuracy.

[0029] Optionally, when performing the binary search detection until the difference between the minimum vertical value and the maximum vertical value is less than the specified accuracy, it further includes:

[0030] Calculate the specified accuracy through formula (1);

[0031] ε = (z_max - z_min) / 2^N Formula (1);

[0032] Where ε is the specified accuracy, z max is the maximum value of the vertical axis, z min is the minimum value of the vertical axis, and N is the number of times of height measurement by the bisection method.

[0033] Optionally, the lidar-based indirect height measurement method further includes:

[0034] Calculating the height of the object to be measured through formula (2);

[0035] H = (z_min + z_max) / 2 Formula (2);

[0036] Where H is the height of the object to be measured, z max is the maximum value of the vertical axis, and z min is the minimum value of the vertical axis.

[0037] Optionally, the lidar-based indirect height measurement method further includes:

[0038] After the height measurement is completed, control the vertical axis motor to move a certain height margin.

[0039] An electronic device includes a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the steps of the method are implemented.

[0040] A non-transitory computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method are implemented.

[0041] The present invention has the following advantages:

[0042] In the lidar-based indirect height measurement device of the present invention, the main control board controls the horizontal axis motor and the vertical axis motor to drive the lidar to move up, down, left, and right, saving the maximum value space and coverage area of the vertical axis, greatly reducing the total weight of the indirect height measurement device in terms of structure, making the appearance of the indirect height measurement device more concise, while reducing costs and improving the economy and market competitiveness of the indirect height measurement device.

[0043] In the lidar-based indirect height measurement device of the present invention, the lidar can move, so that the indirect height measurement device can measure objects to be measured with different shapes, sizes, and positions. The lidar does not need to be installed perpendicular to the object to be measured. It only needs to form a horizontal line with the object to be measured for a moment during movement to achieve measurement, breaking through the strict requirements for position in traditional measurement, greatly improving the flexibility and adaptability of measurement, and meeting the measurement requirements of more complex scenarios.

[0044] In the indirect height measurement device based on lidar in the present invention, the indirect measurement method using the dichotomy method has low requirements for the accuracy of the lidar. It only needs to detect whether there is an object within a specified large distance range of the lidar, enabling a low-resolution point lidar to also meet the measurement requirements, reducing the hardware requirements for the indirect height measurement device and further saving costs.

[0045] In the indirect height measurement device based on lidar in the present invention, during the movement of the horizontal axis motor and the vertical axis motor, a large area can be covered in one go, saving the height measurement time for a large area. By calculating the number of movements of the vertical axis motor between the minimum value and the maximum value of the vertical axis, even in the case of a large height difference, the dichotomy method can quickly converge to the corresponding accuracy, making the theoretical accuracy reach the millimeter level. Even if all the FOV errors are incorporated, the effect is close to that of the conventional height measurement method, achieving a double improvement in measurement efficiency and accuracy, and providing a more efficient and accurate solution for actual measurement work. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] For purposes of illustration and not limitation, the present invention will now be described in conjunction with the embodiments and drawings of the present invention, wherein:

[0047] Figure 1 is a side view of the indirect height measurement device based on lidar in the embodiment of the present invention;

[0048] Figure 2 is a front view of the indirect height measurement device based on lidar in the embodiment of the present invention;

[0049] Figure 3 is a schematic flow chart of the indirect height measurement method based on lidar in the embodiment of the present invention;

[0050] Figure 4 is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention shall fall within the protection scope of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the description of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so as to implement the embodiments of the present invention described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0053] It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The embodiments of the present invention will be described in detail below with reference to the drawings.

[0054] Figure 1 and Figure 2 is a schematic diagram of the main components of the indirect altimetry device based on lidar in the embodiments of the present invention. As Figure 1 and Figure 2 shown, the indirect altimetry device 1 based on lidar provided by the embodiment of the present invention includes a main control board 10, a horizontal axis motor, a vertical axis motor 20, a lidar 30, and an ink cartridge adapter 40.

[0055] The main control board 10 is respectively connected to the horizontal axis motor and the vertical axis motor 20, and is used to control the movement of the horizontal axis motor and the vertical axis motor 20;

[0056] The lidar 30 is installed on the ink cartridge adapter 40; the original function of the lidar 30 is to measure the distance, but in the process of measuring the distance, it actually contains not only specific distance information, but also information about the existence of objects.

[0057] The ink cartridge adapter 40 is installed on the vertical axis motor 20 through a connecting plate. During the movement of the vertical axis motor 20, the ink cartridge adapter 40 is driven to move up and down, thereby driving the lidar 30 to move up and down;

[0058] The vertical axis motor 20 is connected to the horizontal axis motor through a connecting member. During the movement of the horizontal axis motor, the entire vertical axis motor 20 is driven to move left and right, thereby driving the lidar 30 to move left and right.

[0059] During the movement of the horizontal axis motor, data is sent upward to the main control board 10. The main control board 10 only needs to determine whether the nearest distance detected during each movement of the horizontal axis motor is within the length range of the measurement platform, and then it can know whether there is an object to be measured at the current height.

[0060] Among them, the main control board 10: The core drive board of the AboutMee food printer, which controls the movement of the motor and the processing of radar data.

[0061] Horizontal axis motor: Also known as the X-axis motor, it is the motor that moves in the horizontal direction.

[0062] Vertical axis motor 20: Also known as the Z-axis motor, it is the motor that moves in the vertical direction.

[0063] Cartridge adapter 40: A connecting piece used to fix the cartridge on the machine, and there are newly added mounting holes for the lidar 30 module on the AboutMee Food Printer.

[0064] Data uplink: When the radar module and the main control board 10 perform data interaction, the data sent from the main control board 10 to the radar module is called downlink data, and this process is called data downlink. The data sent from the radar module to the main control board 10 is called uplink data, and this process is called data uplink.

[0065] Figure 2 This is a schematic flow chart of the indirect height measurement method based on lidar in the embodiment of the present invention. As Figure 2 shown, the indirect height measurement method based on lidar provided by the embodiment of the present invention includes the following steps S101 to S102.

[0066] S101. Control the vertical axis motor through the main control board to perform a detection at the minimum value and the maximum value of the vertical axis respectively. When the vertical axis motor detects the object to be measured at the minimum value of the vertical axis and does not detect the object to be measured at the maximum value of the vertical axis, perform the bisection method detection until the difference between the minimum value and the maximum value of the vertical axis is less than the specified accuracy.

[0067] Before controlling the vertical axis motor through the main control board to perform a detection at the minimum value and the maximum value of the vertical axis respectively, it further includes:

[0068] Perform initialization operations on the vertical axis motor and the horizontal axis motor through the main control board. Initialize the vertical axis motor, initialize the horizontal axis motor, and turn on the data uplink of the lidar module. In the initial state, make the vertical axis motor stop at the minimum value of the vertical axis where the vertical axis motor can drive the lidar to move vertically, and make the horizontal axis motor stop at the minimum value of the horizontal axis where the horizontal axis motor can drive the lidar to move horizontally;

[0069] [[ID= / / ID=29]]Move the horizontal axis motor to the maximum value of the horizontal axis where the horizontal axis motor can drive the lidar to move horizontally;

[0070] After the height measurement process starts, the vertical axis motor performs a detection at the minimum value and the maximum value of the vertical axis respectively. If the object to be measured is not detected at the minimum value of the vertical axis, it means that the height of the object to be measured is too low, or there is no object to be measured, and there is no need to perform subsequent detections. Just raise it by a certain margin. If the object to be measured is detected at the maximum value of the vertical axis, it means that the height of the object to be measured is too high, and there is no need to perform subsequent detections either.

[0071] If it is detected at the minimum value of the vertical axis and not detected at the maximum value of the vertical axis, it indicates that the height of the object to be measured is within the measurable range, and the dichotomy detection starts.

[0072] Send the uplink data to the main control board through the horizontal axis motor;

[0073] Perform data processing on the uplink data through the main control board.

[0074] Perform data processing on the uplink data through the main control board, including:

[0075] Initialize the minimum value (z_min), maximum value (z_max), and middle value (z_mid) of the vertical axis through the main control board;

[0076] Judge whether there is a value within the length of the measurement platform. If so, it is determined that the object to be measured is detected at the minimum value of the vertical axis, raise the vertical axis motor to the maximum value of the vertical axis, and judge whether there is a value within the length of the measurement platform. If so, it is determined that the height of the object to be measured exceeds the limit, and the measurement ends. If not, perform the dichotomy detection;

[0077] Judge whether there is a value within the length of the measurement platform. If not, it is determined that the object to be measured is not detected at the minimum value of the vertical axis. Control the vertical axis motor to move to the middle value position of the vertical axis each time through the main control board, wait for the end of the movement detection of the horizontal axis motor. If the object to be measured is detected, perform the dichotomy detection.

[0078] Perform the dichotomy detection, including:

[0079] Control the vertical axis motor to move to the middle value position of the vertical axis each time through the main control board, wait for the end of the movement detection of the horizontal axis motor. If the object to be measured is detected, update the minimum value and the middle value of the vertical axis through the main control board. If the object to be measured is not detected, update the maximum value and the middle value of the vertical axis through the main control board until the difference between the minimum value and the maximum value of the vertical axis is less than the specified accuracy.

[0080] Calculate the specified accuracy through formula (1);

[0081] ε = (z max - z min) / 2^N Formula (1);

[0082] In the formula, ε is the specified accuracy, z max is the maximum value of the vertical axis, z min is the minimum value of the vertical axis, and N is the number of times of height measurement by dichotomy.

[0083] S102, calculate the height of the object to be measured based on the minimum value and the maximum value of the vertical axis less than the specified accuracy.

[0084] Calculate the height of the object to be measured through formula (2);

[0085] H = (z_min + z_max) / 2, Equation (2);

[0086] Wherein, H is the height of the object to be measured, z_max is the maximum value of the vertical axis, and z_min is the minimum value of the vertical axis.

[0087] During multiple measurements, the accuracy change rate of each measurement is calculated through Equation (3);

[0088]

[0089] Wherein, R is the accuracy change rate, Accuracy i is the specified accuracy of the i-th measurement, and Accuracy i+1 is the specified accuracy of the (i + 1)-th measurement.

[0090] By observing the change of the specified accuracy, it is possible to understand whether the measurement process is stable. If the accuracy changes greatly, it indicates that the measurement may be interfered by certain factors, and the measurement method, equipment parameters, or measurement environment can be adjusted in a timely manner. For example, in the indirect height measurement method based on lidar, if it is found that the specified accuracy changes greatly between two adjacent measurements, it is possible to check whether the lidar is loose or whether the motor movement is accurate, etc., to improve the accuracy and reliability of the measurement.

[0091] The accuracy change situation is an important indicator to measure the performance of the measurement system. A stable accuracy change indicates that the measurement system has good performance and high repeatability; on the contrary, if the accuracy fluctuates greatly, it means that there may be problems with the measurement system, such as equipment aging and sensor accuracy decline, which helps to discover and solve these problems in a timely manner and ensure the normal operation of the measurement system.

[0092] When it is known that the change in the specified accuracy between two adjacent measurements is small, the number of subsequent measurements can be appropriately reduced or the measurement conditions can be relaxed to improve the measurement efficiency; if the accuracy changes greatly, the number of measurements needs to be increased or the measurement conditions need to be optimized to ensure the accuracy of the measurement results and avoid repeated measurements and time waste caused by insufficient accuracy.

[0093] Moreover, measuring the change in the specified accuracy between two adjacent measurements helps to judge the credibility of the measurement results. A small and stable accuracy change indicates that the measurement results are reliable; a large accuracy change indicates that there may be errors in the measurement results, which need to be further analyzed and verified, so as to ensure the quality of the final measurement results and provide a reliable basis for subsequent data analysis and decision-making.

[0094] Figure 4 is a schematic diagram of the physical structure of the electronic device provided by the embodiment of the present invention. As Figure 4 shown, the electronic device 50 includes: a processor 501 (processor), a memory 502 (memory), and a bus 503;

[0095] Among them, the processor 501 and the memory 502 complete communication with each other through the bus 503;

[0096] The processor 501 is used to call program instructions in the memory 502 to execute the methods provided in the above method embodiments and to execute the methods provided in the embodiments of the present invention.

[0097] This embodiment provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the methods provided in the embodiments of the present invention.

[0098] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes various storage media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0099] The above specific implementation manners do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An indirect altimetry device based on lidar, characterized in that, Including main control board, horizontal axis motor, vertical axis motor, lidar and ink cartridge adapter; The main control board is connected to the horizontal axis motor and the vertical axis motor respectively, and is used to control the movement of the horizontal axis motor and the vertical axis motor; The laser radar is mounted on the ink cartridge adapter; The ink cartridge adapter is mounted on the longitudinal axis motor via a connecting plate, and the longitudinal axis motor drives the ink cartridge adapter to move up and down during movement, thereby driving the laser radar to move up and down; The longitudinal axis motor is connected to the transverse axis motor via a connecting piece. During movement, the transverse axis motor drives the entire longitudinal axis motor to move left and right, thereby driving the laser radar to move left and right.

2. A laser radar-based indirect altimetry method, using the laser radar-based indirect altimetry device according to claim 1, characterized in that: The main control board controls the longitudinal axis motor to perform detection once at the longitudinal axis minimum value and the longitudinal axis maximum value respectively. When the longitudinal axis motor detects the object to be detected at the longitudinal axis minimum value and does not detect the object to be detected at the longitudinal axis maximum value, binary detection is performed until the difference between the longitudinal axis minimum value and the longitudinal axis maximum value is less than a specified accuracy. Calculates the height of the object to be measured based on the minimum and maximum values of the vertical axis that are less than the specified accuracy.

3. The indirect altimetry method based on lidar according to claim 2, wherein Before the main control board controls the longitudinal axis motor to perform a detection on the longitudinal axis minimum value and the longitudinal axis maximum value respectively, the method further includes: Initialize the longitudinal motor and transverse motor through the main control board, so that the longitudinal motor stops at the minimum longitudinal value that the longitudinal motor can drive the laser radar to move in the vertical direction, and the transverse motor stops at the minimum transverse value that the transverse motor can drive the laser radar to move in the horizontal direction; Move the horizontal axis motor to the maximum horizontal axis value to which the horizontal axis motor can drive the laser radar; Sending uplink data to the main control board via the horizontal axis motor; The uplink data is processed by the main control board.

4. The indirect altimetry method based on lidar according to claim 3, wherein The processing of the uplink data by the main control board includes: Initialize the minimum value, maximum value, and middle value of the vertical axis through the main control board; Determine whether there is a value within the length of the measuring platform. If so, determine that the object to be measured is detected at the minimum value of the vertical axis, raise the vertical axis motor to the maximum value of the vertical axis, and determine whether there is a value within the length of the measuring platform. If so, determine that the height of the object to be measured is out of bounds and end the measurement. If not, perform binary detection; Determine whether there is a distance within the length of the measuring platform. If not, it is determined that the minimum value of the vertical axis has not detected the object to be measured. The main control board controls the vertical axis motor to move to the middle value position of the vertical axis each time, and waits for the horizontal axis motor movement detection to end. If the object to be measured is detected, the binary detection is performed.

5. The indirect altimetry method based on lidar according to claim 4, wherein Performs bisection testing, including: The main control board controls the vertical axis motor to move to the middle value position of the vertical axis each time, and waits for the horizontal axis motor movement detection to end. If the object to be measured is detected, the main control board updates the vertical axis minimum value and the vertical axis middle value. If the object to be measured is not detected, the main control board updates the vertical axis maximum value and the vertical axis middle value until the difference between the vertical axis minimum value and the vertical axis maximum value is less than the specified accuracy.

6. The indirect altimetry method based on lidar according to claim 2, wherein Perform the bisection method detection until the difference between the minimum value and the maximum value of the vertical axis is less than the specified precision, further including: Calculate the specified precision through formula (1); ε = (z_max - z_min) / 2^N Formula (1); In the formula, ε is the specified precision, z_max is the maximum value of the vertical axis, z_min is the minimum value of the vertical axis, and N is the number of times of height measurement by the bisection method.

7. The indirect altimetry method based on lidar according to claim 6, characterized in that, The indirect height measurement method based on lidar further includes: Calculate the height of the object to be measured through formula (2); H = (z_min + z_max) / 2 Formula (2); In the formula, H is the height of the object to be measured, z_max is the maximum value of the vertical axis, and z_min is the minimum value of the vertical axis.

8. The indirect altimetry method based on lidar according to claim 2, characterized in that The indirect height measurement method based on lidar further includes: After the height measurement is completed, control the vertical axis motor to move a certain height margin.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 2 to 8.

10. A non-transitory computer-readable medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method described in any one of claims 2 to 8.

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