Method and system for adjusting pose of lidar, and computing device

Abstract

The present application relates to the technical field of LiDARs. Disclosed are a method and system for adjusting the pose of a LiDAR, and a computing device. In the method, a laser scan plane of a LiDAR is kept at a certain distance from a display screen, the laser scan plane is made parallel to the display screen on the basis of keeping the distance, and then the laser scan plane that is kept parallel to the display screen is brought closer to the display screen, so that the pose of the LiDAR is adjusted step by step, which involves controlling a vertical distance and parallelism, and thus the adjustment of the pose of the LiDAR is completed. After enabling the LiDAR to meet a preset adjusted pose, the method can achieve the effects of eliminating deformation and distortion, improving a visualization effect, reducing projection distortion, improving the definition and accuracy of data, etc., during the specific application, the effects thus facilitating an improvement in the accuracy and reliability of positioning detection of the LiDAR; moreover, the method has the characteristics of not being restricted by environmental factors, having a relatively simple adjustment process, etc.

Description

Method, system and computing device for adjusting posture of lidar TECHNICAL FIELD

[0001] The present application relates to the technical field of lidar, and in particular to a method, system and computing device for adjusting the posture of a lidar. BACKGROUND

[0002] The development of intelligent driving technology has prompted improvements in lidar technology, providing a new solution for touch interaction technology. The main principle is that the lidar is installed on a display device for touch interaction, and the lidar drives the laser transceiver to rotate through a motor, forming a laser scanning surface on the screen surface of the display device. When the screen is clicked, the scanning line in the laser scanning surface will be blocked, so as to determine the specific position coordinates of the clicked screen by detecting the blocked position.

[0003] However, due to production process limitations, the laser beams emitted by the actually assembled lidar have a pitch angle and are not completely horizontal, which causes the laser scanning surface to be a conical surface rather than a horizontal surface. The installation position of the lidar affects the positional relationship between the conical surface and the screen of the display device, which in turn has an important impact on the detection accuracy of the clicked position on the screen. To solve the above problem, related technology uses an infrared camera to level the lidar (leveling means making the conical laser scanning surface as close as possible to the screen without touching, and the posture is as flat as possible, not skewed). The infrared camera can be used to observe the position of the laser spot during the leveling of the lidar to assist in adjusting the installation posture of the lidar. However, in actual operation, it is found that the infrared camera and the equipment needed to cooperate with it for leveling work are usually expensive, increasing the cost of the lidar leveling scheme; the infrared camera relies on the display of the infrared spot, and the display effect of the infrared spot is affected by many factors, including laser intensity and ambient brightness. In bright environments, the infrared spot may not be clear enough to be visible, which may hinder the leveling of the lidar by the infrared camera; moreover, professional after-sales personnel need to have high-level technical knowledge and skills to perform the installation and repair work of the infrared camera, which increases the difficulty and requirements of after-sales repair.

[0004] SUMMARY

[0005] The main technical problem solved by the embodiments of the present application is how to simply and reliably level the lidar, thereby improving the accuracy of lidar positioning detection.

[0006] To solve the above technical problems, one technical scheme adopted by the embodiments of the present application is to provide an adjustment method for the posture of a laser radar, applied to a display system, the display system comprising a display device and a laser radar mounted on the display device, the method comprising: obtaining a first point cloud generated by the laser radar on a first adjustment device; wherein the cross section corresponding to the laser emitted by the laser radar when scanning different positions of the first adjustment device is different; controlling, according to the first point cloud, a first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device to be within a first preset distance range, to form a first posture of the laser radar; obtaining a second point cloud generated by the laser radar on a second adjustment device and a third point cloud generated by the laser radar on a third adjustment device when the laser radar is in the first posture; wherein the second adjustment device and the third adjustment device are respectively arranged on opposite sides of the display device; the cross section corresponding to the laser emitted by the laser radar when scanning different positions of the second adjustment device is different; the cross section corresponding to the laser emitted by the laser radar when scanning different positions of the third adjustment device is different; controlling, according to the second point cloud and the third point cloud, the laser scanning surface of the laser radar to be parallel to the display screen of the display device, to form a second posture of the laser radar; obtaining a fourth point cloud generated by the laser radar on the first adjustment device when the laser radar is in the second posture; controlling, according to the fourth point cloud, a second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device to be within a second preset distance range, to form a third posture of the laser radar; wherein the second vertical distance is smaller than the first vertical distance.

[0007] The adjustment method uses the first adjustment device, the second adjustment device, and the third adjustment device to adjust the attitude of the laser radar. After the laser radar, the first adjustment device, the second adjustment device, and the third adjustment device are installed on the display device, a few rounds of attitude adjustment can make the attitude of the laser radar meet the expected requirements. The adjustment process is relatively simple, and has no excessive requirements on the external environment. During the adjustment process, first, the first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled within a first preset distance range according to the first point cloud generated on the first adjustment device. Then, the laser scanning surface of the laser radar is controlled to be parallel to the display screen of the display device according to the second point cloud and the third point cloud generated on the second adjustment device and the third adjustment device. Finally, the second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled within a second preset distance range according to the fourth point cloud on the first adjustment device, wherein the second vertical distance is smaller than the first vertical distance. The process keeps the laser scanning surface of the laser radar at a certain distance from the display screen, then makes the laser scanning surface parallel to the display screen on the basis of keeping the distance, and then makes the laser scanning surface that is parallel to the display screen further close to the display screen. In this way, the attitude of the laser radar is gradually adjusted, including the control of the vertical distance and the parallelism, so as to complete the adjustment of the attitude of the laser radar. The method can make the laser radar meet the preset adjustment attitude, and in the specific application process, eliminate deformation and distortion, improve the visualization effect, reduce projection distortion, and improve the clarity and accuracy of data, etc. These effects help to improve the accuracy and reliability of laser radar positioning detection. Therefore, the above-mentioned adjustment method of the attitude of the laser radar has the characteristics of not being limited by environmental factors, the adjustment process being relatively simple, and the adjustment result being able to improve the accuracy and reliability of laser radar positioning detection.

[0008] Optionally, the first adjustment device and the laser radar are arranged on the display device in a first direction, and the second adjustment device and the third adjustment device are arranged on the display device in a second direction, and the first direction is perpendicular to the second direction. By arranging the first adjustment device in the first direction and the second adjustment device and the third adjustment device in the second direction perpendicular to the first direction, multi-dimensional control of the attitude of the laser radar can be achieved. Such arrangement allows independent adjustment of the vertical distance and the parallelism between the laser scanning surface and the display screen to meet specific needs.

[0009] Optionally, the first adjusting device, the second adjusting device and the third adjusting device are each provided with an optical surface for receiving the laser emitted by the lidar, and the width of the optical surface increases or decreases in a direction perpendicular to the surface of the display device, so that the optical surface reflects light rays with different light intensities to the lidar after receiving the laser emitted by the lidar. By adjusting the width of the optical surface to increase or decrease, the light intensity of the reflected light rays can be controlled, and by observing the light intensity of the reflected light rays, the relative position and angle information between the laser scanning surface and the display device can be obtained, so as to perform attitude adjustment. Moreover, the optical surface reflects light rays with different light intensities to the lidar, which makes the reflected light rays easier to be received and observed by the lidar. By detecting and analyzing the light intensity of the reflected light rays, accurate attitude adjustment can be performed, and the accuracy and reliability of the adjustment are improved.

[0010] Optionally, the first adjusting device, the second adjusting device and the third adjusting device each include a target reflection area and a common area; the optical surface of each of the first adjusting device, the second adjusting device and the third adjusting device is arranged in the target reflection area thereof, and the reflected light rays of the optical surface have different light intensities from the reflected light rays of the common area; the common area of each of the first adjusting device, the second adjusting device and the third adjusting device is arranged close to the display screen; and the target reflection area of each of the first adjusting device, the second adjusting device and the third adjusting device is adjacent to the common area thereof and away from the display screen. By arranging the target reflection area and the common area, the device surface can be distinguished, and the laser radar can distinguish different parts of the device surface according to the reflection intensity changes of different areas in the scanning process, so that the adjustment process of the attitude of the laser radar is more accurate.

[0011] Optionally, the size of the optical surface is the same as the size of the target reflection area. In this way, the target reflected light signal can be captured and utilized to the maximum, which helps to improve the sensitivity and detection capability of the laser radar, so that the attitude adjustment is more accurate and reliable.

[0012] Optionally, the target reflection area of each of the first adjusting device, the second adjusting device and the third adjusting device has a cross-section with different widths at different positions scanned by the laser emitted by the lidar. The width of the cross-section at different positions scanned by the laser emitted by the lidar is different, so that the reflected signal intensity received by each adjusting device is also different, and the corresponding detection parameters can be obtained by targeted adjustment, which is more flexible.

[0013] Optionally, the first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled to be within a first preset distance range according to the first point cloud to form a first pose of the laser radar, comprising: filtering a first candidate point cloud belonging to the first adjusting device from the first point cloud according to the signal intensity value of each point in the first point cloud; obtaining the number of the first candidate point cloud; and controlling the first vertical distance between the laser scanning surface of the laser radar and the display screen to be within the first preset distance range according to the number of the first candidate point cloud to form the first pose of the laser radar. Wherein, whether the point cloud belongs to the target region can be judged according to the actually received signal intensity, so as to realize adaptive adjustment, and the adaptive adjustment can optimize the pose of the laser radar according to the environmental conditions and target characteristics, thereby improving the accuracy and adaptability of the adjustment; in addition, the vertical distance can be controlled by the number of candidate point clouds to realize accurate pose adjustment.

[0014] Optionally, the first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled to be within a first preset distance range according to the first point cloud to form a first pose of the laser radar, comprising: filtering a first candidate point cloud belonging to the first adjusting device from the first point cloud according to the signal intensity value of each point in the first point cloud; obtaining the number of the first candidate point cloud; and controlling the first vertical distance between the laser scanning surface of the laser radar and the display screen to be within the first preset distance range according to the number of the first candidate point cloud to form the first pose of the laser radar. Wherein, whether the point cloud belongs to the target region can be judged according to the actually received signal intensity, so as to realize adaptive adjustment, and the adaptive adjustment can optimize the pose of the laser radar according to the environmental conditions and target characteristics, thereby improving the accuracy and adaptability of the adjustment; in addition, the vertical distance can be controlled by the number of candidate point clouds to realize accurate pose adjustment.

[0015] Optionally, the controlling, according to the second point cloud and the third point cloud, the laser scanning surface of the laser radar to be parallel to the display screen of the display device to form a second posture of the laser radar comprises: screening a second candidate point cloud belonging to the second adjusting device from the second point cloud according to the signal intensity value of each point in the second point cloud; screening a third candidate point cloud belonging to the third adjusting device from the third point cloud according to the signal intensity value of each point in the third point cloud; obtaining the number of the second candidate point cloud and the number of the third candidate point cloud; judging whether the number of the second candidate point cloud and the number of the third candidate point cloud are the same or whether the difference between the number of the second candidate point cloud and the number of the third candidate point cloud satisfies a preset second numerical interval; if yes, determining that the laser scanning surface of the laser radar is parallel to the display screen of the display device to form the second posture of the laser radar; if no, adjusting the current posture of the laser radar until the number of the second candidate point cloud in the second point cloud newly generated by the laser radar based on the adjusted posture on the second adjusting device and the number of the third candidate point cloud in the third point cloud newly generated by the laser radar based on the adjusted posture on the third adjusting device are the same or the difference between the number of the second candidate point cloud and the number of the third candidate point cloud satisfies the second numerical interval, to form the second posture of the laser radar. In this way, the candidate point clouds belonging to the second adjusting device and the third adjusting device can be screened according to the signal intensity value of each point in the second point cloud and the third point cloud, so that it can be judged whether the point cloud belongs to the corresponding target area according to the actually received signal intensity, thereby improving the accuracy of the posture adjustment. In addition, the adaptive posture adjustment can be realized and the accuracy and stability of the adjustment can be improved according to the utilization of the multiple point cloud information and the comparison of the number of candidate point clouds, which helps to ensure that the laser scanning surface of the laser radar is parallel to the display screen of the display device to form the second posture of the laser radar.

[0016] Optionally, the controlling, according to the fourth point cloud, the second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device to be within a second preset distance range to form a third posture of the laser radar comprises: screening a fourth candidate point cloud belonging to the first adjusting device from the fourth point cloud according to the signal intensity value of each point in the fourth point cloud; obtaining the number of the fourth candidate point cloud; and controlling the second vertical distance between the laser scanning surface of the laser radar and the display screen to be within the second preset distance range according to the number of the fourth candidate point cloud to form the third posture of the laser radar. In this way, the point cloud information related to the first adjusting device can be extracted by screening the point cloud, so as to further adjust the posture of the laser radar. In addition, the adjustment of the third posture can be realized according to the screening of the fourth point cloud and the control of the number of candidate point clouds, so as to ensure that the second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is within the preset distance range, thereby ensuring that the posture of the laser radar meets the expectation.

[0017] Optionally, the control of the second vertical distance between the laser scanning surface of the lidar and the display screen according to the number of the fourth candidate point cloud is within a second preset distance range, forming a third attitude of the lidar, comprises: judging whether the number of the fourth candidate point cloud is zero, or whether the number of the fourth candidate point cloud is greater than zero and less than a preset threshold; if satisfied, it is determined that the second vertical distance between the laser scanning surface of the lidar and the display screen is within the second preset distance range, forming the third attitude of the lidar; if not satisfied, the current attitude of the lidar is adjusted until the number of the fourth candidate point cloud in the fourth point cloud newly generated by the lidar on the first adjustment device based on the adjusted attitude is zero, or the number of the fourth candidate point cloud is greater than zero and less than a preset threshold, forming the third attitude of the lidar. Wherein, the iteration optimization according to the number of the fourth candidate point cloud and the attitude adjustment can realize the control and adjustment of the third attitude, and the method helps to ensure that the second vertical distance between the laser scanning surface of the lidar and the display screen of the display device is within the preset distance range, forming the third attitude of the lidar, which will improve the positioning, perception or measurement ability of the lidar in a specific application scenario, so as to realize more accurate and reliable results.

[0018] Optionally, the display device comprises an LED display device. Thus the positioning, perception or measurement ability of the LED display device can be improved, so as to realize more accurate and reliable results.

[0019] To solve the above technical problems, another technical scheme adopted by the embodiments of the present application is to provide an adjustment system for the attitude of a lidar, comprising: a display device, a lidar arranged on the display device, a first adjustment device, a second adjustment device and a third adjustment device; the first adjustment device is arranged on the display device opposite to the lidar along a first direction, the second adjustment device and the third adjustment device are arranged on the display device opposite to each other along a second direction, and the first direction is perpendicular to the second direction; the first adjustment device, the second adjustment device and the third adjustment device are each provided with an optical surface, and the width of the optical surface increases or decreases along a direction perpendicular to the surface of the display device; the optical surface of each of the first adjustment device, the second adjustment device and the third adjustment device is used to reflect light to the lidar after receiving the laser emitted by the lidar; and the lidar is used to adjust its own attitude based on the light intensity variation of the received light reflected by each optical surface.

[0020] Optionally, the laser radar is specifically configured to acquire a first point cloud generated on the first adjusting device, so that the adjusting system adjusts a first vertical distance between a laser scanning surface of the laser radar and a display screen of the display device to be within a first preset distance range according to the first point cloud, to form a first posture of the laser radar; the laser radar in the first posture is specifically configured to acquire a second point cloud generated on the second adjusting device and a third point cloud generated on the third adjusting device, so that the adjusting system adjusts the laser scanning surface of the laser radar to be parallel to the display screen according to the second point cloud and the third point cloud, to form a second posture of the laser radar; the laser radar in the second posture is specifically configured to re-acquire a fourth point cloud generated on the first adjusting device, so that the adjusting system adjusts a second vertical distance between the laser scanning surface of the laser radar and the display screen to be within a second preset distance range according to the fourth point cloud, to form a third posture of the laser radar; and the second vertical distance is less than the first vertical distance.

[0021] Optionally, the sampling frequency of the laser radar is 50KHz, the rotation speed is 20 revolutions per minute, and the pitch angle of the laser emitted by the laser radar is 0.4°.

[0022] To solve the above technical problems, still another technical scheme adopted by the embodiments of the present application is to provide a computing device, comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the adjusting method for the posture of the laser radar.

[0023] To solve the above technical problems, still another technical scheme adopted by the embodiments of the present application is to provide a non-volatile computer readable storage medium, which stores computer executable instructions, and when the computer executable instructions are executed by a computing device, the computing device performs the adjusting method for the posture of the laser radar.

[0024] To solve the above technical problems, still another technical scheme adopted by the embodiments of the present application is to provide a computer program product, which comprises a computer program stored on a non-volatile computer readable storage medium, and the computer program comprises program instructions, and when the program instructions are executed by a computing device, the computing device performs the adjusting method for the posture of the laser radar.

[0025] The adjustment system for the posture of the lidar, the computing device, the non-volatile computer readable storage medium, and the computer program product have the same beneficial effects as the adjustment method for the posture of the lidar. BRIEF DESCRIPTION OF DRAWINGS

[0026] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like reference numerals designate similar items in the figures, in which the use of "embodiment" or "exemplary embodiment" signifies that a particular feature is included in at least one embodiment, unless specifically stated otherwise. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the embodiments.

[0027] Fig. 1 is a structural schematic diagram of an adjustment system for the posture of a lidar according to an embodiment of the present application;

[0028] Fig. 2 is a schematic diagram of a first adjustment device 31 according to an embodiment of the present application;

[0029] Fig. 3 is a schematic diagram of a first adjustment device 31 according to another embodiment of the present application;

[0030] Fig. 4 is a flowchart of an adjustment method for the posture of a lidar according to an embodiment of the present application;

[0031] Fig. 5 is a flowchart of a method for controlling the first vertical distance between the laser scanning surface of the lidar and the display screen of the display device to be within a first preset distance range according to a first point cloud, thereby forming a first posture of the lidar according to an embodiment of the present application;

[0032] Fig. 6 is a flowchart of a method for controlling the first vertical distance between the laser scanning surface of the lidar and the display screen to be within a first preset distance range according to the number of first candidate point clouds according to an embodiment of the present application;

[0033] Fig. 7 is a flowchart of a method for controlling the laser scanning surface of the lidar to be parallel to the display screen of the display device according to a second point cloud and a third point cloud, thereby forming a second posture of the lidar according to an embodiment of the present application;

[0034] Fig. 8 is a flowchart of a method for controlling the second vertical distance between the laser scanning surface of the lidar and the display screen of the display device to be within a second preset distance range according to a fourth point cloud according to an embodiment of the present application;

[0035] Fig. 9 is a schematic diagram of an LED display device according to an embodiment of the present application;

[0036] Fig. 10 is a schematic diagram of an adjustment device according to an embodiment of the present application;

[0037] Fig. 11 is a structural schematic diagram of a computing device 40 according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application. It should be noted that, if there is no conflict, each feature in the embodiments of the present application can be combined with each other, and all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device schematic diagram or the order in the flowchart. Unless otherwise defined, all technical and scientific terms used in the specification have the same meaning as understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

[0039] Laser touch positioning technology is widely used in some fields, including interactive displays and touchscreens, laser touch positioning is applied to interactive displays and touchscreens, providing high precision and multi-touch functionality; virtual and augmented reality, through laser touch positioning, users can interact with virtual objects and achieve precise gesture recognition and operation; industrial control and automation, laser touch positioning can be used for precise positioning and operation of robots, automation equipment and production lines, etc. As discussed in the background art, the light beams emitted by the laser radar have a pitch angle, which is not completely horizontal, which results in the laser scanning surface not being a horizontal plane, but a conical surface. The installation position of the laser radar will affect the positional relationship between the conical surface and the display screen, and thus have an important impact on the position detection accuracy. Related technologies adjust the posture of the laser radar using an infrared camera, observe the distance between the laser radar spot and the screen position through the infrared camera, and then continuously adjust the installation posture of the laser radar to make the laser scanning surface of the laser radar as close to horizontal as possible, so as to improve the accuracy of the positioning detection result. However, the scheme of using an infrared camera to adjust the posture of the laser radar has the problems of high cost, limited display effect, and high technical requirements. Therefore, further research and development are needed to solve the above problems and ensure that the adjustment scheme of the posture of the laser radar can achieve accurate and reliable position detection.

[0040] Therefore, the industry needs a new adjustment scheme to solve the above problems. The inventor of the present application designs an adjustment system, which includes a display device, a laser radar, a newly designed adjustment device, and a whole new adjustment method. The adjustment system in the present application uses several newly designed adjustment devices to adjust the posture of the laser radar. Through the newly designed phased adjustment method, the posture of the laser radar is adjusted, so that the posture of the laser radar installed on the display device can meet the accuracy requirements of the display device touch, and the system has high reliability and low cost. Optionally, in order to further achieve better touch accuracy, the adjustment system also includes a newly designed laser radar. The existing laser radar used for display device to realize touch interaction has low rotation speed (generally only 10 revolutions per minute), limited sampling frequency (generally 20KHz-30KHz), and large pitch angle for emitting laser when leaving the factory (generally 1°-2°). In addition, the resolution of the laser emitted by the laser radar will be lower as the detection distance increases. Therefore, the existing laser radar has limited accuracy for realizing touch interaction, especially when applied to large-screen display devices. The existing laser radar is not enough to meet the touch accuracy requirements. Therefore, the inventor redesigns the existing laser radar, including the design of the rotation speed, sampling frequency, pitch angle and other specific parameters of the existing laser radar, so that the touch accuracy of the above system device is higher.

[0041] Specifically, the adjustment method and the adjustment system in the present application use the first adjustment device, the second adjustment device and the third adjustment device to adjust the posture of the laser radar. After installing the laser radar, the first adjustment device, the second adjustment device and the third adjustment device on the display device, several rounds of posture adjustment can make the posture of the laser radar meet the expected requirements. The adjustment process is relatively simple and has no excessive requirements for the external environment.

[0042] In the adjusting process, first, according to the first point cloud generated on the first adjusting device, the first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled to be within a first preset distance range, then, by according to the second point cloud and the third point cloud generated on the second adjusting device and the third adjusting device, the laser scanning surface of the laser radar is controlled to be parallel to the display screen of the display device, finally, according to the fourth point cloud on the first adjusting device, the second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled to be within a second preset distance range, wherein the second vertical distance is less than the first vertical distance. This process keeps the laser scanning surface of the laser radar at a certain distance from the display screen, then makes the laser scanning surface parallel to the display screen on the basis of keeping the distance, and then makes the laser scanning surface that is parallel to the display screen further close to the display screen, thereby gradually adjusting the posture of the laser radar, including the control of the vertical distance and the parallelism, so as to complete the adjustment of the posture of the laser radar. The method can make the laser radar meet the preset adjustment posture, and in the specific application process, eliminate deformation and distortion, improve the visualization effect, reduce projection distortion, and improve the clarity and accuracy of data, etc. These effects help to improve the accuracy and reliability of laser radar positioning detection. Therefore, the above-mentioned adjustment method of the posture of the laser radar has the characteristics of not being limited by environmental factors, relatively simple adjustment process, and the result of the adjustment can improve the accuracy and reliability of laser radar positioning detection, etc.

[0043] The adjustment method and system for the posture of the laser radar will be described in detail through specific embodiments.

[0044] Please refer to FIG. 1, which is a structural schematic diagram of an adjustment system for the posture of a laser radar according to an embodiment of the present application. As shown in FIG. 1, the system comprises a display device 10, a laser radar 20 and adjusting devices, the adjusting devices comprising a first adjusting device 31, a second adjusting device 32 and a third adjusting device 33. The laser radar 20 and the first adjusting device 31 are oppositely arranged on the display device 10 along a first direction, and the second adjusting device 32 and the third adjusting device 33 are oppositely arranged on the display device 10 along a second direction, and the first direction is perpendicular to the second direction.

[0045] The display device 10 includes an LED (Light-Emitting Diode) display device, an LCD (Liquid Crystal Display) display device, an OLED (Organic Light-Emitting Diode) display device, a projector, a curved display device, etc. The display device 10 includes a display screen, and a frame or edge area around the edges of the display screen can be provided with a bevel, which is used to provide an interface and a boundary, and to protect the display screen. Among them, if the bevel protrudes from the surface of the display screen, the laser radar 20, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 are fixed on the bevel, such as the laser radar 20 and the first adjusting device 31 are oppositely arranged on the upper and lower bevels of the display screen, and the laser radar 20 and the first adjusting device 31 can be respectively located in the central area of the upper and lower bevels; the second adjusting device 32 and the third adjusting device 33 are arranged on the left and right bevels, and can be respectively located in the central area of the left and right bevels, and the oppositely arranged second adjusting device 32 and the third adjusting device 33 can be located on the same horizontal line. If the bevel does not protrude from the surface of the display screen, the laser radar 20, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 can be fixed on the display screen, or can be fixed on the bevel of the display screen, and the specific position is similar to the above-mentioned arrangement on the bevel. Among them, the fixing mode of the laser radar 20, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 can be pasted on the display device 10 using adhesive, or other fixing structures or supports can be used to fix the laser radar 20, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33.

[0046] The display device 10 and the laser radar 20 described above can constitute a display system. The first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 refer to devices or components used to adjust the posture of the laser radar in the display system. Specifically, these devices or components are installed on the display device 10 to coordinate the position and angle of the laser radar in order to achieve the required laser radar posture. Among them, the first adjusting device 31 is used to adjust the vertical distance between the laser scanning surface of the laser radar and the display device 10, and the second adjusting device 32 and the third adjusting device 33 are arranged on the two sides of the display device 10, respectively, to adjust the parallel relationship between the laser scanning surface of the laser radar 20 and the display device 10.

[0047] The first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 are each provided with an optical surface for receiving the laser emitted by the laser radar 20, and the width of the optical surface increases or decreases in the direction perpendicular to the surface of the display device 10, so that the optical surface reflects the reflected light rays of different light intensities to the laser radar 20 after receiving the laser emitted by the laser radar 20. The optical surface refers to a surface or material for reflecting light rays. In some embodiments, the optical surface can be a surface of the panel of the adjusting device coated with reflective paint or light-absorbing paint, or a sticker, a reflective piece or a light-absorbing piece provided on the adjusting device, etc. The optical surface is used to adjust the reflection characteristics of the light rays in the display system to optimize the visualization effect. The optical surface can be a reflective material, which reflects light rays with a light intensity greater than that of the surrounding environment of the display device 10, which means that the optical surface can enhance the brightness of the reflected light rays, making them brighter and clearer on the display device 10. On the other hand, the optical surface can also be a light-absorbing material, which reflects light rays with a light intensity less than that of the surrounding environment of the display device 10, which means that the optical surface can absorb or weaken the reflected light rays to reduce the interference and reflection of the surrounding environment, thereby improving the contrast and visibility of the image on the display device 10.

[0048] As shown in FIG. 2, taking the first adjusting device 31 as an example, the first adjusting device 31 is provided with an optical surface, and the width of the optical surface increases or decreases in the direction perpendicular to the surface of the display device 10. Assuming that one bottom edge of the first adjusting device 31 in FIG. 2 is arranged on the surface of the display device 10, and the first adjusting device 31 is perpendicular to the surface of the display device 10, the width of the optical surface decreases in the direction perpendicular to the surface of the display device 10 upwards, and the width of the optical surface decreases in the direction perpendicular to the surface of the display device 10 downwards. Only the first adjusting device 31 is exemplified in FIG. 2, and the second adjusting device 32 and the third adjusting device 33 are also each provided with an optical surface, and the width of the optical surface increases or decreases in the direction perpendicular to the surface of the display device 10. In addition, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 can be other shapes besides the triangle shown in FIG. 2, and shapes with different cross-sectional lengths at different positions can be used for the adjusting device of the present embodiment, such as trapezoidal, right-angled triangular, semicircular, etc.

[0049] In some embodiments, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 each include a target reflection area and a common area, the target reflection area refers to a specific area of the optical surface in each adjusting device, which is used for reflecting light rays; the common area refers to an area in each adjusting device other than the target reflection area. The optical surface of each of the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 is arranged in the respective target reflection area, and the reflected light rays of the optical surface have different light intensities from the reflected light rays of the common area. The common area of each of the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 is arranged close to the display screen of the display device 10; the target reflection area of each of the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 is adjacent to the respective common area and away from the display screen. Among them, the size of the optical surface is the same as the size of the target reflection area. The target reflection area of each of the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 has different lengths of the width of the cross section scanned by the laser emitted by the laser radar 20 at different positions.

[0050] As shown in FIG. 3, taking the first adjusting device 31 as an example, the first adjusting device 31 is provided with a target reflection area and a common area, when a bottom edge of the first adjusting device 31 is arranged on the surface of the display device 10 and the first adjusting device 31 is perpendicular to the surface of the display device 10, the common area of the first adjusting device 31 is close to the display screen of the display device 10, the target reflection area is away from the display screen, and the width of the cross section scanned by the laser emitted by the laser radar 20 at different positions is not equal in length. The width of the cross section scanned by the laser emitted by the laser radar 20 at different positions is also not equal in length. In FIG. 3, only the first adjusting device 31 is exemplified, and the second adjusting device 32 and the third adjusting device 33 also have the same target reflection area and common area as the first adjusting device 31.

[0051] In this embodiment, the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 shown in FIG. 1 are one, and in other embodiments, more second adjusting devices 32 and third adjusting devices 33 can be arranged, and the more second adjusting devices 32 and third adjusting devices 33 are arranged on the display device 10 in a left-right symmetrical and opposite manner along the second direction.

[0052] In the embodiment, the optical surface of each of the first adjusting device 31, the second adjusting device 32 and the third adjusting device 33 is used to reflect light after receiving the laser emitted by the laser radar 20, and the laser radar 20 is used to adjust its own posture based on the light intensity variation of the light reflected by each optical surface. The light intensity variation can be embodied by the point cloud on the optical surface, such as the number of point clouds, the density distribution of point clouds, the contour features of point clouds, etc. One of the point cloud information can be used to obtain the light intensity variation, or the light intensity variation can be obtained by comprehensively using the above point cloud information.

[0053] The change of the number of point clouds directly reflects the intensity of the reflected light, and the laser radar can adjust its own posture according to the relative change of the number of point clouds of each adjusting device. The point cloud density at different positions will be different, and the dense point cloud area represents that the reflected light is strong. The laser radar can analyze the change of the point cloud density distribution to adjust the posture. The point clouds reflected by each adjusting device will present different edge contours, and the clear contour represents that the reflected light is strong. The laser radar can use the change of the contour features to adjust its own posture. The laser radar can comprehensively use the above changes of the point cloud features to accurately adjust its own posture and position through the intensity change of the reflected light.

[0054] In the embodiment, the process of adjusting the posture of the laser radar 20 also includes a computing device participating in the adjustment step. The computing device can be integrated inside the laser radar 20 as part of the hardware of the laser radar 20; or the computing device can be an independent external device connected to the laser radar 20 through a wired or wireless manner. Whether integrated or externally associated, the computing device needs to obtain real-time data of the reflected light from the laser radar 20, execute analysis and control algorithms based on the data, and feed back adjustment instructions to the laser radar 20. After receiving the instructions, the laser radar 20 can execute corresponding mechanical adjustment actions, or prompt the user of the adjustment instructions, so that the laser radar 20 accepts the user's adjustment of its posture.

[0055] The computing device as the core of data processing and decision-making is closely integrated or associated with the laser radar 20, and completes the adjustment of the posture of the laser radar 20 through real-time data interaction and control instruction feedback. Specifically, referring to FIG. 4, the computing device is used to execute the following method for adjusting the posture of the laser radar, and the specific steps include:

[0056] S11, obtaining a first point cloud generated by the laser radar on the first adjusting device.

[0057] The laser radar emits laser, and the cross section is different when the laser scans different positions of the first adjusting device. The first adjusting device is installed on the display device according to the position in the above embodiment, and the corresponding optical surface receives the laser emitted by the laser radar. During the scanning process, the laser radar also receives the laser signals reflected from the first adjusting device, including the laser signals reflected from the optical surface. According to these reflected signals, the laser radar can calculate the three-dimensional coordinate information of each reflection point, so as to obtain the complete point cloud data generated on the first adjusting device, that is, the laser radar is specifically used to obtain the first point cloud generated on the first adjusting device. The first point cloud can be transmitted to the computing device for further processing. According to the change of the point cloud characteristics, the computing device calculates the corresponding adjustment instruction and feeds back the adjustment instruction to the laser radar or the user, so as to guide the adjustment of the posture of the laser radar.

[0058] The adjustment of the posture of the laser radar refers to the adjustment of the pitch angle, the left-right horizontal position, the up-down vertical position, the rotation angle of the laser radar around the vertical axis and other parameters of the laser radar, so that the laser scanning surface and the screen are kept in parallel as much as possible, so as to keep a suitable close distance between the laser scanning surface and the screen, and to be close to the screen as much as possible without touching the screen.

[0059] S12, according to the first point cloud, the first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled to be within a first preset distance range, and a first posture of the laser radar is formed.

[0060] The number of first point clouds can be obtained, and the posture parameters of the laser radar are adjusted by the number of first point clouds, so that the first vertical distance between the laser scanning surface and the display screen is within the first preset distance range. This is a dynamic adjustment process.

[0061] Referring to FIG. 5, step S12 specifically includes:

[0062] S121, according to the signal intensity value of each point in the first point cloud, a first candidate point cloud belonging to the first adjusting device is screened from the first point cloud.

[0063] The first point cloud may contain points of the first adjustment device, but also may contain some noise points. By analyzing the signal intensity value (i.e., the reflect parameter) of each point, it can be distinguished which points belong to the point cloud of the high reflection area (the optical surface of the first adjustment device) and the ordinary material area. If the reflect parameter value of a certain point is high, it indicates that the point is located in the high reflection area, for example, the optical surface of the first adjustment device; if the reflect parameter value of a certain point is low, it indicates that the point is located in the ordinary material area, and these points belonging to the ordinary material area do not belong to the first candidate point cloud. The point cloud belonging to the optical surface of the first adjustment device is screened from the first point cloud, thereby obtaining the first candidate point cloud.

[0064] S122, the number of the first candidate point cloud is obtained. The first candidate point cloud can be extracted from the first point cloud data by programming, and the number thereof is obtained. For example, each point in the first point cloud is traversed, and the points meeting the condition are added to a preset point cloud list according to whether the reflect parameter value of the point exceeds a certain threshold value; the number of points in the point cloud list is counted by using a preset function, such as the len() function, thereby obtaining the total number of the first candidate point cloud.

[0065] S123, the first vertical distance between the laser scanning surface of the laser radar and the display screen is controlled to be within a first preset distance range according to the number of the first candidate point cloud, thereby forming a first pose of the laser radar.

[0066] Referring to FIG. 6, step S123 specifically includes:

[0067] S1231, it is judged whether the number of the first candidate point cloud meets a preset first numerical interval.

[0068] The preset first numerical interval can be specifically 100 to 200 point clouds. When the number of the first candidate point cloud is not within this interval, the pose of the laser radar is adjusted until the number of the obtained first candidate point cloud is within the interval.

[0069] If yes, step S1232 is executed; if no, step S1233 is executed.

[0070] S1232, the first vertical distance between the laser scanning surface of the laser radar and the display screen is determined to be within the first preset distance range, thereby forming the first pose of the laser radar.

[0071] The first preset distance range is a reasonable distance interval determined in advance according to the actual application scenario and system design requirements. If the first preset distance range is met, the first pose of the laser radar is formed.

[0072] The first posture is capable of making the laser scanning surface as much as possible to be located in the middle position of the high-reflectivity material region of the first adjusting device, that is, to make the entire laser scanning surface of the laser radar present a raised state and to keep the laser scanning surface as much as possible to be horizontal at a certain height (such as the first vertical distance), which can ensure that the laser radar does not scan the screen.

[0073] S1233, adjust the current posture of the laser radar until the number of first candidate point clouds in the first point cloud newly generated by the laser radar on the first adjusting device based on the adjusted posture satisfies the first numerical interval, and a first posture of the laser radar is formed.

[0074] Specifically, the up-down pitch angle of the laser radar is adjusted. It is prompted to adjust the posture of the laser radar up and down until the number of first candidate point clouds generated on the first adjusting device is within the first numerical interval. Wherein, the up-down adjustment of the posture of the laser radar refers to that the laser scanning surface corresponding to the laser emitted by the laser radar rotates around the x-axis of the three-dimensional coordinate system. The origin of the three-dimensional coordinate system is the position of the laser radar, the x-axis is parallel to the second direction, the y-axis is perpendicular to the x-axis and parallel to the first direction, and the z-axis is perpendicular to the x-axis and the y-axis.

[0075] Wherein, the process of up-down adjusting the posture of the laser radar is repeated until the number of first candidate point clouds in the first point cloud newly generated on the first adjusting device satisfies the first numerical interval. By up-down adjusting the posture of the laser radar, the laser scanning surface can be kept horizontal at a certain height, which provides a basis for the subsequent leveling process of the laser radar, so as to speed up the efficiency of the posture adjustment of the laser radar and improve the accuracy of the subsequent touch interaction of the laser radar for the display device.

[0076] S13, obtain the second point cloud generated by the laser radar in the first posture on the second adjusting device and the third point cloud generated on the third adjusting device.

[0077] Wherein, the second adjusting device and the third adjusting device are respectively arranged on the opposite sides of the display device; when the laser emitted by the laser radar scans different positions of the second adjusting device, the corresponding cross sections are different; when the laser emitted by the laser radar scans different positions of the third adjusting device, the corresponding cross sections are also different. The second point cloud can be generated on the optical surface of the second adjusting device, and the third point cloud can be generated on the optical surface of the third adjusting device.

[0078] S14, according to the second point cloud and the third point cloud, the laser scanning surface of the laser radar is controlled to be parallel to the display screen of the display device, and a second posture of the laser radar is formed.

[0079] Please refer to FIG. 7, step S14 specifically includes:

[0080] S141, filtering a second candidate point cloud belonging to the second adjusting device from the second point cloud according to the signal intensity value of each point in the second point cloud;

[0081] S142, filtering a third candidate point cloud belonging to the third adjusting device from the third point cloud according to the signal intensity value of each point in the third point cloud;

[0082] S143, obtaining the number of the second candidate point cloud and the number of the third candidate point cloud;

[0083] S144, judging whether the number of the second candidate point cloud and the number of the third candidate point cloud are the same or the difference between the two numbers satisfies a preset second numerical interval;

[0084] If yes, performing the following step S145; if no, performing the following step S146.

[0085] S145, determining that the laser scanning surface of the laser radar is parallel to the display screen of the display device, forming a second attitude of the laser radar;

[0086] S146, adjusting the current attitude of the laser radar until the number of the second candidate point cloud in the second point cloud newly generated by the laser radar based on the adjusted attitude on the second adjusting device and the number of the third candidate point cloud in the third point cloud newly generated on the third adjusting device are the same or the difference between the two numbers satisfies the second numerical interval, forming a second attitude of the laser radar.

[0087] According to the actually received signal intensity, it is judged whether the point cloud belongs to the corresponding target area, that is, the candidate point cloud is determined, and the number of candidate point clouds is used for subsequent judgment, thereby improving the accuracy of attitude adjustment; in addition, according to the utilization of multi-point cloud information and the comparison of the number of candidate point clouds, adaptive attitude adjustment can be realized, and the accuracy and stability of attitude adjustment are improved, which helps to ensure that the laser scanning surface of the laser radar is parallel to the display screen of the display device, forming a second attitude of the laser radar.

[0088] S15, obtaining a fourth point cloud generated by the laser radar on the first adjusting device when the laser radar is in the second attitude.

[0089] S16, according to the fourth point cloud, controlling the second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device to be within a second preset distance range, forming a third attitude of the laser radar.

[0090] The second vertical distance is less than the first vertical distance. By making the second vertical distance less than the first vertical distance, the attitude of the laser radar can be adjusted so that the laser scanning surface is closer to the required leveling state, that is, the laser scanning surface, which is a conical surface, is as close as possible to the display screen of the display device without touching, and the attitude is as flat as possible without being skewed.

[0091] Referring to FIG. 8, step S16 specifically includes:

[0092] S161, filtering a fourth candidate point cloud belonging to the first adjusting device from the fourth point cloud according to the signal intensity value of each point in the fourth point cloud;

[0093] S162, obtaining the number of the fourth candidate point cloud;

[0094] S163, determining whether the number of the fourth candidate point cloud is zero or the number of the fourth candidate point cloud is greater than zero and less than a preset threshold;

[0095] When the number of the fourth candidate point cloud is zero or the number of the fourth candidate point cloud is greater than zero and less than a preset threshold, it indicates that the laser scanning surface of the laser radar has scanned the normal material area of the first adjusting device, which makes the originally raised laser scanning surface fit the screen to the maximum extent.

[0096] If the condition is met, step S164 is performed; if the condition is not met, step S165 is performed.

[0097] S164, determining that the second vertical distance between the laser scanning surface of the laser radar and the display screen is within a second preset distance range, forming a third attitude of the laser radar;

[0098] S165, adjusting the current attitude of the laser radar until the number of the fourth candidate point cloud in the fourth point cloud newly generated by the laser radar on the first adjusting device based on the adjusted attitude is zero or the number of the fourth candidate point cloud is greater than zero and less than a preset threshold, forming the third attitude of the laser radar.

[0099] The above filtering of the point cloud can extract the point cloud information related to the first adjusting device for further adjusting the attitude of the laser radar. In addition, the iteration optimization of the number of the fourth candidate point cloud and the adjustment of the attitude can realize the control and adjustment of the third attitude. This method helps to ensure that the second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is within a preset distance range, forming the third attitude of the laser radar, so as to ensure that the attitude of the laser radar meets the expectation, which will improve the positioning, perception or measurement ability of the laser radar in a specific application scenario, thereby achieving more accurate and reliable results.

[0100] The adjustment method of the posture of the laser radar is applied to an LED display device below, and the size of the display screen of the LED display device can be 120, 138, 150, 165 inches, etc. In this embodiment, the LED display device needs to be adjusted in the posture of the laser radar first, so that the laser scanning surface is in a leveling state, through the positioning detection or area determination of the laser radar.

[0101] Referring to FIG. 9, in the present embodiment, the sampling frequency of the laser radar can be 30KHz-50KHz, the rotation speed can be 10-20 rotations per minute, and the angle requirement of the laser radar for emitting laser in the pitch angle is less than 1.5°; in one example, the sampling frequency of the laser radar is 30KHz, the rotation speed is 10 rotations per minute, and the pitch angle of the laser radar for emitting laser is 1.5°. In another example, the sampling frequency of the laser radar is 40KHz, the rotation speed is 15 rotations per minute, and the pitch angle of the laser radar for emitting laser is 1°. In a preferred example, the sampling frequency of the laser radar is 50KHz, the rotation speed is 20 rotations per minute, and the pitch angle of the laser radar for emitting laser is 0.4°. In another preferred example, the sampling frequency of the laser radar is 50KHz, the rotation speed is 20 rotations per minute, and the pitch angle of the laser radar for emitting laser is 0.2°. In yet another preferred example, the sampling frequency of the laser radar is 50KHz, the rotation speed is 20 rotations per minute, and the pitch angle of the laser radar for emitting laser is 0.1°. First, the posture of the laser radar is raised in combination with the first adjusting device D, so that the laser scanning surface is kept horizontal at a certain height. The laser radar is raised to an appropriate position by the number of point clouds detected on the first adjusting device D, so as to ensure the height level of the laser scanning surface. Next, the left and right levels of the laser scanning surface of the laser radar are adjusted. The laser radar is balanced in the horizontal direction by making the number of point clouds on the second adjusting device L and the third adjusting device R the same or similar, so that the scanning results on both sides are similar or equal. Finally, the posture of the laser radar is adjusted again in combination with the first adjusting device D, so that the scanning surface is as horizontal as possible and close to the screen surface. The laser radar is further adjusted to the best position by the number of point clouds detected by the first adjusting device D being 0 or less than the point cloud number threshold, so that the laser scanning surface is as parallel as possible to the screen surface and is as close as possible to the screen surface. In summary, the first adjusting device D is used to adjust the posture and height of the laser radar, and the second adjusting device L and the third adjusting device R are used to adjust the left and right levels of the laser radar. In the present embodiment, the performance parameters of the laser radar are optimized, which can make the adjustment effect of the adjustment method and the adjustment system for the posture of the laser radar better, and further improve the touch accuracy of the laser radar for the display device. At the same time, through the combination of the adjustment steps in the adjustment method, the scanning surface of the laser radar can be kept horizontal, the scanning balance of the laser radar in each laser scanning direction can be maintained, and the scanning surface can be as close as possible to the screen surface, so as to finally meet the demand of improving the touch accuracy of the display device.

[0102] Specifically, when the laser radar, the first adjusting device, the second adjusting device and the third adjusting device are installed at the preset positions, i.e., as shown in FIG. 9, the first adjusting device is arranged on the LED display device opposite to the laser radar along a first direction, and the second adjusting device and the third adjusting device are arranged on the LED display device opposite to each other along a second direction, the first direction being perpendicular to the second direction, at this time, the laser radar is controlled to emit laser.

[0103] As shown in FIG. 10, the first adjusting device, the second adjusting device and the third adjusting device each include a high-reflection-material region (i.e., a target reflection region provided with an optical surface) and a common-material region (i.e., a common region). The high-reflection-material region is scanned by the laser emitted by the laser radar to different positions, and the width of the cross section is not equal in length. The adjusting device shown in FIG. 10 can be arranged on the LED display device shown in FIG. 9, and the common-material region is arranged close to the screen, and the high-reflection-material region is arranged adjacent to the common-material region and away from the screen.

[0104] The reflected light intensity of the high-reflection-material region and the reflected light intensity of the common-material region are different. The high-reflection-material region contains high-reflection material (i.e., an optical surface), and the common-material region contains common material. The laser emitted by the laser radar interacts with surrounding objects, including high-reflection material and common material. When the laser irradiates the surface of the high-reflection material, part of the light will be reflected back to the laser radar, and these reflected lights are called the echo of the laser radar. The high-reflection material can generate a relatively strong echo signal, so in the point cloud data of the laser radar, the region intersecting with the high-reflection material will have a relatively obvious point cloud concentration. Relative to the high-reflection material, the common material has a lower reflection ability, so in the point cloud data of the laser radar, the region intersecting with the common material may generate fewer point clouds, or in some cases, there is no obvious point cloud.

[0105] Next, the point cloud generated by the laser on the first adjusting device is acquired, and the number of the point cloud is counted. The laser emitted by the laser radar intersects with the first adjusting device and generates an echo. The echo signal is received by the laser radar and converted into point cloud data. In this case, the point cloud generated on the first adjusting device is acquired and counted to determine the number of the point cloud.

[0106] When the number of the point cloud does not satisfy the first numerical interval, it is prompted to adjust the posture of the laser radar until the number of the point cloud generated on the first adjusting device is within the first numerical interval, and then the current posture of the laser radar is determined as the first posture. The first posture refers to the posture that meets the preset first numerical interval in the process of adjusting the laser radar.

[0107] In some embodiments, there are multiple poses that meet the preset first numerical interval, and for determining the first pose can include: when the number of point clouds meets the preset interval, recording the current pose parameter, including the installation position of the lidar, the pose angle and other information. During the adjustment process, if multiple poses that meet the preset interval appear, the recorded pose parameters are compared, and some indicators can be evaluated, such as the uniformity of point cloud distribution, the stability of pose adjustment, etc. According to the comparison result, one of them is selected as the first pose, in which the pose with more uniform point cloud distribution and higher adjustment stability can be selected as the first pose.

[0108] When the first pose is determined, subsequent adjustment can be carried out under the condition of maintaining the first pose. This means that when the next pose adjustment is carried out, the relevant parameters and the relevant position of the lidar need to be kept consistent with the first pose to ensure that the number of point clouds continues to meet the preset interval requirements.

[0109] Under the condition that the lidar maintains the first pose, the pose of the lidar is prompted to be adjusted again until the point clouds generated on the second adjustment device and the third adjustment device meet the preset conditions, and then the current pose of the lidar is determined as the second pose.

[0110] Among them, the pose of the lidar is prompted to be adjusted left and right until the number of point clouds generated on the second adjustment device and the third adjustment device is the same or the error is within the preset range, and then the current pose of the lidar is determined as the second pose. The left and right adjustment of the pose of the lidar means that the scanning surface corresponding to the laser emitted by the lidar rotates around the y-axis of the three-dimensional coordinate system. By adjusting the pose of the lidar left and right, the lidar can be made horizontal, and the laser scanning surface can be kept balanced.

[0111] Under the condition that the lidar maintains the second pose, the pose of the lidar is prompted to be adjusted again until the number of point clouds generated on the first adjustment device is within the second numerical interval, and then the current pose of the lidar is determined as the third pose, which is the leveled pose of the lidar.

[0112] Among them, the pose of the lidar is prompted to be adjusted up and down until the number of point clouds generated on the first adjustment device is zero, or the number of point clouds is greater than zero and less than a preset threshold, and then the current pose of the lidar is determined as the third pose, which is the leveled pose of the lidar. The up and down adjustment method is the same as the above steps.

[0113] When the number of point clouds generated on the first adjusting device is zero or greater than zero and less than a preset threshold, it indicates that the scanning surface of the laser radar scans the normal material area of the first adjusting device, which allows the originally raised scanning surface to be maximally attached to the screen of the LED display device. When the scanning surface moves from the high-reflective material area to the normal material area, in combination with the adjusting device shown in FIG. 10, the number of point clouds changes as follows: gradually increases and then suddenly decreases to 0. This change signal can indicate that the scanning surface reaches the critical position of the screen, that is, the position expected to be attached to the screen without touching the screen.

[0114] It should be noted that the adjusting device shown in FIG. 10 is a triangle, and one side of the triangle is fixed on the screen. The end close to the screen is provided with a normal material area, and the end away from the screen is provided with a high-reflective material area. When the adjusting device is of other shapes (for example, trapezoidal, semi-elliptical, or fan-shaped), the high-reflective material area and the normal material area can also be similarly arranged and installed on the device to be detected according to the same principle.

[0115] The design of the high-reflective material area of the triangle cleverly converts the distance between the laser scanning surface of the laser radar and the screen into the number of point clouds scanned. The design of the normal material area can accurately determine whether the laser scanning surface reaches the desired position. If the normal material area is not designed, the laser scanning surface will be over-adjusted and will scan the screen surface. The laser reflected by the screen will still be detected as a high-reflective point cloud, so the number of point clouds cannot be used to accurately determine the position of the laser scanning surface. The above-mentioned adjustment of the posture of the laser radar can keep the laser scanning surface horizontal, balanced, and close to the screen of the LED display device, thereby improving the accuracy of the positioning and detection of the laser radar and further improving the accuracy and reliability of the laser radar for touch interaction of the display device.

[0116] The method provided in the embodiments of the present application does not need to use an infrared camera or other devices when adjusting the posture of the laser radar, thereby reducing the cost of leveling. The surrounding environment has no special requirements during the leveling process, and the leveling process can be carried out in a factory or a customer site. The ability requirements of after-sales personnel and factory workers are not high, and the leveling logic is guided and determined by the program. Therefore, the method can make the laser radar more accurately position and detect a target after the posture adjustment through a simple and reliable phased adjustment process, thereby improving the accuracy and reliability of the laser radar for touch interaction of the display device.

[0117] FIG. 11 is a structural schematic diagram of a computing device 40 provided in an embodiment of the present application, which can be used to execute the adjustment method for the pose of a laser radar provided in an embodiment of the present application. As shown in FIG. 11, the computing device 40 includes one or more processors 41 and a memory 42, and one processor 41 is taken as an example in FIG. 4. The processor 41 and the memory 42 can be connected through a bus or other manners, and the connection through a bus is taken as an example in FIG. 4.

[0118] The memory 42, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the adjustment method for the pose of a laser radar in an embodiment of the present application. The processor 41 executes various function applications and data processing of the computing device by running the non-volatile software programs, instructions and modules stored in the memory 42, that is, implements the adjustment method for the pose of a laser radar provided in an embodiment of the present application. The memory 42 can include a storage program area and a storage data area, wherein the storage program area can store an operating system and at least one application program required by a function. In addition, the memory 42 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0119] The above products can execute the method provided in an embodiment of the present application, and have the corresponding function modules and beneficial effects of executing the method. Technical details not described in detail in the present embodiment can be referred to the method provided in an embodiment of the present application. The computing device in an embodiment of the present application exists in various forms, including but not limited to: a laser radar, a computer, an embedded system (such as an embedded processor, a single-board computer, an embedded controller, etc.), and other electronic devices with data interaction function.

[0120] An embodiment of the present application provides a non-volatile computer readable storage medium, which stores computer executable instructions. The computer executable instructions are executed by one or more processors, such as the processor 41 in FIG. 11, so that the above one or more processors can execute the adjustment method for the pose of a laser radar in any of the above method embodiments, for example, execute the method steps in FIGS. 4 to 8 described above.

[0121] An embodiment of the present application provides a computer program product, which includes a computer program stored on a non-volatile computer readable storage medium. The computer program includes program instructions, which enable the computing device to execute the adjustment method for the pose of a laser radar in any of the above method embodiments when the program instructions are executed by the computing device, for example, execute the method steps in FIGS. 4 to 8 described above.

[0122] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment.

[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM), etc.

[0124] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of the different aspects of the present application as described above. In order to be brief, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for adjusting the pose of a lidar, characterized in that, The method is applied to a display system, the display system comprising a display device and a laser radar installed on the display device, and the method comprises: acquiring a first point cloud generated by the laser radar on a first adjusting device; wherein, when the laser emitted by the laser radar scans different positions of the first adjusting device, the corresponding cross sections are different; controlling, according to the first point cloud, a first vertical distance between a laser scanning surface of the laser radar and a display screen of the display device to be within a first preset distance range, to form a first posture of the laser radar; acquiring a second point cloud generated by the laser radar on a second adjusting device and a third point cloud generated by the laser radar on a third adjusting device when the laser radar is in the first posture; wherein, the second adjusting device and the third adjusting device are respectively arranged on opposite sides of the display device; when the laser emitted by the laser radar scans different positions of the second adjusting device, the corresponding cross sections are different; when the laser emitted by the laser radar scans different positions of the third adjusting device, the corresponding cross sections are different; controlling, according to the second point cloud and the third point cloud, the laser scanning surface of the laser radar to be parallel to the display screen of the display device, to form a second posture of the laser radar; acquiring a fourth point cloud generated by the laser radar on the first adjusting device when the laser radar is in the second posture; controlling, according to the fourth point cloud, a second vertical distance between the laser scanning surface of the laser radar and the display screen of the display device to be within a second preset distance range, to form a third posture of the laser radar; wherein, the second vertical distance is smaller than the first vertical distance.

2. The adjustment method of claim 1, wherein The first adjusting device is arranged on the display device opposite to the laser radar along a first direction, and the second adjusting device and the third adjusting device are arranged on the display device opposite to each other along a second direction, and the first direction is perpendicular to the second direction.

3. The adjustment method of claim 1, wherein, The first adjusting device, the second adjusting device and the third adjusting device are each provided with an optical surface, the optical surface is used to receive the laser emitted by the laser radar, and the width of the optical surface increases or decreases along a direction perpendicular to the surface of the display device, so that the optical surface reflects the reflected light rays with different light intensities to the laser radar after receiving the laser emitted by the laser radar.

4. The adjustment method of claim 3, wherein, The first adjusting device, the second adjusting device and the third adjusting device each comprise a target reflection area and a common area; the optical surface of each of the first adjusting device, the second adjusting device and the third adjusting device is arranged in the target reflection area thereof, the reflected light rays of the optical surface have different light intensities from the reflected light rays of the common area; the common area of each of the first adjusting device, the second adjusting device and the third adjusting device is arranged close to the display screen; the target reflection area of each of the first adjusting device, the second adjusting device and the third adjusting device is adjacent to the common area thereof and away from the display screen.

5. The adjustment method of claim 4, wherein, The size of the optical surface is the same as the size of the target reflection area.

6. The adjustment method of claim 5, wherein, The target reflection areas of the first adjusting device, the second adjusting device and the third adjusting device are different in the width of the cross section scanned by the laser emitted by the laser radar at different positions.

7. The adjustment method of claim 1, wherein The first vertical distance between the laser scanning surface of the laser radar and the display screen of the display device is controlled within a first preset distance range according to the first point cloud, to form a first posture of the laser radar, including: The first candidate point cloud belonging to the first adjusting device is filtered from the first point cloud according to the signal intensity value of each point in the first point cloud; The number of the first candidate point cloud is obtained; The first vertical distance between the laser scanning surface of the laser radar and the display screen is controlled within a first preset distance range according to the number of the first candidate point cloud, to form a first posture of the laser radar. The first vertical distance between the laser scanning surface of the laser radar and the display screen is controlled within a first preset distance range according to the number of the first candidate point cloud, to form a first posture of the laser radar, including:

8. The adjustment method of claim 7, wherein, It is judged whether the number of the first candidate point cloud satisfies a preset first numerical interval; If yes, it is determined that the first vertical distance between the laser scanning surface of the laser radar and the display screen is within a first preset distance range, to form a first posture of the laser radar; If no, the current posture of the laser radar is adjusted until the number of the first candidate point cloud in the first point cloud newly generated by the laser radar on the first adjusting device based on the adjusted posture satisfies the first numerical interval, to form a first posture of the laser radar. The laser scanning surface of the laser radar is controlled to be parallel to the display screen of the display device according to the second point cloud and the third point cloud, to form a second posture of the laser radar, including:

9. The adjustment method of claim 1, wherein, The second candidate point cloud belonging to the second adjusting device is filtered from the second point cloud according to the signal intensity value of each point in the second point cloud; The third candidate point cloud belonging to the third adjusting device is filtered from the third point cloud according to the signal intensity value of each point in the third point cloud; The number of the second candidate point cloud and the number of the third candidate point cloud are obtained; It is judged whether the number of the second candidate point cloud and the number of the third candidate point cloud are the same or whether the difference between the two numbers satisfies a preset second numerical interval; If yes, it is determined that the laser scanning surface of the laser radar is parallel to the display screen of the display device, to form a second posture of the laser radar; If no, the current posture of the laser radar is adjusted until the number of the second candidate point cloud in the second point cloud newly generated by the laser radar on the second adjusting device and the number of the third candidate point cloud in the third point cloud newly generated by the laser radar on the third adjusting device based on the adjusted posture are the same or the difference between the two numbers satisfies the second numerical interval, to form a second posture of the laser radar. ​ ​ 10. The adjustment method of claim 1, wherein, The fourth point cloud is obtained, and a third attitude of the laser radar is formed by controlling a second vertical distance between a laser scanning surface of the laser radar and a display screen of the display device to be within a second preset distance range according to the fourth point cloud. The fourth candidate point cloud is obtained from the fourth point cloud according to a signal intensity value of each point in the fourth point cloud. The number of the fourth candidate point cloud is obtained. The third attitude of the laser radar is formed by controlling the second vertical distance between the laser scanning surface of the laser radar and the display screen to be within the second preset distance range according to the number of the fourth candidate point cloud.

11. The adjustment method of claim 10, wherein, The third attitude of the laser radar is formed by controlling the second vertical distance between the laser scanning surface of the laser radar and the display screen to be within the second preset distance range according to the number of the fourth candidate point cloud. It is determined whether the number of the fourth candidate point cloud is zero or the number of the fourth candidate point cloud is greater than zero and less than a preset threshold. If the condition is met, it is determined that the second vertical distance between the laser scanning surface of the laser radar and the display screen is within the second preset distance range, and the third attitude of the laser radar is formed. If the condition is not met, the current attitude of the laser radar is adjusted until the number of the fourth candidate point cloud in a fourth point cloud newly generated by the laser radar on the first adjusting device based on the adjusted attitude is zero or the number of the fourth candidate point cloud is greater than zero and less than the preset threshold, and the third attitude of the laser radar is formed.

12. The adjustment method according to any one of claims 1 to 11, characterized in that, The display device includes an LED display device.

13. An adjustment system for the attitude of a lidar, characterized in that, It includes: a display device, a laser radar arranged on the display device, a first adjusting device, a second adjusting device, and a third adjusting device; the first adjusting device is arranged on the display device opposite to the laser radar along a first direction, the second adjusting device and the third adjusting device are arranged on the display device opposite to each other along a second direction, the first direction is perpendicular to the second direction; the first adjusting device, the second adjusting device, and the third adjusting device are each provided with an optical surface, and the width of the optical surface increases or decreases along a direction perpendicular to the surface of the display device; the optical surface of each of the first adjusting device, the second adjusting device, and the third adjusting device is used to reflect light to the laser radar after receiving the laser emitted by the laser radar; the laser radar is used to adjust its own attitude based on the change of the light intensity of the received light reflected by each optical surface.

14. The adjustment system of claim 13, wherein, The laser radar is specifically used to obtain a first point cloud generated on the first adjusting device, so that the adjusting system adjusts a first vertical distance between a laser scanning surface of the laser radar and a display screen of the display device to be within a first preset distance range according to the first point cloud, and forms a first attitude of the laser radar. The laser radar in the first posture is specifically configured to acquire a second point cloud generated on the second adjusting device and a third point cloud generated on the third adjusting device, so that the adjusting system adjusts the laser scanning surface of the laser radar to be parallel to the display screen according to the second point cloud and the third point cloud, forming a second posture of the laser radar. The laser radar in the second posture is specifically configured to re-acquire a fourth point cloud generated on the first adjusting device, so that the adjusting system adjusts the second vertical distance between the laser scanning surface of the laser radar and the display screen to be within a second preset distance range according to the fourth point cloud, forming a third posture of the laser radar; wherein the second vertical distance is less than the first vertical distance.

15. The adjustment system of claim 13, wherein, The sampling frequency of the laser radar is 50KHz, the rotation speed is 20 revolutions per minute, and the pitch angle of the laser emitted by the laser radar is 0.4°.

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