CN112639526A - Parking apron detection device and control method - Google Patents
Parking apron detection device and control method Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The application provides an apron detection device and a control method. The parking apron detection device comprises a mounting bracket and at least two laser radars, wherein the at least two laser radars are arranged on the mounting bracket and are positioned at different horizontal heights; the laser radar is used for detecting whether a target object lands on the parking apron or not. The laser radar technology is applied to the parking apron detection, and has the advantages of low structural precision requirement, good stability, no influence of ambient light, long service life, high detection accuracy and the like.
Description
Technical Field
The application relates to the technical field of object detection, in particular to an apron detection device and a control method.
Background
The robot technology is the mainstream top-grade science and technology in the world today, and after years of development, a brand new era is met. The robot match is gradually heated, the match form is that both sides of the match respectively manufacture a plurality of chariot, unmanned aerial vehicle and other equipment, the equipment is mutually compared in a complex field, props such as an apron for the unmanned aerial vehicle to land are arranged in the match field, and finally the match victory or defeat is judged by an electronic judgment system.
At present, the common scheme for detecting whether an airplane lands on an air park of an unmanned aerial vehicle is as follows: the method adopts a pressure sensor, a wind sensor, an infrared pair tube and a camera, but the schemes have respective defects.
The scheme of adopting the pressure sensor (weighing) is that the pressure sensor is arranged on the surface of the parking apron, when the airplane flies off or lands on the parking apron, the weight information output by the pressure sensor changes, and whether the airplane exists or not is judged according to the weight information. However, the airplane and the sensor are measured in a contact mode, the surface of the apron provided with the pressure sensor is easy to damage due to the fact that the airplane collides with the surface of the apron when falling, and therefore the structure of the scheme is easy to damage and the service life of the scheme is short. In addition, pressure sensors can also be misidentified when other physical locations are on the tarmac surface.
The scheme of adopting the wind sensor is that the wind sensor is arranged on the surface of the apron, and the structure is easy to damage like the scheme of adopting the pressure sensor. In addition, the wind sensor judges whether the airplane exists or not according to the wind power, and the wind power is different when the airplane lands each time, so that when the processor finally judges whether the airplane exists or not, the relative position of the airplane to the surface of the apron is different (the relative height is uncertain), and the detection result is different each time.
The scheme of adopting the infrared geminate transistors is similar to the elevator door principle, an infrared transmitting tube is arranged on one side of the parking apron, an infrared receiving tube is arranged on the other side of the parking apron, and when the infrared receiving tube cannot receive information of the infrared transmitting tube, the fact that the infrared transmitting tube and the infrared receiving tube are blocked by an object is judged, namely, the fact that an airplane lands on the parking apron is judged. Because this scheme requires structural design infrared transmitting tube and infrared receiving tube on the coplanar, so this scheme is higher to structural accuracy and intensity requirement. In addition, when other physics shield the infrared receiving tube from the infrared transmitting tube, the pressure sensor can be mistakenly identified.
The scheme of the camera is adopted, the camera is used for collecting image information of the surface of the parking apron to judge whether an airplane lands, the camera is greatly influenced by ambient light, and the scheme adaptability is not strong.
Disclosure of Invention
The application provides an apron detection device and a control method.
Specifically, the method is realized through the following technical scheme:
according to a first aspect of the present application, there is provided an apron detection apparatus, including: the laser radar system comprises a mounting bracket and at least two laser radars, wherein the at least two laser radars are arranged on the mounting bracket and are positioned at different horizontal heights; the laser radar is used for detecting whether a target object lands on the parking apron or not.
According to a second aspect of the present application, a control method is provided, which is applied to an apron detection device, wherein the apron detection device comprises at least two laser radars for detecting whether a target object lands on an apron, and the at least two laser radars are installed at different levels; the control method comprises the following steps: and when the target object is detected by the at least two laser radars, judging that the target object lands on the parking apron.
According to the technical scheme provided by the embodiment of the application, at least two laser radars are arranged on the mounting support, each laser radar is arranged at different levels, and when all the laser radars detect the target object, the target object is judged to land on the apron. The laser radar technology is applied to the parking apron detection, and has the advantages of low structural precision requirement, good stability, no influence of ambient light, long service life, high detection accuracy and the like.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic perspective view of an apron detection device according to an embodiment of the present application.
Fig. 2 is a schematic front view of an apron detection device according to an embodiment of the present application.
Fig. 3 is a schematic front view of the apron detection device according to an embodiment of the present application with the outer housing removed.
Fig. 4 is a side sectional view of the apron detection device in an embodiment of the present application.
Fig. 5 is a schematic perspective view of an apron detection device and an apron according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a connection between a processor of the apron detection apparatus according to an embodiment of the present application.
Fig. 7 is a flowchart illustrating a control method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application provides an apron detection device and a control method. The parking apron detection device and the control method according to the present application will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.
Referring to fig. 1 to 5, the present embodiment provides an apron detection apparatus 100, which is suitable for a robot race and is used for detecting whether an unmanned aerial vehicle lands on an apron 90 provided in a race field. The tarmac detection apparatus 100 includes a mounting bracket 10 and at least two lidar 20, where the at least two lidar 20 are disposed on the mounting bracket 10 and located at different levels, that is, the at least two lidar 20 are mounted at different levels of the mounting bracket 10. The lidar 20 is configured to detect whether a target object lands on the apron 90. The mounting bracket 10 may be placed at a corner position of the apron 90 to obtain a maximum detection angle and detection range. In the following, the parking apron detection apparatus 100 and the control method according to the present application will be described in detail, taking an example in which the target object is an unmanned aerial vehicle. In this embodiment, the mounting bracket 10 may be a tripod-type structure, and is more suitable for being placed at a corner of the apron 90 without occupying the space of the apron 90.
Laser radar generally includes transmitting terminal and receiving terminal, and the infrared laser signal of transmitting through the modulation, this laser signal are received by the receiving terminal in the reverberation that shines unmanned aerial vehicle back production, and through the inside treater processing of laser radar, the unmanned aerial vehicle that is shone can spread through the communication interface with laser radar's distance and contained angle information, and the expression detects unmanned aerial vehicle. Unmanned aerial vehicle has the take the altitude usually, in order to guarantee the accuracy that detects, installs the level at the difference according to unmanned aerial vehicle's height with two at least lidar to be not more than unmanned aerial vehicle's height apart from the distance between two lidar 20 of furthest, make the detection range can cover whole unmanned aerial vehicle completely in vertical direction, when whole lidar all detected unmanned aerial vehicle, judge that unmanned aerial vehicle descends at the air park. In the present embodiment, the number of the laser radars 20 is two. In other examples, the number of the laser radars may be set according to actual needs, and the application is not limited thereto.
This application is through setting up two at least lidar on the installing support to every lidar sets up at the level of difference, when whole lidar all detected the target object, judges that the target object descends at air park 90. The laser radar technology is applied to parking apron detection, and has the advantages of low structural precision requirement, good stability, no influence of ambient light, long service life, high detection accuracy and the like.
In some optional embodiments, the mounting bracket 10 is provided with at least two mounting portions 11 at intervals in the vertical direction, the number of the mounting portions 11 being equal to the number of the laser radars 20, and the laser radars 20 are mounted on the mounting portions 11 in a one-to-one correspondence. The mounting portion 11 may be fixed to the mounting bracket 10 by a fastener such as a screw, and the laser radar 20 may be fixed to the mounting portion 11 by a fastener such as a screw. In this embodiment, at least two installation portions 11 are arranged along the same vertical direction, and then at least two laser radars 20 are arranged along the same vertical direction, so that the detection directions of at least two laser radars 20 are kept in the same direction as much as possible, and the detection accuracy can be ensured.
At least two lidar 20 install at different level according to unmanned aerial vehicle's height, and two adjacent lidar 20's interval is not more than 200mm to distance between two lidar 20 farthest is not more than unmanned aerial vehicle's height, makes detection range can cover whole unmanned aerial vehicle completely in vertical direction. Unmanned aerial vehicle's height is generally within 500mm, in this embodiment to set up two laser radar 20 as an example, and wherein the laser radar 20 that is located the top is installed in the place apart from apron 90 ground height 350mm position, can reach more reliable and more stable detection, guarantees that the judgement can not make mistakes. The laser radar 20 located below is installed at a height of 150mm from the ground of the apron 90, and can avoid other foreign matters on the surface of the apron 90. Optionally, the spacing between the two lidar 20 is 150 mm.
The bottom of the mounting bracket 10 may be provided with a connecting plate 13, and the connecting plate 13 is provided with a connecting hole 14 for fixedly connecting with the apron 90. The mounting bracket 10 can be fixedly connected to the surface of the apron 90 by a fastener such as a screw passing through the connecting hole 14, so as to fixedly mount the mounting bracket on the surface of the apron 90. In this embodiment, the number of the connecting plates 13 is two, the connecting plates are symmetrically arranged on two sides of the bottom of the mounting bracket 10, and two connecting holes 14 are formed in each connecting plate 13, so that the firmness of the connection between the mounting bracket 10 and the apron 90 can be ensured.
In some alternative embodiments, the outer cover of the mounting bracket 10 is provided with an outer shell 30, the at least two lidar 20 are located between the mounting bracket 10 and the outer shell 30, and the outer shell 30 may protect the lidar 20.
In order to ensure that the laser radar 20 can work normally, a window 31 is formed on the surface of the outer shell 30 corresponding to the laser radar 20. The laser radar 20 can transmit the infrared laser signal outwards through the corresponding window 31 and receive the infrared laser signal, and detect whether the unmanned aerial vehicle lands on the parking apron 90. In this embodiment, the mounting bracket 10 adopts a tripod type structure, and the outer shell 30 adopts a three-fold plate type structure, which can be understood as being formed by splicing three plates with different planes, wherein the plates located at both sides are symmetrically arranged at both sides of the plate located in the middle, so that the opening area and the angle of the window 31 can be enlarged, and the laser radar 20 obtains a larger detection angle to ensure the accuracy of detection.
The laser radar 20 comprises a body and a rotatable detecting head 21, wherein the detecting head 21 is arranged on the body corresponding to the position of the window 31, and the effect of scanning the angle and distance information of a target object in a 360-degree rotating mode can be achieved. Laser radar 20 needs to connect the power and link to each other with external processor, through-hole 12 has been seted up to installing support 10, laser radar 20 includes data line 22, data line 22 certainly through-hole 12 is worn out installing support 10 can be connected with the power or be connected with external processor. In this embodiment, the through hole 12 is opened near the bottom of the mounting bracket 10 for the convenience of wiring.
In some alternative embodiments, the apron detection apparatus 100 of the present application may further include a processor and an indicator, the processor being electrically connected to the at least two lidar 20 and the indicator. When the laser radar 20 detects a target object, a detection signal is sent to the processor, when the processor receives the detection signal of each laser radar 20 at the same time, it is determined that a target object (namely, an unmanned aerial vehicle) lands on the apron 90, and the processor controls the indicator to be turned on to indicate that the target object lands on the apron 90.
Referring to fig. 6, the processor may control the detected angle and rotation speed of lidar 20. Optionally, the single chip microcomputer 40 with the model number of STM32F427 may be adopted, the data line 22 of the laser radar 20 may include an external interface terminal 23, a PWM pin of the single chip microcomputer 40 is connected to a mototctl pin of the laser radar 20, the single chip microcomputer 40 outputs a PWM waveform through the PWM pin, the rotation speed of the laser radar is controlled, and the PWM waveforms with different duty ratios correspond to different rotation speeds of the laser radar. And a TX pin of the singlechip 40 is connected with an RX pin of the laser radar, and the RX pin of the singlechip 40 is connected with the TX pin of the laser radar and used for receiving a target object angle and distance information data packet fed back by the laser radar. The single chip microcomputer 40 receives angle and distance information data packets of the target object fed back by the laser radar through a serial port (USART) pin, and the single chip microcomputer 40 analyzes the data packets to obtain real angle and distance information of the target object. The VCC GND pin of the single chip microcomputer 40 is the positive and negative poles of the power supply.
In this embodiment, the indicator comprises a first indicator light mounted on the mounting bracket 10, which may be mounted at a conspicuous location on the mounting bracket 10, such as on the top of the mounting bracket 10. When the processor receives the detection signal of each laser radar 20 at the same time, it is determined that an unmanned aerial vehicle lands on the apron 90, and the processor controls the first indicator lamp to be turned on to indicate that a target object (namely the unmanned aerial vehicle) lands on the apron 90, so that a prompt effect can be provided for an operator, a referee and audiences. In other examples, the indicator may also include a buzzer, and when the processor receives the detection signal of each of the laser radars 20 at the same time, the processor determines that the drone lands on the apron 90, and the processor controls the buzzer to sound to indicate that the target object (i.e., the drone) lands on the apron 90, which may also provide a prompt for the operator, the referee, and the audience.
In some optional embodiments, the processor is communicatively connected to the server, and when the processor receives the detection signal of each of the laser radars 20 at the same time, it determines that a target object (i.e., an unmanned aerial vehicle) lands on the apron 90, and the processor sends a state change instruction for the target object to the server, so as to enhance the enjoyment and the competitive performance of the robot game. Optionally, the state change instruction includes one or more of a charge instruction, a reply instruction, a capability gain instruction, and a state restore instruction. Wherein, in the robot match, the energy charging command may refer to supplement the ability for the unmanned aerial vehicle (for example, resume the ability of action or resume the ability of launching ammunition), the reply command may refer to return blood for the unmanned aerial vehicle, the ability gain command may refer to increase buff (gain effect) for the unmanned aerial vehicle, and the state restoration command may refer to offset negative buff for the unmanned aerial vehicle.
As shown in fig. 5, the indicator may further include a second indicator light 50, and the second indicator light 50 may be mounted on the mounting bracket 10 and may be mounted at a conspicuous position on the mounting bracket 10, for example, on the top of the mounting bracket 10, in order to provide a prompt for an operator, a referee, and a viewer. After the processor sends a state change instruction to the server, the processor controls the second indicator light 50 to be turned on to display the state change value of the target object. The second indicator light 50 may include a plurality of LED light bars 51, and the energy column is composed of a plurality of LED light bars, for example, the second indicator light 50 is used for representing the blood volume of the unmanned aerial vehicle, and the processor represents the blood volume that the unmanned aerial vehicle should by controlling the number of the bright lights of the LED light bars.
In some alternative embodiments, the second indicator light 50 may simultaneously perform the functions of the first indicator light described above. Specifically, when the treater judges that unmanned aerial vehicle lands on the air park, the treater control second pilot lamp 50 is whole to be opened for instruct that there is the target object (unmanned aerial vehicle promptly) to land in air park 90, can play the suggestion effect for operator, judge and spectator. Then, when the processor sends a state change instruction to the server, the second indicator lamp 50 is used to display the state change value of the target object.
In some optional embodiments, for example, to set up two lidar, in practical application, the unmanned aerial vehicle is descended the in-process, is detected by the lidar that is located the top earlier, when unmanned aerial vehicle has not descended the lidar's that is located the below height, if there are other objects to be detected by the lidar that is located the below through the lidar's that is located the below detection area, two lidar all can send the detected signal to the treater this moment, cause the treater misjudgement to have unmanned aerial vehicle to descend at the air park.
Therefore, in order to avoid the above situation, the processor may store feature information of the target object corresponding to different heights, and when the feature information of the detected object detected by the laser radar does not match the feature information of the target object corresponding to the height of the laser radar, the processor may remove the detection signal transmitted by the laser radar. The characteristic information may be appearance image information of the target object, for example, when the unmanned aerial vehicle completely lands on the apron, the lidar located above corresponds to the wing position of the unmanned aerial vehicle, the lidar located below corresponds to the support frame position of the unmanned aerial vehicle, and the processor stores the appearance image information of the two positions of the unmanned aerial vehicle. Then, when the outline image of the object detected by any laser radar does not conform to the outline image information of the unmanned aerial vehicle at the corresponding position stored by the processor, the unmanned aerial vehicle is judged not to be completely landed on the apron, and in order to eliminate the interference information, the processor removes the detection signal sent by the laser radar. And only when the appearance image of the object detected by all the laser radars conforms to the appearance image information of the unmanned aerial vehicle at the corresponding position stored by the processor, judging that the unmanned aerial vehicle completely lands on the parking apron.
Can derive by above embodiment and implementation, the air park detection device of this application through set up two at least laser radar on the installing support, detects whether the target object descends at the air park, has and reduces the structure precision dependence, and the installation is simple and convenient, and it is little influenced by external environment, advantages such as detection accuracy height. And moreover, the laser radar and the target object are detected in a non-contact mode, so that the service life of the parking apron detection device is effectively prolonged.
The embodiment of the application further provides a control method applied to the parking apron detection device, the parking apron detection device comprises at least two laser radars used for detecting whether a target object lands on the parking apron, and the at least two laser radars are installed at different levels. The control method comprises the following steps: and when the target object is detected by the at least two laser radars, judging that the target object lands on the parking apron. The control method of the present application may be applied to the apron detection device described in the above-described examples and embodiments.
According to the control method, at least two laser radars are arranged, each laser radar is arranged at different horizontal heights, and when all the laser radars detect the target object, the target object is judged to land on the parking apron. The laser radar technology is applied to parking apron detection, and has the advantages of low structural precision requirement, good stability, no influence of ambient light, long service life, high detection accuracy and the like.
In some optional embodiments, the apron detection device may further include a first indicator light, and the control method of the present application further includes: and when the target object is judged to land on the apron, controlling the first indicator lamp to be turned on. In practice, the apron detection device may be provided with a processor for controlling the first indicator light. The first indicator light may be mounted in a conspicuous location on the apron detection device, for example on top of the apron detection device. When two at least laser radar all detect the target object, when judging that the target object descends in the air park, the treater can control first pilot lamp is opened for instruct that there is the target object (unmanned aerial vehicle promptly) to descend in the air park, can play the suggestion effect for operator, judge and spectator.
In some optional embodiments, the control method of the present application further includes: when the target object is judged to land on the apron, a state change instruction for the target object is sent to the server, so that the pleasure and the competitive performance of the robot competition can be enhanced. Optionally, the state change instruction includes one or more of a charge instruction, a reply instruction, a capability gain instruction, and a state restore instruction. Wherein, in the robot match, the energy charging command may refer to supplement the ability for the unmanned aerial vehicle (for example, resume the ability of action or resume the ability of launching ammunition), the reply command may refer to return blood for the unmanned aerial vehicle, the ability gain command may refer to increase buff (gain effect) for the unmanned aerial vehicle, and the state restoration command may refer to offset negative buff for the unmanned aerial vehicle.
The apron detection device may further include a second indicator light, and the control method of the present application further includes: and after a state change instruction of the target object is sent to the server, the second indicating lamp is controlled to be turned on so as to display the state change value of the target object. In practical applications, the second indicator light may include a plurality of LED light bars, and an energy column composed of a plurality of LED light bars may be disposed on the apron detection device to display a state change value of the target object.
Referring to fig. 7, taking an example that two laser radars are arranged in the apron detection device, in the control method of the present application, the two laser radars (radar 1 and radar 2 shown in fig. 7) both detect whether there is an airplane (i.e., an unmanned aerial vehicle) in their respective detection ranges, and the laser radars may detect once at a certain interval, for example, 1.5 seconds. When two laser radars detect that an airplane is present at the same time, the apron detection device judges that the airplane is present on the apron when the airplane is landed, the apron outputs the airplane-present state to the server, the server starts to add energy (namely one or more of an energy charging command, a return command, an ability gain command and a state restoration command) to the airplane, the number of the bright lamps of the LED lamps is gradually increased, the energy columns start to increase, the state change values of the target object are displayed, and a prompt effect is played for an operator, a judge and audiences.
In some optional embodiments, the apron detection device stores feature information of the target object corresponding to different heights, and the feature information detected by the lidar is removed when the feature information of the detected object detected by the lidar does not coincide with the feature information of the target object corresponding to the height of the lidar. In practical applications, the apron detection apparatus may be provided with a processor for storing feature information of the target object corresponding to different heights, and when the feature information of the detected object detected by the laser radar does not match the feature information of the target object corresponding to the height of the laser radar, the processor removes the detection signal sent by the laser radar.
The characteristic information may be appearance image information of the target object, for example, when the unmanned aerial vehicle completely lands on the apron, the lidar located above corresponds to the wing position of the unmanned aerial vehicle, the lidar located below corresponds to the support frame position of the unmanned aerial vehicle, and the processor stores the appearance image information of the two positions of the unmanned aerial vehicle. Then, when the outline image of the object detected by any laser radar does not conform to the outline image information of the unmanned aerial vehicle at the corresponding position stored by the processor, the unmanned aerial vehicle is judged not to be completely landed on the apron, and in order to eliminate the interference information, the processor removes the detection signal sent by the laser radar. And only when the appearance image of the object detected by all the laser radars conforms to the appearance image information of the unmanned aerial vehicle at the corresponding position stored by the processor, judging that the unmanned aerial vehicle completely lands on the parking apron.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The holder handle and the holder with the holder handle provided by the embodiment of the application are described in detail, and the principle and the embodiment of the application are explained by applying specific examples, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (20)
1. An apron detection device, comprising: the laser radar system comprises a mounting bracket and at least two laser radars, wherein the at least two laser radars are arranged on the mounting bracket and are positioned at different horizontal heights; the laser radar is used for detecting whether a target object lands on the parking apron or not.
2. The apron detection device according to claim 1, characterized in that the mounting bracket is provided with at least two mounting portions in the same number as the number of the lidar bodies at intervals in the vertical direction, and the lidar bodies are mounted to the mounting portions.
3. The apron detection device of claim 1, wherein an outer housing is shrouded outside the mounting bracket, the at least two lidar sources being located between the mounting bracket and the outer housing.
4. The apron detection device of claim 3, wherein a window is provided in the surface of the outer shell at a position corresponding to the lidar.
5. The apron detection device of claim 4, wherein the lidar includes a body and a rotatable probe, the probe being disposed on the body at a position corresponding to the window.
6. The apron detection device of claim 1, wherein the mounting bracket defines a through hole, and the lidar includes a data line that extends out of the mounting bracket through the through hole.
7. The apron detection device according to claim 1, characterized in that a connecting plate is arranged at the bottom of the mounting bracket, and the connecting plate is provided with a connecting hole for fixedly connecting with the apron.
8. The tarmac detection apparatus of claim 1 further comprising a processor and an indicator, the processor being electrically connected to the at least two lidar and the indicator; when the laser radars detect the target object, a detection signal is sent to the processor, and when the processor simultaneously receives the detection signal of each laser radar, the processor controls the indicator to be turned on so as to indicate that the target object lands on the parking apron.
9. The apron detection device of claim 8, wherein the indicator comprises a first indicator light mounted on the mounting bracket; when the processor receives the detection signal of each laser radar at the same time, the processor controls the first indicator light to be turned on so as to indicate that a target object lands on the parking apron.
10. The tarmac detection apparatus of claim 8 wherein the processor is communicatively coupled to a server, and wherein the processor sends a state change command for the target object to the server when the processor simultaneously receives the detection signal from each of the lidar sensors.
11. The apron detection device of claim 10, wherein the state change instructions include one or more of a charge instruction, a reply instruction, a capability gain instruction, a state restoration instruction.
12. The apron detection device of claim 10, wherein the indicator comprises a second indicator light, the second indicator light being mounted on the mounting bracket; and after the processor sends a state change instruction of the target object to the server, the processor controls the second indicator light to be turned on so as to display the state change value of the target object.
13. The apron detection device according to claim 8, wherein the processor stores therein feature information of the target object corresponding to different heights, and when the feature information of the detected object detected by the lidar does not match the feature information of the target object corresponding to the height of the lidar, the processor removes the detection signal transmitted by the lidar.
14. The apron detection device of claim 1, wherein the distance between two adjacent lidar is not more than 200 mm.
15. The control method is applied to an apron detection device and is characterized in that the apron detection device comprises at least two laser radars for detecting whether a target object lands on an apron or not, wherein the at least two laser radars are arranged at different levels; the control method comprises the following steps:
and when the target object is detected by the at least two laser radars, judging that the target object lands on the parking apron.
16. The control method according to claim 15, characterized in that the method further comprises:
and when the target object is judged to land on the apron, sending a state change instruction of the target object to the server.
17. The control method of claim 16, wherein the state change instruction comprises one or more of a charge instruction, a reply instruction, a capability gain instruction, and a state restore instruction.
18. The control method according to claim 15, wherein the apron detection device stores feature information of the target object corresponding to different heights, and the feature information detected by the lidar is removed when the feature information of the detected object detected by the lidar does not match the feature information of the target object corresponding to the height of the lidar.
19. The control method of claim 15, wherein the apron detection device further includes a first indicator light, the method further comprising:
and when the target object is judged to land on the apron, controlling the first indicator lamp to be turned on.
20. The control method according to claim 16, wherein the apron detection device further includes a second indicator light, the method further comprising:
and after a state change instruction of the target object is sent to the server, the second indicating lamp is controlled to be turned on so as to display the state change value of the target object.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/127201 WO2021120224A1 (en) | 2019-12-20 | 2019-12-20 | Parking apron detecting apparatus, and control method |
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| Publication Number | Publication Date |
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| CN112639526A true CN112639526A (en) | 2021-04-09 |
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| CN201980052026.1A Pending CN112639526A (en) | 2019-12-20 | 2019-12-20 | Parking apron detection device and control method |
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| WO (1) | WO2021120224A1 (en) |
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| WO2021120224A1 (en) | 2021-06-24 |
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