Low-power-consumption laser radar truck volume and material management system and method

Abstract

The invention discloses a low-power-consumption laser radar lorry volume and material management system and method in the technical field of volume measurement. The system comprises a central control part, a lorry counting part, a plurality of lorry volume detection parts, a plurality of cleaning parts and a plurality of driving parts. The truck volume detection part is used for scanning passing trucks based on a three-dimensional measurement technology to obtain three-dimensional point cloud data of containers and goods of the trucks; the truck counting part is used for counting the trucks subjected to the volume scanning based on a three-dimensional measurement technology; the cleaning part is used for cleaning dust on the surface of the scanning end of the truck volume detection part and synchronously cleaning dust in a volume scanning area; the driving part is used for providing driving force for the cleaning part based on truck gravity. Synchronous dust removal of the scanning end and the scanning area is achieved by driving the cleaning part through the gravity of the truck, and meanwhile accurate metering, automatic counting and data traceability of the volume of the truck are achieved by processing scanning data and associating the scanning data with counting results.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of volume measurement, in particular to a low-power consumption laser radar truck volume and material management system and method. BACKGROUND

[0002] In the fields of engineering construction, mine exploitation, sandstone transportation and bulk commodity logistics, as the core transportation carrier, the truck's loading material volume measurement is directly related to trade settlement, cost accounting, overload supervision and transportation efficiency optimization. The traditional truck volume measurement mainly relies on manual estimation, tape measurement or static load cell conversion, which not only has problems such as low efficiency, high error rate and strong subjectivity, but also needs manual close-range operation, which has safety hazards in complex scenes such as mines and construction sites.

[0003] With the development of technology, laser radar three-dimensional measurement technology has gradually been applied to truck volume detection field due to its high precision, non-contact and automation. The existing laser radar truck volume device usually emits high-frequency laser beams to the running or parked truck compartment through fixed or semi-fixed laser radar modules, generates three-dimensional point cloud data of the truck compartment and the material after receiving the reflected signals, and calculates the actual volume of the material through layering, triangulation and other algorithms. This technology can realize non-stop measurement (measurement accuracy within ±3% when vehicle speed is less than or equal to 10km / h), greatly improve detection efficiency, and avoid measurement disputes caused by manual intervention.

[0004] However, in the application scenarios with high dust concentration such as mines, sandstone fields and construction sites, the dust kicked up by the tires of the truck during driving, the particulate dust scattered during the loading and unloading of the material, and the dust raised by the vibration of the vehicle itself when passing through the detection channel, will all cause a large amount of dust to be suspended in the scanning path of the laser radar or directly adhere to the surface of the optical lens of the laser radar. The interference caused by these dusts mainly manifests in two aspects: first, the suspended dust will cause scattering and absorption of the laser beam, resulting in attenuation of the reflected signal intensity received by the laser radar, and thus causing missing of point cloud data and reduction of density, which makes it impossible to completely reconstruct the surface morphology of the material; second, the dust adhering to the surface of the lens will form a shielding layer, causing the laser emission angle to deviate and the reflected signal to distort, resulting in significant increase of measurement error, and even causing the equipment to misjudge "no material" or "exceeding range".

[0005] Therefore, the present application proposes a low-power consumption laser radar truck volume and material management system and method to solve the above problems. SUMMARY

[0006] To address the aforementioned issues, this invention provides a low-power lidar truck volume measurement and material management system and method. Addressing the problems of large measurement errors and equipment misjudgments caused by lens dust accumulation and suspended dust along the scanning path in dusty environments such as mines and sand and gravel pits, existing lidar truck volume measurement devices utilize a gravity-driven cleaning unit to achieve synchronous dust removal between the scanning end and the scanning area. This effectively improves measurement stability and efficiency in complex dusty environments, reduces manual maintenance costs, and is suitable for truck volume measurement and material management needs in engineering, logistics, and other fields.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: A low-power lidar truck volume and material management system, comprising: a central control unit, a truck counting unit, several truck volume detection units, several cleaning units, and several drive units; Each truck volume detection unit is equipped with a cleaning unit at its upper end; each truck volume detection unit is equipped with a drive unit at its lower end; and the drive units are all located within the truck's driving path; both the truck counting unit and the truck volume detection unit are connected to the central control unit via signals. The truck volume measurement department is used to scan passing trucks based on 3D measurement technology to obtain 3D point cloud data of the truck's cargo box and cargo. The truck counting unit is used to count trucks after volumetric scanning based on three-dimensional measurement technology; The cleaning department is used to clean the dust on the scanning end surface of the truck volume measurement unit and simultaneously clean the dust in the volume measurement scanning area. The drive unit is used to provide driving force to the cleaning unit based on the weight of the truck; The central control unit receives 3D point cloud data from the truck volume detection unit and counting signals from the truck counting unit in real time. It preprocesses the raw point cloud data, calculates the actual volume of the cargo box and cargo based on the preprocessed point cloud data, binds the counting results with the volume data, and generates a unique freight identification number with a timestamp.

[0008] Basic Scheme Principle: When a truck passes through the detection area along a preset driving path, it first crushes the drive unit located within the path. The truck's gravity forces the force-bearing structure of the drive unit to displace, converting gravitational potential energy into pressure energy of the fluid (gas or gas-liquid mixture). This pressure energy drives the fluid to the cleaning unit, which simultaneously cleans the dust on the scanning end surface and within the scanning area of ​​the truck volume detection unit (LiDAR) through a flow guiding and diversion structure. At the same time, the central control unit wakes up the LiDAR, which is in a low-power sleep state, to perform a 3D scan of the truck's cargo box and goods and transmit point cloud data. After the truck leaves the volume detection area, the truck counting unit completes the counting through 3D contour recognition and transmits the signal to the central control unit. The central control unit preprocesses the raw point cloud data and calculates the actual volume of the cargo box and goods, binding the counting result with the volume data to generate a unique freight identification number with a timestamp. Finally, the drive unit returns to its initial state, the LiDAR re-enters the low-power sleep mode, and the system waits for the next truck to be detected, forming a closed-loop workflow of "gravity-driven dust removal - synchronous scanning - data association - reset standby".

[0009] The above approach has the following beneficial effects: 1. Compared with existing technologies, this solution converts the truck's own weight into the driving force of the cleaning unit through the drive unit, eliminating the need for external power devices such as motors and pumps. This reduces energy consumption and enables simultaneous dust removal between the LiDAR scanning end and the scanning area. Compared with traditional fixed dust prevention or manual cleaning methods, it can effectively reduce problems such as laser signal attenuation and point cloud loss caused by dust, significantly reduce measurement errors and the probability of equipment misjudgment, and is suitable for high-risk dust scenarios such as mines and sand and gravel pits. 2. In this solution, the central control unit controls the lidar through a "sleep-wake" mechanism (sleep when there are no trucks and wake up when there are trucks). Combined with the gravity-driven cleaning unit, which consumes no additional energy, the system operating cost is reduced. At the same time, the central control unit binds the cargo box / cargo volume, truck counting results and timestamps to generate a unique freight identification number, realizing integrated management of "measuring-counting-traceability" data. This solves the problems of scattered and difficult-to-trace traditional manual measurement data, and improves the efficiency and reliability of material management in logistics and engineering fields.

[0010] Furthermore, each truck volume detection unit includes a support frame, and a lidar is fixedly connected to the upper end of each support frame. The lidar is connected to the signal of the central control unit.

[0011] Beneficial effects: This solution provides a stable mounting platform for the LiDAR through a support frame, effectively preventing displacement or tilting of the LiDAR caused by factors such as truck vibration and environmental wind load, ensuring a fixed scanning angle, and reducing point cloud data distortion errors caused by equipment shaking. At the same time, the support frame structure allows for easy adjustment of the LiDAR installation position according to different vehicle heights, improving adaptability to various types of trucks such as dump trucks and flatbed trucks. Furthermore, the direct signal connection between the LiDAR and the central control unit shortens the data transmission path, reduces signal interference, and ensures the real-time performance and accuracy of the scanning data.

[0012] Furthermore, the truck counting unit includes a counting bracket, a three-dimensional counting sensor, and a counting controller; The counting bracket is fixed to the upper side of the truck's driving path and located at the exit end of the truck volume detection unit; the three-dimensional counting sensor is fixedly connected to the top of the counting bracket, the counting controller is electrically connected to the three-dimensional counting sensor, and the counting controller is signal connected to the central control unit. The three-dimensional counting sensor is used to detect passing trucks using three-dimensional contour recognition technology and output a detection signal; The counting controller is used to receive detection signals, complete truck counting, and transmit the counting results to the central control unit.

[0013] Beneficial effects: In this solution, the counting bracket provides a stable mounting base for the 3D counting sensor, and its position can be flexibly adjusted according to the truck's driving path and vehicle height to adapt to different installation requirements; the 3D counting sensor accurately detects trucks through contour recognition, effectively avoiding false counting caused by interference from pedestrians, small vehicles, etc.; the counting controller realizes signal processing and transmission, ensuring that the counting results are quickly synchronized to the central control unit, ensuring accurate correspondence between counting and volume data, and improving the coordination and reliability of truck metering and counting in material management.

[0014] Furthermore, each cleaning unit includes several cleaning seats, with a cleaning seat symmetrically fixed on the outside of each lidar. The cleaning seats extend from top to bottom along the outer surface of the lidar to the lower end of the lidar. Each cleaning seat has several guide cavities at its bottom, and these guide cavities are arranged in an array along the length of the cleaning seat. Each guide cavity has a spray nozzle at its bottom. The diameter of the upper end of each guide cavity is larger than the diameter of the lower end of the guide cavity. The distance between the upper ends of two opposing guide cavities is greater than the distance between the lower ends of the two guide cavities. The upper end of each flow guide cavity is connected to an air supply pipe; the air supply pipe is connected to the drive unit.

[0015] Beneficial effects: The symmetrically arranged cleaning seats extend along the lidar, fully covering its scanning end and surrounding area; the "coarse at the top and thin at the bottom + wide at the top and narrow at the bottom" structure of the guide cavity can efficiently gather the airflow delivered by the drive unit, increase the outlet airflow velocity through the diameter reduction effect, enhance the blowing force on the dust accumulated on the scanning end surface, and at the same time make the airflow accurately focus on the scanning area; the air supply pipe is directly connected to the drive unit, ensuring airflow transmission efficiency, and the overall structure is adapted to the lidar shape, cleaning without dead corners and without interfering with scanning, effectively maintaining detection accuracy.

[0016] Furthermore, each flow guide cavity is equipped with a flow divider plate; the flow divider plates are all "Y" shaped structures, with the bifurcation ends of the flow divider plates located outside the flow guide cavity, and the side of the bifurcation end of the flow divider plate closer to the lidar is an arc-shaped structure, while the other side of the bifurcation end of the flow divider plate is a planar structure. The flow dividers are all tilted, and the tilt angle and direction of the flow dividers are consistent with the tilt angle and direction of the spray nozzles of the corresponding flow guide chambers.

[0017] Beneficial effects: The "Y"-shaped splitter plate efficiently divides the airflow delivered by the guide cavity into two paths, adapting to different cleaning needs: the arc-shaped bifurcation end near the lidar conforms to the curved surface of the scanning end, allowing the airflow to flow along the lens surface, accurately removing attached dust and avoiding scratches on optical components; the planar bifurcation end guides the scanning area, forming a diffused airflow to disperse suspended dust. The tilt angle is consistent with the guide cavity, ensuring stable airflow direction, reducing energy loss, achieving "single-source airflow, dual cleaning," improving the targeting and efficiency of dust removal, and ensuring the scanning accuracy of the lidar.

[0018] Furthermore, several water storage tanks are fixedly connected to the top of the support frame; the lower end of the flow guide cavity is divided into a planar flow guide channel and an arc-shaped flow guide channel by a flow divider plate. The planar flow guide channel is connected to a drainage channel, and the drainage channel is connected to the water storage tank; the diameter of the portion of the drainage channel located inside the cleaning seat is smaller than the diameter of the planar flow guide channel.

[0019] Beneficial effects: The water tank provides a water source for cleaning. The diameter difference between the planar guide channel and the drainage channel creates an air pressure difference, which allows the airflow to carry the water in the water tank into the planar guide channel. The water mixes with the airflow to form a gas-liquid mixture, which enhances the adsorption capacity of suspended dust in the scanning area, especially for cleaning sticky dust more thoroughly. The small diameter design of the drainage channel avoids excessive water volume from affecting the operation of the lidar, and no additional power is required for water pumping. Liquid-gas mixing is achieved by relying on air kinetic energy, which is compatible with the system's low power consumption design, further improving the dust removal effect and equipment stability.

[0020] Furthermore, each drive unit includes a temporary storage compartment and a moving groove. The bottom wall of each moving groove has an extrusion groove. A force-bearing seat is slidably fitted inside each moving groove. The bottom end face of each force-bearing seat is fixedly connected to the extrusion seat. The end of each extrusion seat away from the force-bearing seat extends into the extrusion groove and slidably fits against the inner wall of the extrusion groove. Several springs are fixedly connected to the bottom end face of each force-bearing seat. The ends of each spring away from the force-bearing seat are fixedly connected to the bottom wall of the moving groove. Each extrusion tank has a transport channel at its bottom, which is connected to a temporary storage chamber. Each transport channel is equipped with a limiting component to restrict the direction of fluid flow. Each temporary storage chamber is connected to a first channel, which is connected to an air supply pipe. Each extrusion tank has a balancing component at its bottom to balance the internal air pressure.

[0021] Beneficial effects: The load-bearing seat supports the weight of the truck and drives the extrusion seat to extrude gas. The spring provides power for the structure to reset, realizing the conversion of gravitational potential energy into air pressure energy. The limiting component ensures that the gas is delivered unidirectionally to the storage chamber, avoiding backflow that affects the stability of the gas supply. The storage chamber can buffer the airflow and output continuously, ensuring the working efficiency of the cleaning section. The balancing component assists in balancing the air pressure when the extrusion groove is reset, making the drive section run smoothly. The whole system does not require external power, adapts to the low power consumption requirements of the system, and has a stable and reliable structure.

[0022] Furthermore, all the limiting components are composed of a first one-way valve, which is installed in the transport channel; the fluid flow direction in the first one-way valve is from the extrusion tank to the temporary storage bin.

[0023] Beneficial effects: The first one-way valve is used as the limiting component. The structure is simple and the control is precise. It can reliably realize the one-way flow of gas in the transport channel - only the compressed gas in the squeezing tank is allowed to flow to the temporary storage chamber. This effectively prevents the gas in the temporary storage chamber from flowing back to the squeezing tank, ensuring that the temporary storage chamber can stably store gas and continuously supply gas to the cleaning department.

[0024] Furthermore, each balancing component includes a balancing channel that communicates with the bottom of the extrusion tank, and a second check valve is installed in each balancing channel; the fluid flow direction in the second check valve is from the outside to the extrusion tank.

[0025] Beneficial effects: The balance channel, in conjunction with the second one-way valve, allows external air to be introduced in one direction to replenish the compression groove when the force seat resets after the truck leaves, preventing negative pressure from forming in the compression groove and hindering the spring's rebound, thus ensuring the drive unit resets quickly and smoothly; at the same time, the second one-way valve prevents gas from leaking from the balance channel when the compression seat is pressed down, ensuring that the gas in the compression groove enters the temporary storage chamber efficiently without affecting the air supply to the cleaning unit.

[0026] Furthermore, a low-power lidar truck volume and material management method includes the following specific steps: Step 1: System initialization standby: The central control unit controls the lidar to enter a low-power sleep mode, the water tank prepares cleaning water and connects the passage, the force seat of the drive unit is reset under the support of the spring, and the temporary storage compartment maintains the initial air pressure, waiting for the truck to enter; Step 2, Truck Trigger Linkage: When the truck runs over the load seat of the drive unit, the compressed gas is introduced into the guide cavity in the cleaning unit through the air supply pipe. Then the airflow is divided into two paths by the splitter plate, cleaning the lidar scanning end and the scanning area respectively. At the same time, the cleaning water in the water tank forms a gas-liquid mixture to clean the scanning area. Simultaneously, the lidar scanning is activated and the point cloud data is transmitted. After the truck leaves, the counting unit completes the counting and transmits it to the central control unit. Step 3: Data Processing and Reset: The central control unit preprocesses the point cloud data and calculates the volume of the cargo box and cargo, and binds the count and volume to generate a freight label with a timestamp; the force-bearing seat of the drive unit resets under the action of the spring and returns to standby.

[0027] Beneficial effects: This method achieves low-power operation of the lidar through a "sleep-wake" mechanism, and uses the gravity of the truck to trigger the linkage between the drive unit and the cleaning unit, eliminating the need for an additional power source; gas-liquid mixing dust removal enhances the dust cleaning effect, and scanning and counting are completed simultaneously, resulting in a highly efficient and continuous process; the central control unit binds the volume and count to generate traceability labels, and the drive unit automatically resets, forming a complete closed loop, reducing manual intervention, effectively improving the accuracy of measurement and the efficiency of material management in complex scenarios, and adapting to the needs of low energy consumption and automation.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] Figure 1 This is an overall isometric view of an embodiment of the low-power lidar truck volume and material management system of the present invention; Figure 2 This is an isometric view of the truck volume detection unit of the low-power lidar truck volume and material management system of the present invention; Figure 3 This is a top view of the lidar and cleaning mount in an embodiment of the low-power lidar truck volume and material management system of the present invention. Figure 4 This is an embodiment of the low-power lidar truck volume and material management system of the present invention. Figure 3 A cross-sectional view along the central cutting line A; Figure 5 This is an embodiment of the low-power lidar truck volume and material management system of the present invention. Figure 4 Enlarged view of section B; Figure 6This is a front sectional view of the drive unit in an embodiment of the low-power lidar truck volume and material management system of the present invention. Figure 7 This is a flowchart illustrating an embodiment of the low-power lidar truck volume and material management method of the present invention.

[0030] The reference numerals in the accompanying drawings of the instruction manual include: 1. Truck volume detection unit; 101. Support frame; 102. LiDAR; 2. Drive unit; 201. Force-bearing seat; 202. Spring; 203. Moving groove; 204. Transport channel; 205. Temporary storage bin; 206. First channel; 207. Extrusion groove; 208. Balancing channel; 3. Truck counting unit; 4. Cleaning seat; 401. Guide cavity; 402. Air pipe; 403. Diverter plate; 404. Drainage channel; 5. Water storage tank. Detailed Implementation

[0031] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] The following detailed description illustrates the specific implementation method: Example 1: like Figure 1As shown, a low-power lidar truck volume and material management system comprises a central control unit, a truck counting unit 3, and a truck volume detection unit 1, forming a basic and necessary structure. The number of truck volume detection units 1 is set according to actual conditions (2-3 units, covering the full scanning range of dual-lane or wide-body mining trucks, avoiding blind spots in single-device scanning, and improving detection efficiency). The truck counting unit 3 and each truck volume detection unit 1 are connected to the central control unit via wired or 5G wireless means to ensure real-time data transmission.

[0035] The core functions of the central control unit are data processing and system linkage control: after receiving the three-dimensional point cloud data transmitted by the truck volume detection unit 1 and the counting signal from the truck counting unit 3 in real time, it first performs Gaussian filtering noise reduction (eliminating abnormal point interference from dust residue), background segmentation (separating the cargo box / cargo from the ground, fence and other environmental backgrounds), and coordinate calibration (correcting measurement deviations caused by truck tilting) on ​​the original point cloud data. Then, it calculates the cargo box volume and the actual volume of the cargo through the layer slicing method combined with the Delaunay triangulation algorithm. Finally, it binds the counting results with the volume data to generate a unique freight identification number of "count sequence number + detection time + vehicle type code".

[0036] Specifically, in combination Figure 2 As shown, each truck volume detection unit 1 includes an adjustable height support frame 101 (e.g., a scissor-type hydraulic lifting support frame 101 with a height adjustment range of 1.8-3.5m) to adapt to different vehicle types such as dump trucks, flatbed trucks, and wide-body mining trucks, avoiding incomplete scanning due to vehicle type differences. Each support frame 101 is bolted to a lidar 102 (preferably a 16-line lidar 102 with standby power ≤5W and operating power ≤30W). The lidar 102 is connected to the central control unit via signal. The lidar 102 is used to scan the three-dimensional point cloud data of the truck's cargo box and loaded goods, and transmits the data to the central control unit for processing in real time.

[0037] Specifically, such as Figure 1 As shown, the truck counting unit 3 includes a counting bracket, a three-dimensional counting sensor, and a counting controller. The counting bracket is fixed to the upper side of the truck's travel path (2.5m above the ground) by expansion bolts and is located at the exit end of the truck volume detection unit 1. This location at the exit end ensures that the truck volume scan is completed before counting, avoiding data misalignment caused by counting before the scan is complete. The three-dimensional counting sensor is screwed to the top of the counting bracket. The counting controller is electrically connected to the three-dimensional counting sensor and to the central control unit via signal connection. During operation, the three-dimensional counting sensor identifies the three-dimensional contour features of the truck's body, such as length and height (distinguishing it from interfering targets like pedestrians and electric tricycles), and outputs a detection signal. The counting controller receives the signal, performs cumulative counting, and transmits the real-time counting result to the central control unit, effectively reducing the false counting rate.

[0038] In particular, this invention addresses the problems of large measurement errors and equipment misjudgments caused by dust accumulation on the lens and suspended dust along the scanning path in dusty environments such as mines and sand and gravel pits with the existing LiDAR 102 truck volume measurement device. Specifically, each truck volume measurement unit 1 is equipped with a cleaning unit at its upper end, and each truck volume measurement unit 1 is equipped with a driving unit 2 below it, with the driving units 2 located within the truck's driving path.

[0039] Specifically, combined Figure 2 , Figure 3 and Figure 4 As shown, each cleaning unit includes several cleaning seats 4. Each lidar 102 is symmetrically connected to a cleaning seat 4 by screws on its outer side. At the same time, the cleaning seat 4 extends from top to bottom along the outer surface of the lidar 102 to 3-5cm below the scanning end. The reason for the symmetrical arrangement is to achieve 360° coverage of the scanning end of the lidar 102 without dead angles, and to avoid dust being missed during cleaning on one side. Extending to the bottom of the scanning end ensures airflow coverage of the scanning area.

[0040] Each cleaning seat 4 has several guide chambers 401 at its bottom, and these guide chambers 401 are arranged in an array along the length of the cleaning seat 4. Each guide chamber 401 has a spray nozzle at its bottom. The upper diameter of each guide chamber 401 is larger than the lower diameter, meaning the guide chamber 401 has a "wider at the top and narrower at the bottom" structure (e.g., upper diameter 8cm, lower diameter 4cm). The distance between the upper ends of two opposing guide chambers 401 is greater than the distance between their lower ends, meaning the guide chambers 401 on two opposing cleaning seats 4 are distributed in a "wider outside and narrower inside" pattern (e.g., upper distance 15cm, lower distance 8cm). Based on Bernoulli's principle, the narrowing of the diameter and the narrowing of the distance allow the airflow to form a high-speed jet at the end of the guide chamber 401 (the flow velocity is increased to 2-3 times the initial flow velocity), enhancing the dust-blowing force. Meanwhile, each guide cavity 401 is connected to an air supply pipe 402 (using an aging-resistant PU pipe) at its upper end via a quick-connect fitting (e.g., a PE6 straight connector). The other end of the air supply pipe 402 is connected to the drive unit 2 to transmit the air pressure energy generated by the drive unit 2.

[0041] Specifically, in combination Figure 1 and Figure 6As shown, each drive unit 2 includes a temporary storage compartment 205 and a movable slot 203 embedded in the ground. The bottom wall of each movable slot 203 has a pressing slot 207. A force-bearing seat 201 (with a wear-resistant rubber pad on the top surface to protect the tire and increase friction) is slidably fitted inside each movable slot 203. A pressure sensor electrically connected to the central control unit is embedded in the bottom of each force-bearing seat 201. A pressing seat is integrally formed on the lower end face of each force-bearing seat 201. The lower end face of each pressing seat extends into the pressing slot 207 and slides in cooperation with the inner wall of the pressing slot 207 (a nitrile rubber sealing ring is fitted on the side wall of the pressing seat to prevent air leakage). At the same time, several springs 202 are welded to the lower end face of each force-bearing seat 201. The lower ends of each spring 202 are welded to the bottom wall of the movable slot 203. The springs 202 are used to provide reset power for the force-bearing seat 201 and the pressing seat. Each extrusion tank 207 has a transport channel 204 at its bottom, which is connected to a temporary storage chamber 205. Each transport channel 204 is equipped with a first one-way valve (flowing from extrusion tank 207 to temporary storage chamber 205). Each temporary storage chamber 205 is connected to a first channel 206 (with a pressure valve installed inside to control the air pressure inside the temporary storage chamber 205). Each first channel 206 is connected to an air supply pipe 402. Each extrusion tank 207 has a balance channel 208 at its bottom. The balance channel 208 is buried underground and connected to the ground to connect with the external environment, thereby allowing outside air to be supplied into the extrusion tank 207 through the balance channel 208. Each balance channel 208 is equipped with a second one-way valve (flowing from the outside to extrusion tank 207).

[0042] Combination Figure 4 and Figure 5As shown, each flow guide cavity 401 is screwed with a flow divider plate 403 (preferably molded from ABS plastic). The flow divider plates 403 are all "Y" shaped structures. The bifurcated ends of the flow divider plates 403 extend out of the flow guide cavity 401 and are arc-shaped on the side closest to the lidar 102 to ensure that the airflow flows along the curved surface of the lidar 102 and removes the attached dust. The other side of the bifurcated end of the flow divider plate 403 is a planar structure to guide the mist to diffuse to the scanning area. Thus, when cleaning the curved surface of the lidar 102, a layer of air film is formed on the surface of the lidar 102, which blocks the external dust and isolates the mist sprayed from the bifurcated end of the flow divider plate 403, so that the two functions of the flow divider plate 403 do not interfere with each other. Secondly, the air film formed on the surface of the lidar 102 converges at the middle position of the lidar 102 surface and flows towards its scanning area, thereby converging with the sprayed water mist, mixing the dust blown off the surface of the lidar 102 with the water mist, and quickly settling it down, reducing the re-aggregation of these blown-off dust. The diverter plates 403 are all inclined, and the inclination angle (30° with the horizontal) and direction of the diverter plates 403 are consistent with the inclination angle and direction of the spray nozzles of the corresponding guide chambers 401. The purpose is to reduce airflow impact loss and ensure that the airflow is delivered in the preset direction. At the same time, several water storage tanks 5 (which can be connected to tap water pipes for easy water replenishment) are bolted to the top of the support frame 101. The lower end of the guide chamber 401 is divided into a planar guide channel and an arc-shaped guide channel by the diverter plates 403. The planar guide channels are all connected to the drainage channels 404, and the drainage channels 404 are all connected to the water storage tanks 5. The diameter of the portion of the drainage channel 404 located inside the cleaning seat 4 is smaller than the diameter of the planar guide channel. According to the Venturi effect, the high-speed airflow in the planar guide channel will create a negative pressure at the inlet of the drainage channel 404, which will automatically absorb the cleaning water in the water storage tanks 5 without additional power.

[0043] The specific movement process is as follows: The central control unit controls the lidar 102 to enter a low-power sleep mode (the laser emission frequency is reduced to 50,000 points / second), the water tank 5 is filled with clean water, and the diversion channel 404 forms a passage with the planar guide channel; the force-bearing seat 201 of the drive unit 2 is located at the top of the moving groove 203 under the support of the spring 202, the extrusion seat is located above the extrusion groove 207, the first and second one-way valves are both in the closed state, and the temporary storage chamber 205 is kept at normal pressure.

[0044] When the truck runs over the force-bearing seat 201 along the driving path, the force-bearing seat 201 moves downward against the elastic force of the spring 202, causing the extrusion seat to extrude the gas in the extrusion groove 207; when the gas pressure in the extrusion groove 207 rises to 0.1MPa, the first one-way valve opens, and the gas enters the temporary storage chamber 205 through the transport channel 204 (the temporary storage chamber 205 buffers to avoid excessive instantaneous gas pressure); when the gas pressure in the temporary storage chamber 205 rises to 0.2MPa, the gas flows into the guide chamber 401 of the cleaning section through the first channel 206 and the air supply pipe 402, and after impacting the diverter plate 403, it is divided into two paths: the airflow of the arc-shaped guide channel blows at high speed along the curved surface of the laser radar 102 scanning end to remove the dust attached to the surface; the high-speed airflow of the planar guide channel creates a negative pressure at the inlet of the diversion channel 404, and the cleaning water in the water tank 5 is sucked in and mixed with the airflow to form a gas-liquid mixture, which is sprayed onto the scanning area to adsorb suspended dust.

[0045] Simultaneously, the pressure sensor at the bottom of the force-bearing seat 201 (embedded within the force-bearing seat 201) sends a trigger signal to the central control unit. The central control unit immediately wakes up the lidar 102 to the working mode (the transmission frequency is restored to 300,000 points / second), performs a full-width scan of the truck's cargo box and goods, and transmits point cloud data. When the truck leaves the drive unit 2, the spring 202 pushes the force-bearing seat 201 and the compression seat to reset. The air pressure in the compression groove 207 drops to -0.05MPa, the second one-way valve opens, and external air enters the compression groove 207 through the balance channel 208 to replenish the pressure, ensuring smooth reset. When the truck continues to travel to the counting unit area, the three-dimensional counting sensor identifies its outline and outputs a signal. The counting controller completes the counting and transmits the result to the central control unit.

[0046] After preprocessing the point cloud data, the central control unit calculates the volume of the cargo box and the cargo, binds the counting results with the volume data to generate a unique freight identification number and stores it; the water tank 5 is automatically replenished with water through the external float valve, the lidar 102 re-enters sleep mode, the system returns to standby, and waits for the next truck to trigger it.

[0047] Example 2: like Figure 7 As shown, a low-power lidar truck volume and material management method includes the following steps: Step 1: System Initialization Standby: After the central control unit starts, the lidar 102 of the truck volume detection unit 1 is controlled to enter a low-power sleep mode. Clean water is pre-stored in the water tank 5 and forms a passage through the plane guide channel of the guide cavity 401 via the diversion channel 404. The force seat 201 of the drive unit 2 is located at the top of the moving groove 203 under the support of the spring 202. The extrusion seat is located above the extrusion groove 207. The initial air pressure is maintained in the temporary storage chamber 205. The second one-way valve of the balance component is in the closed state. The system waits for the truck to enter the detection area.

[0048] Step 2, Truck Triggering Linkage: When the truck runs over the force-bearing seat 201 of the drive unit 2 along the driving path, the force-bearing seat 201 is pressed, causing the extrusion seat to slide downwards and compress the spring 202. The gas in the extrusion groove 207 enters the transport channel 204 through the first one-way valve and is then transported to the temporary storage chamber 205. After the air pressure in the temporary storage chamber 205 increases, the gas enters the air supply pipe 402 through the first channel 206 and is finally introduced into the guide cavity 401 of the cleaning unit. The airflow is divided into two paths by the "Y"-shaped diverter plate 403 in the guide cavity 401, and blown towards the lidar 102 through the arc-shaped guide channel respectively. The airflow from the scanning end surface is blown towards the scanning area through the planar guide channel; at the same time, the airflow in the planar guide channel carries the clean water in the water storage tank 5 into the planar guide channel through the diversion channel 404, and mixes with the airflow to form a gas-liquid mixture to enhance the dust removal effect; during this process, the lidar 102 of the truck volume detection unit 1 is awakened by the central control unit, scans the truck box and cargo and transmits three-dimensional point cloud data; when the truck leaves the volume detection area, the three-dimensional counting sensor of the truck counting unit 3 detects the truck and outputs a signal, the counting controller completes the counting and transmits the result to the central control unit.

[0049] Step 3, Data Processing and Reset: After receiving the 3D point cloud data, the central control unit performs noise reduction, background segmentation and coordinate calibration preprocessing. It calculates the actual volume of the cargo box and cargo by combining the layered slicing method with Delaunay triangulation, and binds the counting results with the volume data to generate a unique freight identification number with a timestamp. At the same time, the force seat 201 of the drive unit 2 is reset under the elastic force of the spring 202, the air pressure in the extrusion groove 207 decreases, the second one-way valve opens to balance the air pressure, and the system returns to the standby state to wait for the next truck to be inspected.

[0050] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A low-power lidar truck volume and material management system, characterized in that, include: Central control unit, truck counting unit (3), several truck volume detection units (1), several cleaning units and several drive units (2); Each truck volume detection unit (1) has a cleaning unit installed at the top; each truck volume detection unit (1) has a drive unit (2) installed below it; and the drive units (2) are all located within the truck driving path; the truck counting unit (3) and the truck volume detection unit (1) are both connected to the central control unit via signal. The truck volume detection unit (1) is used to scan passing trucks based on three-dimensional measurement technology to obtain three-dimensional point cloud data of the truck's cargo box and cargo. The truck counting unit (3) is used to count trucks after volume scanning based on three-dimensional measurement technology; The cleaning department is used to clean the dust on the scanning end surface of the truck volume detection department (1) and simultaneously clean the dust in the volume scanning area. The drive unit (2) is used to provide driving force to the cleaning unit based on the weight of the truck; The central control unit is used to receive the three-dimensional point cloud data of the truck volume detection unit (1) and the counting signal of the truck counting unit (3) in real time, preprocess the original point cloud data, calculate the actual volume of the cargo box and cargo based on the preprocessed point cloud data, bind the counting result with the volume data, and generate a unique freight label with a timestamp.

2. The low-power lidar truck volume and material management system according to claim 1, characterized in that: The truck volume detection unit (1) includes a support frame (101), and a laser radar (102) is fixedly connected to the upper end of the support frame (101). The laser radar (102) is connected to the signal of the central control unit.

3. The low-power lidar truck volume and material management system according to claim 2, characterized in that: The truck counting unit (3) includes a counting bracket, a three-dimensional counting sensor, and a counting controller; The counting bracket is fixed to the upper side of the truck's driving path and is located at the exit end of the truck volume detection unit (1); the three-dimensional counting sensor is fixedly connected to the top of the counting bracket, the counting controller is electrically connected to the three-dimensional counting sensor, and the counting controller is signal connected to the central control unit; The three-dimensional counting sensor is used to detect passing trucks using three-dimensional contour recognition technology and output a detection signal; The counting controller is used to receive detection signals, complete truck counting, and transmit the counting results to the central control unit.

4. The low-power lidar truck volume and material management system according to claim 3, characterized in that: Each cleaning unit includes several cleaning seats (4). Each lidar (102) has a cleaning seat (4) symmetrically fixed on its outer side. The cleaning seats (4) extend from top to bottom along the outer surface of the lidar (102) to the lower end of the lidar (102). The bottom of the cleaning seat (4) is provided with several guide cavities (401), and the guide cavities (401) are arranged in an array along the length of the cleaning seat (4), and the bottom of each guide cavity (401) is provided with a spray nozzle; the upper diameter of each guide cavity (401) is larger than the lower diameter of the guide cavity (401); the distance between the upper ends of two opposite guide cavities (401) is larger than the distance between the lower ends of the two guide cavities (401); The upper end of each flow guide cavity (401) is connected to an air supply pipe (402); the air supply pipe (402) is connected to the drive unit (2).

5. The low-power lidar truck volume and material management system according to claim 4, characterized in that: Each flow guide cavity (401) is equipped with a flow divider plate (403); each flow divider plate (403) has a "Y" shaped structure, and the bifurcation ends of the flow divider plate (403) are located outside the flow guide cavity (401). The side of the bifurcation end of the flow divider plate (403) closest to the lidar (102) is an arc-shaped structure, and the other side of the bifurcation end of the flow divider plate (403) is a planar structure. All the flow dividers (403) are inclined, and the inclination angle and direction of the flow dividers (403) are consistent with the inclination angle and direction of the spray nozzle of the corresponding flow guide cavity (401).

6. The low-power lidar truck volume and material management system according to claim 5, characterized in that: The top of the support frame (101) is fixedly connected to several water storage tanks (5); the lower end of the guide cavity (401) is divided into a planar guide channel and an arc-shaped guide channel by a diversion plate (403). The planar guide channel is connected to a diversion channel (404), and the diversion channel (404) is connected to the water storage tank (5); the diameter of the part of the diversion channel (404) located in the cleaning seat (4) is smaller than the diameter of the planar guide channel.

7. The low-power lidar truck volume and material management system according to claim 6, characterized in that: Each drive unit (2) includes a temporary storage compartment (205) and a moving groove (203). Each moving groove (203) has a pressing groove (207) on its inner bottom wall. Each moving groove (203) has a force-bearing seat (201) that slides inside it. Each force-bearing seat (201) has a pressing seat fixedly connected to its bottom end face. Each pressing seat extends into the pressing groove (207) from the end away from the force-bearing seat (201) and slides inside the pressing groove (207). Each force-bearing seat (201) has a number of springs (202) fixedly connected to its bottom end face. Each spring (202) is fixedly connected to the inner bottom wall of the moving groove (203) from the end away from the force-bearing seat (201). The bottom of each extrusion tank (207) is connected to a transport channel (204), which is connected to a temporary storage chamber (205). Each transport channel (204) is equipped with a limiting component for restricting the direction of fluid flow. Each temporary storage chamber (205) is connected to a first channel (206), which is connected to an air supply pipe (402). The bottom of each extrusion tank (207) is connected to a balancing component for balancing the internal air pressure of the extrusion tank (207).

8. The low-power lidar truck volume and material management system according to claim 7, characterized in that: The limiting components are all composed of first one-way valves, which are all installed in the transport channel (204); the fluid flow direction in the first one-way valve is from the extrusion tank (207) to the temporary storage tank (205).

9. The low-power lidar truck volume and material management system according to claim 8, characterized in that: Each balancing component includes a balancing channel (208) that communicates with the bottom of the extrusion tank (207). A second check valve is installed in each balancing channel (208). The fluid flow direction in the second check valve is from the outside to the extrusion tank (207).

10. A low-power lidar truck volume and material management method, as described in claim 9, characterized in that, The specific steps include the following: Step 1: System initialization standby: The central control unit controls the laser radar (102) to enter the low power sleep mode, the water tank (5) prepares the clean water and connects the passage, the force seat (201) of the drive unit (2) is reset under the support of the spring (202), the temporary storage compartment (205) maintains the initial air pressure, and waits for the truck to enter; Step 2, Truck Trigger Linkage: When the truck runs over the force seat (201) of the drive unit (2), the compressed gas is introduced into the guide cavity (401) in the cleaning unit through the air supply pipe (402). Then the airflow is divided into two paths through the split plate (403) to clean the scanning end of the lidar (102) and the scanning area respectively. At the same time, the cleaning water in the water tank (5) forms a gas-liquid mixture to clean the scanning area. Simultaneously, the lidar (102) is awakened to scan and transmit point cloud data. After the truck leaves, the counting unit completes the counting and transmits it to the central control unit. Step 3, Data Processing and Reset: The central control unit preprocesses the point cloud data and calculates the volume of the cargo box and cargo, and binds the count and volume to generate a cargo label with a timestamp; the force seat (201) of the drive unit (2) is reset under the action of the spring (202) and returns to standby.

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