CN-122029452-A - Laser radar attitude adjustment method, system and computing equipment

CN122029452ACN 122029452 ACN122029452 ACN 122029452ACN-122029452-A

Abstract

The application relates to the technical field of laser radars, and discloses a method, a system and a computing device for adjusting the posture of a laser radar. The method enables the laser scanning surface of the laser radar to keep a certain distance from the display screen, enables the laser scanning surface to be parallel to the display screen on the basis of keeping the distance, and enables the laser scanning surface which is parallel to the display screen to be further close to the display screen, so that the gesture of the laser radar is adjusted gradually, the gesture of the laser radar is controlled to be controlled, and the gesture of the laser radar is adjusted.

Inventors

YAO JINCHENG

Assignees

广州视源电子科技股份有限公司
广州视源人工智能创新研究院有限公司

Dates

Publication Date: 20260512
Application Date: 20240603

Claims (15)

A method for adjusting a pose of a lidar, the method being applied to a display system, the display system including a display device, the lidar being mounted on the display device, the method comprising: Acquiring a first point cloud generated by a laser radar on a first adjusting device, wherein when laser emitted by the laser radar scans different positions of the first adjusting device, corresponding sections are different; According to the first point cloud, controlling a first vertical distance between a laser scanning surface of the laser radar and a display screen of the display device to be in a first preset distance range, and forming a first gesture of the laser radar; Acquiring a second point cloud generated on a second adjusting device and a third point cloud generated on a third adjusting device when the laser radar is positioned in the first gesture; the device comprises a display device, a first adjusting device, a second adjusting device, a third adjusting device, a first cross section and a second cross section, wherein the first adjusting device and the second adjusting device are respectively arranged on two opposite sides of the display device; controlling a laser scanning surface of the laser radar to be parallel to a display screen of the display device according to the second point cloud and the third point cloud to form a second gesture of the laser radar; Acquiring a fourth point cloud generated on the first adjusting device when the laser radar is positioned in the second gesture; and 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 to form a third gesture of the laser radar, wherein the second vertical distance is smaller than the first vertical distance.
The adjustment method according to claim 1, wherein the first adjustment device and the lidar are disposed on the display apparatus opposite to each other in a first direction, and the second adjustment device and the third adjustment device are disposed on the display apparatus opposite to each other in a second direction, the first direction being perpendicular to the second direction.
The adjustment method according to claim 1, wherein the first adjustment device, the second adjustment device, and the third adjustment device are each provided with an optical surface for receiving laser light emitted from the laser radar, and a width of the optical surface is increased or decreased in a direction perpendicular to a surface of the display device, such that light intensities of reflected light rays reflected to the laser radar after the optical surface receives the laser light emitted from the laser radar are different.
The adjustment method according to claim 3, wherein the first adjustment device, the second adjustment device, and the third adjustment device each include a target reflection area and a normal area, the optical surfaces of the first adjustment device, the second adjustment device, and the third adjustment device are disposed in the respective target reflection areas, the reflected light of the optical surfaces is different from the light intensity of the reflected light of the normal area, the normal areas of the first adjustment device, the second adjustment device, and the third adjustment device are disposed close to the display screen, and the target reflection areas of the first adjustment device, the second adjustment device, and the third adjustment device are adjacent to the respective normal areas and distant from the display screen.
The method of adjusting according to claim 4, wherein the size of the optical surface is the same as the size of the target reflection area.
The adjustment method according to claim 5, wherein the respective target reflection areas of the first adjustment device, the second adjustment device, and the third adjustment device are different in width of a cross section scanned to different positions by the laser light emitted by the lidar.
The adjustment method according to claim 1, wherein the controlling, according to the first point cloud, a first vertical distance between a laser scanning surface of the lidar and a display screen of the display device to be within a first preset distance range forms a first pose of the lidar includes: Screening 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; Acquiring the number of the first candidate point clouds; And controlling a first vertical distance between a laser scanning surface of the laser radar and the display screen to be in a first preset distance range according to the number of the first candidate point clouds, so as to form a first gesture of the laser radar.
The adjustment method according to claim 7, wherein the controlling the first vertical distance between the laser scanning surface of the laser radar and the display screen according to the number of the first candidate point clouds to be within a first preset distance range forms a first pose of the laser radar, includes: judging whether the number of the first candidate point clouds meets a preset first numerical value interval or not; If so, determining that a first vertical distance between a laser scanning surface of the laser radar and the display screen is within a first preset distance range, and forming a first gesture of the laser radar; And if the first numerical value interval is not met, adjusting the current gesture of the laser radar until the number of first candidate point clouds in the first point clouds newly generated by the laser radar on the first adjusting device based on the adjusted gesture meets the first numerical value interval, and forming the first gesture of the laser radar.
The adjustment method according to claim 1, wherein the controlling the laser scanning surface of the laser radar to be parallel to the display screen of the display device according to the second point cloud and the third point cloud forms a second pose of the laser radar includes: 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; acquiring the number of the second candidate point clouds and the number of the third candidate point clouds; Judging whether the number of the second candidate point clouds is the same as the number of the third candidate point clouds or whether the difference value between the number of the second candidate point clouds and the number of the third candidate point clouds meets a preset second numerical interval; If the first gesture is satisfied, determining that a laser scanning surface of the laser radar is parallel to a display screen of the display device, and forming a second gesture of the laser radar; And if the current gesture of the laser radar is not satisfied, adjusting the current gesture of the laser radar until the difference value between the number of second candidate point clouds in the second point clouds newly generated by the laser radar on the basis of the adjusted gesture and the number of third candidate point clouds in the third point clouds newly generated by the third adjusting device is the same or the number of the second candidate point clouds and the number of the third candidate point clouds satisfies the second numerical interval, so as to form the second gesture of the laser radar.
The adjustment method according to claim 1, wherein the controlling, according to the fourth point cloud, a second vertical distance between a laser scanning surface of the lidar and a display screen of the display device to be within a second preset distance range forms a third pose of the lidar includes: screening from the fourth point cloud according to the signal intensity value of each point in the fourth point cloud to obtain a fourth candidate point cloud belonging to the first adjusting device; acquiring the number of the fourth candidate point clouds; And controlling a second vertical distance between the laser scanning surface of the laser radar and the display screen to be in a second preset distance range according to the number of the fourth candidate point clouds, so as to form a third gesture of the laser radar.
The adjustment method according to claim 10, wherein the controlling the second vertical distance between the laser scanning surface of the laser radar and the display screen according to the number of the fourth candidate point clouds to be within a second preset distance range forms a third pose of the laser radar, includes: Judging whether the number of the fourth candidate point clouds is zero or not, or whether the number of the fourth candidate point clouds is larger than zero and smaller than a preset threshold value or not; If the first vertical distance between the laser scanning surface of the laser radar and the display screen is in a first preset distance range, a third gesture of the laser radar is formed; If the current gesture of the laser radar is not satisfied, the current gesture of the laser radar is adjusted until the number of fourth candidate point clouds in the fourth point clouds newly generated on the first adjusting device by the laser radar based on the adjusted gesture is zero, or the number of the fourth candidate point clouds is greater than zero and smaller than a preset threshold value, so that a third gesture of the laser radar is formed.
The adjustment method according to any one of claims 1-11, characterized in that the display device comprises an LED display device.
The system for adjusting the attitude of the laser radar is characterized by comprising a display device, the laser radar arranged on the display device, a first adjusting device, a second adjusting device and a third adjusting device, wherein the first adjusting device and the laser radar are oppositely arranged on the display device along a first direction, the second adjusting device and the third adjusting device are oppositely arranged on the display device along a second direction, and the first direction is perpendicular to the second direction; The optical surfaces of the first adjusting device, the second adjusting device and the third adjusting device are used for reflecting light rays to the laser radar after receiving laser emitted by the laser radar; The laser radar is used for adjusting the self posture based on the received light intensity change condition of the light rays reflected by the optical surfaces.
The adjustment system of claim 13, wherein the lidar is specifically configured to obtain a first point cloud generated on the first adjustment device, so that the adjustment system adjusts a first vertical distance between a laser scanning surface of the lidar and a display screen of the display device to be within a first preset distance range according to the first point cloud, and form a first pose of the lidar; The laser radar located in the first gesture 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 a 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, and a second gesture of the laser radar is formed; The laser radar in the second posture is specifically configured to reacquire a fourth point cloud generated on the first adjustment device, so that the adjustment system adjusts a second vertical distance between a 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, and a third posture of the laser radar is formed, where the second vertical distance is smaller than the first vertical distance.
The adjustment system of claim 13, wherein the lidar samples at a frequency of 50KHz at a speed of 20 revolutions per minute and the lidar lases at a pitch angle of 0.4 °.

Description

Laser radar attitude adjustment method, system and computing equipment Technical Field The application relates to the technical field of laser radars, in particular to a method, a system and a computing device for adjusting the posture of a laser radar. Background The development of intelligent driving technology promotes the improvement of laser radar technology, and provides a new solution for touch interaction technology. The main principle is that the laser radar is arranged on the display equipment for touch interaction, the laser radar drives the laser transceiver to rotate through the motor, the laser beam is emitted to form a laser scanning surface on the screen surface of the display equipment, and when the screen is clicked, scanning lines in the laser scanning surface are shielded, so that specific position coordinates clicked in the screen are determined by detecting the shielded positions. However, due to production process limitations, the laser beam emitted by the actually assembled lidar has a pitch angle that is not perfectly horizontal, which results in a laser scanning surface that is not a horizontal surface, but a conical surface. The mounting position of the laser radar can influence the position relation between the conical surface and the screen of the display device, and then the detection precision of the clicked position in the screen can be greatly influenced. In order to solve the above problems, the related art uses an infrared camera to perform laser radar leveling (leveling refers to making the conical surface of the laser scanning surface as close to but not touching the screen as possible, and making the posture as smooth as possible, and not askew), and the infrared camera can be used to observe the position of the laser spot during the laser radar leveling process, so as to assist in adjusting the installation posture of the laser radar. However, in the practical operation process, it is found that the infrared camera and the equipment required to be matched for leveling work are generally expensive, the cost of a laser radar leveling scheme is increased, the infrared camera depends on the display of infrared light spots, the display effect of the infrared light spots is affected by various factors including laser intensity and environment brightness, the infrared light spots may not be clearly visible in a bright environment, the leveling of the laser radar by the infrared camera is blocked, and moreover, professional after-sales personnel are required to have high-level technical knowledge and skills to perform the installation and maintenance work of the infrared camera, so that the difficulty and the requirement of after-sales maintenance are increased. Disclosure of Invention The technical problem which is mainly solved by the embodiment of the application is how to simply and reliably realize the leveling of the laser radar, thereby improving the accuracy of the positioning detection of the laser radar. In order to solve the technical problems, the technical scheme adopted by the embodiment of the application is that the method for adjusting the attitude of the laser radar is applied to a display system, the display system comprises a display device and a laser radar installed on the display device, the method comprises the steps of acquiring first point clouds generated by the laser radar on a first adjusting device, wherein when laser beams emitted by the laser radar scan to different positions of the first adjusting device, corresponding sections are different, controlling a first vertical distance between a laser scanning surface of the laser radar and a display screen of the display device to form a first attitude of the laser radar in a first preset distance range, acquiring second point clouds generated by the laser radar on a second adjusting device when the laser radar is located in the first attitude and third point clouds generated by the third adjusting device, respectively, controlling the laser radar scanning surface of the laser radar to be located at different positions of the second adjusting device, controlling the laser radar scanning surface to form a second vertical distance between the laser radar scanning surface of the laser radar and the display device and the fourth point clouds, and the laser radar cloud generated by the laser radar is located in a second preset distance range when the laser radar scanning surface of the laser radar is located in the second adjusting device, and the third point clouds generated by the laser radar is located in a second preset distance range, and forming a third gesture of the laser radar, wherein the second vertical distance is smaller than the first vertical distance. 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, and after the laser radar, the first adjustment device, the second adjustment dev