Data acquisition device and data acquisition system

Abstract

The utility model provides a data acquisition device and a data acquisition system, the data acquisition device comprises a body, and a positioning unit, a laser radar sensor and a communication unit which are arranged on the body, the positioning unit is used for determining the position information of the acquisition device; the laser radar sensor is used for collecting point cloud data of a reverse slope and / or a retaining wall of the refuse dump; and the communication unit is used for sending the position information of the data acquisition equipment and the point cloud data of the reverse slope and / or the retaining wall of the refuse dump to a vehicle or a remote control platform, and displaying the gradient value of the reverse slope and the height value of the retaining wall on a display device of the vehicle or the remote control platform. According to the data acquisition equipment and the data acquisition system, manual measurement is not needed, the information of the reverse slope and the retaining wall of the dumping site is automatically acquired and acquired, and the unqualified reverse slope and retaining wall area of the dumping site is prompted, so that the safety guarantee is provided for the unmanned mine car of the mine.

Description

Technical Field

[0001] The utility model relates to the field of automatic driving, and in particular to a data acquisition device and a data acquisition system. Background Art

[0002] Safety is a priority in open-pit mining operations, especially in the unloading of earth and stone. To ensure operational safety, the open-pit mine production and operation specifications require that a certain distance in front of the dumping line be repaired into a reverse slope, and that a retaining wall be repaired at the dumping line. There are also specific requirements for the reverse slope angle and retaining wall height to prevent danger when the mine car reverses or dumps ore.

[0003] In the related technology, the spoil dump will be equipped with a full-time spoil manager to conduct measurement and acceptance after the shovel has repaired the spoil reverse slope and retaining wall. Only after passing the acceptance, the mine truck is allowed to discharge the soil. Among them, the safety retaining wall measurement and acceptance requires the spoil manager to get off the vehicle and use the RTK measurement instrument to perform multi-position point measurement at the safety retaining wall. Due to the large blind spot of the mine truck, safety accidents such as the spoil manager being hit often occur, especially in the night shift. Therefore, the site generally requires that the spoil manager stop all operating equipment before getting off the vehicle for measurement during the production process. This operation method has safety risks and affects production efficiency. Utility Model Content

[0004] The utility model provides a data acquisition device and a data acquisition system. Through the acquisition device installed on the top of the acquisition vehicle, the information of the reverse slope and retaining wall of the collection dump is automatically acquired without manual measurement, so as to provide auxiliary information for the automatic driving vehicle of the mine.

[0005] In a first aspect, the utility model provides a data acquisition device, the data acquisition device comprising:

[0006] A body, wherein a positioning unit, a laser radar sensor and a communication unit are arranged on the body, wherein the positioning unit comprises a first positioning antenna and a second positioning antenna symmetrically installed on both sides of the body, and the first positioning antenna and the second positioning antenna are used to determine the position information of the acquisition device;

[0007] The laser radar sensor is installed on the top of the body and is used to collect point cloud data of the reverse slope and / or retaining wall of the spoil dump;

[0008] The communication unit is electrically connected to the positioning unit and the laser radar sensor, and is used to send the location information of the collection setting determined by the positioning unit and the reverse slope of the spoil dump and / or the height information of the retaining wall collected by the laser radar sensor to the vehicle or remote control platform.

[0009] Furthermore, the positioning unit includes a GPS positioning unit or a GNSS positioning unit, and the GPS positioning unit or the GNSS positioning unit is used to determine the location information of the acquisition device according to the first positioning antenna and the second positioning antenna.

[0010] Furthermore, the positioning unit includes an inertial navigation unit installed at a central position of the body, and the inertial navigation unit is used to determine the position information of the acquisition device according to inertial navigation information.

[0011] Furthermore, the communication unit includes: a cellular network communication module, a vehicle-to-vehicle (V2V) communication module and / or a vehicle-to-network (V2N) communication module.

[0012] Furthermore, the main body includes a first support structure and a second support structure, the second support structure is arranged on the upper surface of the first support structure, the upper surface of the second support structure is provided with the laser radar sensor, and an inertial navigation unit is provided in the space formed by the second support structure and the upper surface of the first support structure.

[0013] Furthermore, a first supporting structure and a second supporting structure are symmetrically arranged on both sides of the first bracket structure, wherein the first supporting structure is used to fix the first positioning antenna, and the second supporting structure is used to fix the second positioning antenna.

[0014] Furthermore, the first end of the first supporting structure is connected to a side surface of the first bracket structure and is arranged close to the bottom of the side surface, and the second end of the first supporting structure is suspended, and the height of the second end is close to the height of the upper surface of the first bracket structure.

[0015] Furthermore, the bottom of the first bracket structure is symmetrically provided with a first recess and a second recess on both sides along its length direction, and the first recess and the second recess can be slidably installed on the guide rail on the top of the collection vehicle, thereby fixing the body on the top of the collection vehicle.

[0016] Furthermore, a seven-in-one antenna is also provided on the upper surface of the first bracket structure.

[0017] In a second aspect, the utility model provides a data acquisition system, the data acquisition system comprising a computing unit, a display unit and any of the acquisition devices described above, wherein:

[0018] The acquisition device is installed on the top of the acquisition vehicle and is in communication connection with the computing unit. The acquisition device is used to send the point cloud data acquired by the laser radar sensor and the positioning information acquired by the positioning unit to the computing unit;

[0019] The calculation unit is used to calculate the reverse slope of the spoil dump and / or the height information of the retaining wall according to the point cloud data collected by the laser radar sensor and the positioning information obtained by the positioning unit;

[0020] The display unit is connected to the calculation unit, and is used to display the reverse slope of the spoil dump and / or the height information of the retaining wall calculated by the calculation unit.

[0021] Furthermore, the computing unit and / or the display unit are arranged inside the data collection vehicle; or, the computing unit and / or the display unit are arranged on a remote control platform.

[0022] The data acquisition device and system provided by the utility model automatically collect point cloud data of the reverse slope and retaining wall of the spoil dump through the acquisition device, and send the collected point cloud data of the reverse slope and retaining wall of the spoil dump to the vehicle or remote control platform. The data acquisition device and data acquisition system of the utility model automatically obtain and collect information of the reverse slope and retaining wall of the spoil dump without manual measurement, and can prompt unqualified reverse slope and retaining wall areas of the spoil dump, providing safety protection for unmanned mine vehicles in mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the data acquisition device of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the installation part for fixing the data acquisition device of the utility model;

[0025] Figure 3 It is a structural block diagram of the data acquisition device of the utility model;

[0026] Figure 4 It is a cross-sectional schematic diagram of the reverse slope and retaining wall area of ​​the spoil dump of the utility model;

[0027] Figure 5 A schematic diagram of a data collection vehicle carrying a data collection device of the present invention;

[0028] Figure 6 A structural diagram of a data acquisition system of the utility model; and

[0029] Figure 7 It is a schematic diagram of the display interface of the display device of the data acquisition system of the present utility model. DETAILED DESCRIPTION

[0030] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present utility model.

[0031] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] A data acquisition device and a data acquisition system according to the present utility model will be described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 The data acquisition device 100 includes a body 101 , the body 101 includes a first bracket 102 and a second bracket 103 disposed above the first bracket 102 , wherein a space 104 is formed between the first bracket 102 and the second bracket 103 .

[0035] Further, such as Figure 1 As shown, the data acquisition device 100 includes an acquisition unit 105, which is arranged above the second bracket 103 and is used to collect point cloud data of the reverse slope and retaining wall of the spoil dump. The acquisition unit 105 is preferably a laser radar sensor. In the present utility model, the laser radar sensor is preferably a solid-state laser radar sensor, which has no moving parts, is small in size, is easy to integrate, and has higher system reliability.

[0036] Further, such as Figure 1As shown, the first bracket 102 is preferably a long and narrow structure, which includes a symmetrically arranged first base 106 and a second base 107. The first base 106 and the second base 107 are respectively provided with a first supporting structure 108 and a second supporting structure 109.

[0037] Preferably, the first end (not shown in the figure) of the first supporting structure 108 is connected to a side surface of the first supporting structure 102 and is arranged close to the bottom of the side surface, and the second end (not shown in the figure) of the first supporting structure is suspended, and the height of the second end is close to the height of the upper surface of the first supporting structure 102;

[0038] Preferably, the first end of the second support structure 109 (not shown in the figure) is connected to the other side of the first support structure 102 and is arranged close to the bottom of the side, and the second end of the second support structure 109 (not shown in the figure) is suspended, and the height of the second end is close to the height of the upper surface of the first support structure 102.

[0039] Further, such as Figure 1 As shown, the first support structure 108 is used to fix the first antenna 111, and the second support structure 109 is used to fix the second antenna 112. The first positioning antenna 111 and the second positioning antenna 112 are used to determine the location information of the data acquisition device 100. Preferably, the first positioning antenna 111 and the second positioning antenna 112 constitute a GPS positioning unit or a GNSS positioning unit, and the GPS positioning unit or the GNSS positioning unit is used to determine the location information of the data acquisition device 100 according to the first positioning antenna 111 and the second positioning antenna 112.

[0040] Furthermore, the data acquisition device 100 also includes an inertial navigation unit 110, which is installed at a central position of the space 104. The inertial navigation unit 110 is used to determine the position information of the data acquisition device 100 according to the inertial navigation information.

[0041] Optionally, a seven-in-one antenna (not shown in the figure) is also provided on the upper surface of the first support structure 102, and the seven-in-one antenna has the functions of a 5G antenna, a WIFI antenna and a positioning antenna.

[0042] For example, the 5G antenna uses frequencies of 699-960MHz, 710-2690MHz, 3300-4200MHz, and 4400-5000MHz; the WIFI antenna uses frequencies of 2412-2484MHz,

[0043] 4915-5924MHz; GNSS antenna uses frequencies of 1575.42MHz and 1176MHz.

[0044] Further, such as Figure 1 As shown, the bottom of the base 106, 107 is symmetrically provided with a first notch 113 and a second notch (not shown in the figure) along the length direction of the first bracket 102, and the first notch and the second notch can be slidably mounted on the guide rail on the top of the collection vehicle (not shown in the figure) (see Figure 2 ) on the top of the collection vehicle, thereby fixing the main body on the top of the collection vehicle.

[0045] like Figure 2 , which is a schematic structural diagram of a mounting portion 200 for fixing the data acquisition device 100 on the top of a data acquisition vehicle according to an embodiment of the present disclosure.

[0046] As an example, Figure 2 As shown, the mounting portion 200 includes a first guide rail 210 and a second guide rail 220, wherein the first guide rail 210 has a first rod portion 211 and first fixing members 212, 213, and the first fixing members 212, 213 are used to fix the first guide rail 210 to the top of the collection vehicle; the second guide rail 220 has a second rod portion 221 and second fixing members 222, 223, and the second fixing members 212, 213 are used to fix the second guide rail 220 to the top of the collection vehicle.

[0047] Preferably, the first fixing members 212, 213 and the second fixing members 222, 223 are mounted on the top of the collection vehicle by magnetic attraction. However, those skilled in the art should know that the first fixing members 212, 213 and the second fixing members 222, 223 may also adopt other fixing methods known in the art, such as welding, riveting, etc., and the present invention does not impose specific restrictions on this. Optionally, the mounting portion 200 is a luggage rack on the top of the vehicle.

[0048] In practical applications, such as Figure 1 and Figure 2 As shown, the data acquisition device 100 is adapted to the mounting portion 200 by making the first base 106 and the second base 107 slide along the first guide rail 210 and the second guide rail 220 through the recesses below the first base 106 and the second base 107 .

[0049] Preferably, a locking portion (not shown in the figure) is also provided on the mounting portion 200. When the first base 106 and the second base 107 slide to a predetermined position along the first guide rail 210 and the second guide rail 220, the locking portion locks the position of the data acquisition device 100 on the guide rails 210, 220.

[0050] Correspondingly, the mounting portion 200 is also provided with a releasing portion (not shown in the figure). When the data acquisition device 100 needs to be moved out from the guide rails 210 , 220 , the releasing portion is controlled to release the locking portion.

[0051] It should be noted that Figure 2 The mounting portion 200 includes a first guide rail 210 and a second guide rail 220, and the corresponding Figure 1 Two notches are provided at the bottom of each of the first base 106 and the second base 107. Optionally, in practical applications, those skilled in the art can set the number of guide rails of the mounting portion 200 to one, three, or four, etc., and the number of notches provided at the bottom of each of the first base 106 and the second base 107 accordingly. The utility model does not specifically limit the number of the guide rails and notches.

[0052] Preferably, the data acquisition device 100 is installed at an appropriate position of the collection vehicle, such as the roof. It should be noted that the above installation method is only an example, and technicians in this field can know that as long as its fixed position can meet the collection needs, the embodiment of the present disclosure does not specifically limit its fixed position.

[0053] like Figure 3 The data acquisition device 300 includes a collection unit 301 , a positioning unit 302 , a power interface 303 , a processing unit 304 , a storage unit 305 , and a communication unit 306 .

[0054] The acquisition unit 301 includes a laser radar sensor (not shown in the figure), which is used to collect point cloud data of the reverse slope and retaining wall of the spoil dump.

[0055] The positioning unit 302 includes a GPS positioning unit or a GNSS positioning unit and an IMU inertial navigation unit, and is used to obtain the position information of the acquisition device 300 .

[0056] The processing unit 304 is used to pre-process the point cloud data of the reverse slope and retaining wall of the spoil dump acquired by the acquisition unit 301, including filtering, noise reduction, etc.

[0057] The storage unit 305 is used to store the data information of the reverse slope and retaining wall of the spoil dump acquired by the acquisition unit 301, the position information of the acquisition device 300 acquired by the positioning unit 302, and the data processed by the processing unit 304;

[0058] Among them, the communication unit 306 is used to send the data information of the reverse slope and retaining wall of the spoil dump obtained by the collection unit 301, the position information of the collection device 300 obtained by the positioning unit 302, and the relevant data information of the reverse slope and retaining wall of the spoil dump calculated by the processing unit 304 to the vehicle or remote control platform.

[0059] like Figure 4 As shown in FIG. 1 , it is a cross-sectional view of the reverse slope area of ​​the spoil dump collected by the data collection device 300 of the utility model. Figure 4 As shown, in the mining area of ​​the open-pit mine, there are a flat area 401 for the spoil dump, a reverse slope area 402 for the spoil dump, and a retaining wall 403. In actual application, there are pre-set requirements for the slope value of the reverse slope area 402 of the spoil dump and the height value of the retaining wall 403 to ensure the safety of the spoil dump vehicle during the spoil dumping operation.

[0060] See also Figure 5 , is a schematic diagram of using the data acquisition device of the utility model to collect data. Figure 5 As shown, the collection vehicle 50 carries the data collection device 300 to collect point cloud data of the spoil dump and the reverse slope area. Among them, the yellow line 501 is the spoil line displayed on the high-precision map, and the position of the retaining wall (not shown in the figure) is the same as or close to the position of the spoil line; the rectangular area 502 is the spoil position displayed on the high-precision map. In actual application, the collection vehicle 50 travels at a stable speed not exceeding 10km / h, and its driving trajectory is parallel to the spoil line or the retaining wall; during the driving process, the measuring instrument carried by the collection vehicle collects point cloud data of the relevant area of ​​the spoil dump. When the retaining wall needs to be collected, the collection vehicle approaches the retaining wall and travels parallel to the retaining wall; when the reverse slope needs to be collected, the collection vehicle can be slightly away from the retaining wall and travel parallel to the retaining wall.

[0061] It should be further explained that, compared with the 360-degree mechanical rotating laser radar, the solid-state laser radar collects point cloud data within a certain angle range. Since the utility model only needs to collect point cloud data of the reverse slope and retaining wall of the spoil dump located on one side of the collection vehicle, the laser radar used in the data collection device 300 of the utility model is a solid-state laser radar.

[0062] The data acquisition device of the utility model collects data information of the reverse slope and retaining wall of the spoil dump through the data acquisition equipment detachably installed on the collection vehicle, thereby automatically obtaining data information of the reverse slope and retaining wall of the spoil dump without manual collection, and providing auxiliary information for unmanned driving of mines.

[0063] Further, such as Figure 6As shown, the embodiment of the present disclosure also provides a data acquisition system, including a data acquisition device detachably mounted on a collection vehicle, and a terminal 600 located on the collection vehicle or on a remote control platform, wherein the specific structure and function of the data acquisition device are exactly the same as the structure and function of the aforementioned data acquisition device 100 and data acquisition device 300, and are not repeated here.

[0064] The terminal 600 located on the collection vehicle or the remote control platform includes a computing unit 601 , a display unit 602 and a communication unit 603 .

[0065] Taking the data acquisition device as the data acquisition device 300 as an example, the data acquisition device 300 is installed on the top of the collection vehicle (not shown) through the installation unit 200. The communication unit 306 of the data acquisition device 300 is used to send the point cloud data of the reverse slope and the retaining wall of the spoil field collected by the collection unit 301 and the position information determined by the positioning unit 302 to the communication unit 603 of the terminal 600 located on the collection vehicle or the remote control platform through the communication unit 306. The calculation unit 601 of the terminal 600 is used to calculate the slope value of the reverse slope of the spoil field and the height value of the retaining wall collected by the data acquisition device 300 according to the point cloud data and position information of the reverse slope of the spoil field and the retaining wall received by the communication unit 603, and display them in the display unit 602, and prompt unqualified reverse slopes and retaining walls.

[0066] like Figure 7 As shown, it is a schematic diagram of an interface for displaying the reverse slope and retaining wall information of the spoil dump on the display unit 602 of the terminal 600 located in the collection vehicle or the remote control platform. Among them, the minimum retaining wall height is set to 90cm, and the minimum reverse slope gradient is set to 3%. The collection vehicle 60 travels at a speed of 10km / h, and displays the collected reverse slope gradient value and retaining wall height value.

[0067] like Figure 7 As shown, the collection vehicle travels at a stable speed not exceeding 10 km / h, and its driving trajectory is parallel to the dumping line or retaining wall. Figure 7In the figure, 701 indicates the boundary line of the retaining wall that is automatically displayed after the calculation is completed. The highlighted yellow line indicates that the height of the boundary line of the retaining wall meets the preset requirements; the highlighted red line indicates that the height of the boundary line of the retaining wall is lower than the threshold and needs to be trimmed. 702 indicates the height value of the retaining wall generated after the calculation is completed. The value in white font indicates that the height of the retaining wall meets the preset requirements; the value in red font indicates that the height of the retaining wall is lower than the threshold and needs to be trimmed. The blue border of area 703 indicates that after the calculation is completed, the dumping position frame diagram is automatically generated according to the set dumping position size; the values ​​contained in the yellow area, such as 6.1% and 6.0%, indicate that the reverse slope angle of the dumping position meets the requirements, and the values ​​contained in the purple area, such as 3.5% and 7.3%, indicate that the reverse slope angle does not meet the threshold requirements and needs to be trimmed.

[0068] The data acquisition system of the utility model acquires point cloud data of the reverse slope of the spoil dump and the retaining wall through a data acquisition device installed on a collection vehicle, and sends the acquired point cloud data of the reverse slope of the spoil dump and the retaining wall to the collection vehicle or a remote control platform through a communication unit, and displays the calculated slope value information of the reverse slope of the spoil dump and the height value information of the retaining wall in a display unit of the collection vehicle or the remote control platform, and prompts unqualified reverse slopes of the spoil dump and retaining walls, thereby prompting users to make repairs, thereby providing safety protection for unmanned driving in mining areas.

[0069] In the embodiments provided by the present utility model, it should be understood that the disclosed device / electronic device The device / electronic device embodiments described above are merely illustrative, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0070] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A data acquisition device, characterized in that: The data acquisition device comprises: A body, wherein a positioning unit, a laser radar sensor and a communication unit are arranged on the body, wherein the positioning unit comprises a first positioning antenna and a second positioning antenna symmetrically installed on both sides of the body, and the first positioning antenna and the second positioning antenna are used to determine the position information of the acquisition device; The laser radar sensor is installed on the top of the body and is used to collect point cloud data of the reverse slope and / or retaining wall of the spoil dump; The communication unit is electrically connected to the positioning unit and the laser radar sensor, and is used to send the location information of the collection setting determined by the positioning unit and the reverse slope of the spoil dump and / or the height information of the retaining wall collected by the laser radar sensor to the vehicle or remote control platform.

2. The acquisition device according to claim 1, characterized in that: The positioning unit includes a GPS positioning unit or a GNSS positioning unit, and the GPS positioning unit or the GNSS positioning unit is used to determine the location information of the acquisition device according to the first positioning antenna and the second positioning antenna.

3. The acquisition device according to claim 1 or 2, characterized in that: The positioning unit includes an inertial navigation unit installed at the central position of the body, and the inertial navigation unit is used to determine the position information of the acquisition device according to inertial navigation information.

4. The acquisition device according to claim 1, characterized in that: The communication unit includes: a cellular network communication module, a vehicle-to-vehicle (V2V) communication module and / or a vehicle-to-network (V2N) communication module.

5. The acquisition device according to claim 1 or 2, characterized in that: The main body includes a first support structure and a second support structure. The second support structure is arranged on the upper surface of the first support structure. The upper surface of the second support structure is provided with the laser radar sensor. An inertial navigation unit is provided in the space formed by the second support structure and the upper surface of the first support structure.

6. The acquisition device according to claim 5, characterized in that: A first supporting structure and a second supporting structure are symmetrically arranged on both sides of the first bracket structure, wherein the first supporting structure is used to fix the first positioning antenna, and the second supporting structure is used to fix the second positioning antenna.

7. The acquisition device according to claim 6, characterized in that: The first end of the first supporting structure is connected to a side surface of the first bracket structure and is disposed close to the bottom of the side surface. The second end of the first supporting structure is suspended and has a height close to that of an upper surface of the first bracket structure.

8. The acquisition device according to claim 5, characterized in that: The bottom of the first bracket structure is symmetrically provided with a first notch and a second notch along both sides of its length direction. The first notch and the second notch can be slidably installed on the guide rail on the top of the collection vehicle, so as to fix the body on the top of the collection vehicle.

9. The acquisition device according to claim 5, characterized in that: A seven-in-one antenna is also disposed on the upper surface of the first support structure.

10. A data acquisition system, characterized in that: The data acquisition system comprises a computing unit, a display unit and an acquisition device as claimed in any one of claims 1 to 9, wherein: The acquisition device is installed on the top of the acquisition vehicle and is in communication connection with the computing unit. The acquisition device is used to send the point cloud data acquired by the laser radar sensor and the positioning information acquired by the positioning unit to the computing unit; The calculation unit is used to calculate the reverse slope of the spoil dump and / or the height information of the retaining wall according to the point cloud data collected by the laser radar sensor and the positioning information obtained by the positioning unit; The display unit is connected to the calculation unit, and is used to display the reverse slope of the spoil dump and / or the height information of the retaining wall calculated by the calculation unit.

11. The data acquisition system according to claim 10, characterized in that: The computing unit and / or the display unit are arranged inside the collection vehicle; or, the computing unit and / or the display unit are arranged on a remote control platform.

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