CN109696127A - A kind of method and apparatus of laser identification - Google Patents
A kind of method and apparatus of laser identification Download PDFInfo
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- CN109696127A CN109696127A CN201910163901.5A CN201910163901A CN109696127A CN 109696127 A CN109696127 A CN 109696127A CN 201910163901 A CN201910163901 A CN 201910163901A CN 109696127 A CN109696127 A CN 109696127A
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- data point
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses a kind of laser to know method for distinguishing, comprising: control laser source moves along the x axis and carries out laser scanning to target object；Laser scanning is obtained as a result, obtaining the coordinate of multiple data points according to laser scanning result；Fit Plane is determined according to the coordinate of data point.During use, plane where cleaning trolley and handling device platform place plane in photovoltaic cleaning system can be obtained by the method, then the handling device for being used to carry cleaning trolley is moved to and cleans the trolley place matched position of plane, convenient for carrying out automation transfer to cleaning trolley.The invention also discloses a kind of equipment of laser identification.
Description
Technical field
The present invention relates to photovoltaic cleaning technique fields, know method for distinguishing more specifically to a kind of laser, the present invention is also
It is related to a kind of equipment of laser identification.
Background technique
Demand with society to clean energy resource is continuously increased, and photovoltaic application also deepens continuously and refines, from researching and developing to answering
Links, a variety of different types of photovoltaic apparatus are gradually applied in actual production manufacture.
Photovoltaic apparatus during use, needs to clean photovoltaic panel, general to use cleaning trolley to photovoltaic panel
It is cleaned, but cleans after trolley completes photovoltaic panel cleaning and need to be transported to next piece of photovoltaic panel to be cleaned, it is existing
Have in technology, since cleaning trolley can not be travelled directly by one piece of photovoltaic panel to another piece of photovoltaic panel to be cleaned, generally adopts
Manually or other haulage equipments are shifted trolley is cleaned.
The method shifted manually to cleaning trolley, increases human cost, while also making the cleaning effect for cleaning trolley
Rate reduces, can not continuous wash operation；During being shifted using haulage equipment to cleaning trolley, cleaning trolley needs
By manually haulage equipment is moved to, equally increase human cost.
It is current this field skill in conclusion how to provide a kind of method of traveling plane that can determine cleaning trolley
Art personnel's urgent problem to be solved.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of laser to know method for distinguishing, the traveling of cleaning trolley can be determined
Plane.
It is a further object of the present invention to provide a kind of equipment of laser identification that method for distinguishing is known using above-mentioned laser.
To achieve the goals above, the invention provides the following technical scheme:
A kind of laser knowledge method for distinguishing characterized by comprising control laser source moves along the x axis and to object
Body carries out laser scanning；The laser scanning is obtained as a result, obtaining the coordinate of multiple data points according to the laser scanning result；
Fit Plane is determined according to the coordinate of the data point.
Preferably, it determines that fit Plane includes: to screen to the data point according to the coordinate of the data point, obtains
Data point is used in fitting；According to the coordinate of the fitting data point, the fit Plane is determined.
Preferably, described to screen to the data point, obtaining being fitted with data point includes: that acquisition is described for screening
The Z coordinate standard of data point, judges whether the Z coordinate of the data point meets the Z coordinate standard, and Z coordinate is not met institute
The data point for stating Z coordinate standard is rejected, and screening data point is obtained；
The criterion distance for screening the data point is obtained, judges that the distance between adjacent described screening data point is
It is no to meet the criterion distance, the screening for not meeting the criterion distance is rejected with data point, obtains differentiation data point.
Preferably, described to reject the screening for not meeting the criterion distance with data point, obtain differentiation data point it
After include:
The Y-coordinate standard for screening the differentiation data point is obtained, the differentiation is judged according to the Y-coordinate standard
Whether meet the Y-coordinate standard with data point, the differentiation for not meeting the Y-coordinate standard is rejected with data point, or
The differentiation is separated with data point according to the Y-coordinate standard；Obtain deletion data point.
Preferably, it is described obtain include: after the deletion data point
The deletion data point normal vector standard is obtained, judges whether described delete uses data point place plane normal vector
Meet the normal vector standard, the deletion for not meeting the normal vector standard is rejected with data point, obtains fitting number
Strong point.
Preferably, the coordinate according to the fitting data point, determines fit Plane, comprising:
S321: fitting data point described in selected section, and the coordinate of the partial fitting data point according to selection
Determine pre- fit Plane；
S322: judge whether that the fitting data point more than half is located at the pre- fit Plane；
S323: if so, determining that the pre- fit Plane is the fit Plane, if it is not, then reselecting the fitting
With data point and return step S321.
Preferably, the determination pre- fit Plane is after the fit Plane, comprising:
The boundary of the fit Plane is determined according to the coordinate for the fitting data point being located in the fit Plane
Shape, with the boundary of the determination target object.
A kind of equipment of laser identification, comprising:
Laser module, for moving along the x axis and carrying out laser scanning to target object；
Control device moves and for controlling the laser source to target object progress laser scanning along the x axis；
The laser scanning is obtained as a result, obtaining the coordinate of multiple data points according to the laser scanning result；According to the data point
Coordinate, determine fit Plane.
Preferably, the laser module includes:
Laser source, for carrying out laser scanning surface；
Moving parts, for driving the laser source to move along the x-axis.
Preferably, the control device includes:
Controller, it is mobile for controlling the moving parts；
Message processing module, for obtaining the coordinate of multiple data points according to the laser scanning result；
It screens fitting module and determines fit Plane for the coordinate according to the data point.
A kind of laser provided by the invention knows method for distinguishing, comprising: control laser source moves along the x axis and to object
Body carries out laser scanning；Laser scanning is obtained as a result, and obtaining the coordinates of multiple data points according to laser scanning result；According to number
The coordinate at strong point, determines fit Plane.
During use, plane where cleaning trolley in photovoltaic cleaning system can be obtained by the method, then
The handling device that be used to carry cleaning trolley can be moved to and clean the trolley place matched position of plane, convenient for small to cleaning
Vehicle carries out automation transfer.
In addition, the present invention also provides a kind of equipment of laser identification, the position of plane where can identifying cleaning trolley.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow diagram for the specific embodiment one that laser provided by the present invention knows method for distinguishing；
Fig. 2 is the flow diagram of step S3 shown in Fig. 1；
Fig. 3 is the flow diagram of step S31 shown in Fig. 2；
Fig. 4 is the structural schematic diagram of step S32 shown in Fig. 2；
Fig. 5 is the module diagram of the equipment of laser provided by the present invention identification；
Fig. 6 is the structural schematic diagram of equipment shown in Fig. 5.
In Fig. 1-6:
1 it is laser source, 2 be control device, 3 is laser module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of laser knowledge method for distinguishing, and plane and carrying fill where can determining cleaning trolley
The position of plane and angle information where horizontalization platform.Another core of the invention is to provide a kind of side identified using above-mentioned laser
The equipment of the laser identification of plane where method determines cleaning trolley.
Fig. 1-6 is please referred to, Fig. 1 is the process signal for the specific embodiment one that laser provided by the present invention knows method for distinguishing
Figure；Fig. 2 is the flow diagram of step S3 shown in Fig. 1；Fig. 3 is the flow diagram of step S31 shown in Fig. 2；Fig. 4 is Fig. 2 institute
Show the structural schematic diagram of step S32；Fig. 5 is the module diagram of the equipment of laser provided by the present invention identification；Fig. 6 is Fig. 5
The structural schematic diagram of shown equipment.
Laser provided in this embodiment knows method for distinguishing, comprising:
Step S1: control laser source 1 moves along the x axis and carries out laser scanning to target object.
Step S2: laser scanning is obtained as a result, obtaining the coordinate of multiple data points according to laser scanning result.
Step S3: fit Plane is determined according to the coordinate of data point.
In above-mentioned steps, control laser source 1, which moves along the x axis and carries out laser scanning to target object, to be referred to: laser
Source 1 is along X-axis can at the uniform velocity also variable-ratio moves, and preferred laser source 1 is along X-axis uniform motion, and laser source 1 is with fixed frequency
Emit laser, the ambient enviroment for including target object is scanned.
Preferably, it is 50Hz that laser source 1, which emits the frequency of laser, and every 20ms emits a laser.
During being scanned using laser to the ambient enviroment for including target object, laser irradiation is in object table
After face, body surface reflects laser, according to the speed of reflection light and direction, the coordinate of available data point.
It, can be according to obtaining since laser source 1 can obtain a large amount of data point during carrying out laser scanning
The coordinate of data point determine fit Plane.
It determines that the process of fit Plane can be according to the coordinate of data point and brings data point coordinate into planar function, it can also
It is realized in a manner of through other fittings, determines that this will not be repeated here with specific reference to actual conditions.
On the basis of the above embodiments, fit Plane is determined according to the coordinate of data point, comprising:
Step S31: screening data point, obtains fitting data point.
Step S32: according to the coordinate of fitting data point, fit Plane is determined.
In above-mentioned steps, data point is screened, fitting data point of attaining the Way, mainly rejecting laser scanning is arrived not
Point on target object, specific judgment criteria can determines according to actual conditions, and this will not be repeated here.
Fitting data point, which refers to, eliminates the not remaining data point after the point on target object, is used according to fitting
The coordinate fitting of data point obtains fit Plane, and fit Plane can be made closer to the plane of target object in reality.
On the basis of the above embodiments, data point is screened, obtains being fitted and includes: with data point
Step S311: the Z coordinate standard for being used for garbled data point is obtained, judges whether the Z coordinate of data point meets Z coordinate
The data point that Z coordinate does not meet Z coordinate standard is rejected, obtains screening data point by standard.
Step S312: obtaining the criterion distance for being used for garbled data point, judges the distance between adjacent screening data point
Whether meet criterion distance, the screening for not meeting criterion distance is rejected with data point, obtains differentiation data point.
In above-mentioned steps, Z coordinate standard can be the numerical value having determined in advance, and when screening directly inputs, due to laser
The scanning range in source 1 is wider, therefore does not meet the data point of Z coordinate standard in data point comprising many Z coordinates, picks to it
It removes, obtains screening data point.
Plane where cleaning trolley in photovoltaic cleaning system is carried out knowing method for distinguishing using laser provided by the invention
During identification, criterion distance is 15mm to 25mm, it is preferred that criterion distance 20mm.
During judgement, to the distance between each screening data point and screening data point adjacent thereto into
Row calculates, and judges whether this distance meets criterion distance；Such as one of screening is judged with data point: being calculated first
This screening data point and the distance between consecutive points around it, if this distance meets criterion distance, data are used in this screening
Point does not need to reject, if there is the numerical value for not meeting criterion distance in this distance, this screening is undesirable with data point, needs
It rejects.
It needs to be illustrated, the speed that the distance between screening data point is moved along the x-axis with laser source 1, and
Distance dependent of the target object apart from laser source 1, therefore, criterion distance need determines according to actual conditions, and this will not be repeated here.
It is rejected, is obtained distinguishing with including: after data point with data point by the screening for not meeting criterion distance
Step S313: obtaining the Y-coordinate standard for screening differentiation data point, judges to distinguish according to Y-coordinate standard and use
Whether data point meets Y-coordinate standard, and the differentiation for not meeting Y-coordinate standard is rejected with data point, or according to Y-coordinate mark
Brigadier distinguishes to be separated with data point；Obtain deletion data point.
During carrying out laser scanning, the environment around target object can be scanned.In order to make fitting number
Strong point is more accurate, can be screened or be separated according to Y-coordinate of the Y-coordinate standard to differentiation data point.
It needs to be illustrated, when plane is given data where handling device platform, target object is cleaning trolley
Place plane judges whether differentiation data point meets Y-coordinate standard, will not meet Y-coordinate standard after obtaining Y-coordinate standard
Differentiation rejected with data point, obtain deletion data point；When plane is unknown data where handling device platform, object
Body is plane where plane where cleaning trolley and handling device platform, after obtaining Y-coordinate standard, according to Y-coordinate standard to area
Divide and distinguished with data point, obtain deletion data point, deletion data point at this time includes two parts, and a part is cleaning
The deletion data point of plane where trolley, a part are the deletion data point of plane where handling device platform.
On the basis of the above embodiments, it obtains deleting with after data point, comprising:
Step S314: obtaining deletion data point normal vector standard, judges that plane normal vector where deletion data point is
It is no to meet normal vector standard, the deletion for not meeting normal vector standard is rejected with data point, obtains fitting data point.
In above-mentioned steps, plane where deletion data point refers to: deletion data point and around it adjacent or distance compared with
Plane composed by close point is obtaining deleting with after data point, substantially may be used since the distribution of deletion data point is very intensive
To determine the approximate range of the normal vector of target object plane.
Where target object is only to clean trolley when plane, obtains deleting with after data point, determine and clean trolley institute
In the normal vector approximation of plane, then deletion data point and its deletion that is adjacent or being closer are fitted to data point
The normal vector of this plane is compared, if not meeting cleaning trolley by plane with the approximate normal vector of plane where cleaning trolley
The approximation of place plane normal vector then rejects corresponding deletion with data point.When target object is cleaning trolley institute
In plane where plane and handling device platform, the approximation method vector sum handling device of plane where respectively obtaining cleaning trolley
The approximate normal vector of plane where platform, then to the normal vector of plane where plane deletion data point where cleaning trolley with
The approximate normal vector numerical value of plane compares where cleaning trolley, the approximation of plane normal vector where not meeting cleaning trolley
The deletion of value is rejected with data point, the fitting data point of plane where obtaining cleaning trolley；To flat where handling device platform
The normal vector of plane where the deletion in face data point and the approximate normal vector numerical value of handling device platform place plane carry out pair
Than the deletion of the approximation of plane normal vector is rejected with data point where not meeting handling device platform, obtains handling device
The fitting data point of plane where platform.
On the basis of the above embodiments, according to the coordinate of fitting data point, fit Plane is determined, comprising:
Step S321: selected section fitting data point, and pre- intend is determined according to the coordinate of the fitting of selection data point
Close plane.
Step S322: judge whether that the fitting more than half is located at pre- fit Plane with data point.
Step S323: if so, determining that pre- fit Plane is fit Plane, if it is not, then reselecting fitting data point
And return step S321.
It in above-mentioned steps, needs to be illustrated, fitting is to clean the fitting number of trolley place plane with data point
The fitting data point of plane where strong point or handling device platform.Plane and carrying dress where target object is cleaning trolley
Where horizontalization platform when plane, above-mentioned steps need to carry out twice, being repeated once, being carried after plane where obtaining cleaning trolley
Plane where apparatus platform.During determining fit Plane with data point according to fitting, need to select an optimal planar,
It is located at the fitting data point at least over half in fit Plane.
After determining that pre- fit Plane is fit Plane, comprising: according to the fitting data point being located in fit Plane
Coordinate determine fit Plane boundary shape, to determine the boundary of target object.
It can be counted by the coordinate to the data point being located in fit Plane, determine the number being located in fit Plane
The limiting figure of the coordinate at strong point, to fit boundary and the shape of target object.
In photovoltaic cleaning system, the laser that can be provided through the invention knows method for distinguishing and determines light where cleaning trolley
The plane of plate is lied prostrate, and determines the boundary of the plane of cleaning trolley place photovoltaic panel, so that handling device platform is moved to and is cleaned
The matched position of photovoltaic panel where trolley travels cleaning trolley to handling device platform.Using laser provided by the invention
During knowledge method for distinguishing identifies the plane of photovoltaic panel where cleaning trolley, since cleaning trolley is stopped to photovoltaic panel
Marginal position, therefore clean trolley presence will not influence laser scanning result.
It needs to be illustrated, in order to enable target object during scanning of laser source 1 to be scanned completely,
It can make between 180 ° to 200 ° of scanning range of laser, it is preferred that the scanning range of laser is 190 °, and each 0.5 ° of hair
A scanning element is penetrated, and plane composed by single sweep operation point is parallel to the plane of Z axis and Y-axis composition.
It needs to be illustrated, X-axis mentioned in the present invention, Y-axis, Z axis are respectively positioned on the coordinate system where laser source 1
In, where target object is only to clean trolley when plane, plane where handling device platform is it is known that still handling device is flat
The coordinate system of plane where platform is coordinate system where mobile device, and mobile device herein refers to can be by cleaning trolley and carrying
Device carries out mobile mobile device simultaneously, therefore need to convert the coordinate system of plane where handling device platform, obtains
Numerical value of the plane in laser coordinate system where handling device platform, conversion process need determines according to actual conditions, herein not
It repeats.
In addition to above-mentioned laser know method for distinguishing, the present invention also provides it is a kind of using laser disclosed in above-described embodiment identification
The equipment of the laser identification of method, the equipment of laser identification includes laser module 3 and control device 2, and laser module 3 and control
Device 2 processed connects；Wherein laser module 3 is for moving along the x axis and carrying out laser scanning, control device 2 to target object
It moves along the x axis and for controlling laser source 1 to target object progress laser scanning；Laser scanning is obtained as a result, according to swashing
Optical scanning result obtains the coordinate of multiple data points；According to the coordinate of data point, fit Plane is determined；The equipment of laser identification
The structure of other each sections refer to the prior art, repeats no more herein.
It needs to be illustrated, target object can be plane only where cleaning trolley, be also possible to both include clear
Plane where washing trolley also includes plane where handling device platform.
On the basis of the above embodiments, laser module 3 includes laser source 1 and moving parts, and laser source 1 is for being swashed
Optical scanning, moving parts is for driving laser source 1 to move along the x-axis.
Moving parts can be guide rail slide block structure, be also possible to the transmission devices such as synchronous belt, synchronous wheel construction, specific root
It is determined according to actual conditions.
Preferably, can will make laser module 3 includes the laser source 1 for being used to emit laser and being scanned, and laser source 1 is pacified
Loaded on the sliding block that can be moved along the x-axis, control device 2 controls the laser scanning and movement of laser source 1.
On the basis of the above embodiments, control device 2 includes controller, message processing module and screening fitting module,
Controller is used to control the movement of moving parts, and message processing module is used to obtain multiple data points according to laser scanning result
Coordinate；Fitting module is screened for the coordinate according to data point, determines fit Plane.
It needs to be illustrated, the multiple data points mentioned in present specification refer to that a large amount of laser scanning point is produced
Raw data point, such as: the scanning range of laser is 190 °, and one scanning element of each 0.5 ° of transmitting, then single laser emits
It can get 381 data points, if the frequency of Laser emission is 50Hz, can get 19050 data points within 1 second.
Preferably, screening fitting module includes screening part and fitting unit, screening part include Z coordinate screening unit,
Apart from screening unit, Y-coordinate screening unit and normal vector screening unit, Z coordinate screening unit is sentenced for obtaining Z coordinate standard
Whether the Z coordinate of disconnected data point meets Z coordinate standard, and the data point that Z coordinate does not meet Z coordinate standard is rejected, is screened
Use data point；Apart from screening unit for obtaining criterion distance, judge whether the distance between adjacent screening data point meets
Criterion distance rejects the screening for not meeting criterion distance with data point, obtains differentiation data point；Y-coordinate screening unit is used
In obtaining Y-coordinate standard, judges whether differentiation data point meets Y-coordinate standard according to Y-coordinate standard, Y-coordinate will not met
The differentiation of standard is rejected with data point, or is separated differentiation with data point according to Y-coordinate standard；Obtain deletion number
Strong point；Normal vector screening unit judges planar process where deletion data point for obtaining deletion data point normal vector standard
Whether vector meets normal vector standard, and the deletion for not meeting normal vector standard is rejected with data point, obtains fitting data point.
Fitting unit includes selecting unit, judging unit and definition unit, and selecting unit uses number for selected section fitting
Strong point, and pre- fit Plane is determined according to the coordinate of the fitting of selection data point；Judging unit is for judging whether more than one
Half fitting is located at pre- fit Plane with data point；Definition unit is for determining fit Plane, if being more than the fitting number of half
Strong point is located at pre- fit Plane, it is determined that pre- fit Plane is fit Plane, if the fitting for being no more than half is located at data point
Pre- fit Plane then communicates information to selecting unit and reselects partial fitting data point, and continues above-mentioned steps operation.
In another embodiment, laser module 3 includes the laser source 1 that can be moved along the x-axis, and laser source 1 is installed on
On the sliding block for the guide rail sliding that can be installed along the x axis, controller is connect with the power device for driving sliding block to slide, information
Processing module is connect with laser source 1, and screening fitting module is connect with message processing module.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.All realities provided by the present invention
Any combination mode of example is applied in the protection scope of the invention, this will not be repeated here.
The method and apparatus of laser provided by the present invention identification is described in detail above.Tool used herein
Principle and implementation of the present invention are described for body example, the above embodiments are only used to help understand this hair
Bright method and its core concept.It should be pointed out that for those skilled in the art, not departing from the present invention
, can be with several improvements and modifications are made to the present invention under the premise of principle, these improvement and modification also fall into right of the present invention
It is required that protection scope in.
Claims (10)
1. a kind of laser knows method for distinguishing characterized by comprising
Control laser source (1) moves along the x axis and carries out laser scanning to target object；
The laser scanning is obtained as a result, obtaining the coordinate of multiple data points according to the laser scanning result；
Fit Plane is determined according to the coordinate of the data point.
2. laser according to claim 1 knows method for distinguishing, which is characterized in that determined according to the coordinate of the data point quasi-
Closing plane includes:
The data point is screened, fitting data point is obtained；
According to the coordinate of the fitting data point, the fit Plane is determined.
3. laser according to claim 2 knows method for distinguishing, which is characterized in that it is described that the data point is screened,
It obtains being fitted and includes: with data point
The Z coordinate standard for screening the data point is obtained, judges whether the Z coordinate of the data point meets the Z coordinate
The data point that Z coordinate does not meet the Z coordinate standard is rejected, obtains screening data point by standard；
The criterion distance for screening the data point is obtained, judges whether the adjacent screening is accorded with the distance between data point
The criterion distance is closed, the screening for not meeting the criterion distance is rejected with data point, obtains differentiation data point.
4. laser according to claim 3 knows method for distinguishing, which is characterized in that described not meet the criterion distance
Screening is rejected with data point, is obtained distinguishing with including: after data point
The Y-coordinate standard for screening the differentiation data point is obtained, the differentiation number is judged according to the Y-coordinate standard
Whether strong point meets the Y-coordinate standard, and the differentiation for not meeting the Y-coordinate standard is rejected with data point, or according to
The Y-coordinate standard separates the differentiation with data point；Obtain deletion data point.
5. laser according to claim 4 knows method for distinguishing, which is characterized in that it is described obtain the deletion data point it
After include:
The deletion data point normal vector standard is obtained, judges whether plane normal vector where the deletion data point meets
The deletion for not meeting the normal vector standard is rejected with data point, obtains fitting data point by the normal vector standard.
6. laser according to claim 5 knows method for distinguishing, which is characterized in that described according to the fitting data point
Coordinate determines fit Plane, comprising:
S321: fitting data point described in selected section, and determined according to the coordinate of the partial fitting data point of selection
Pre- fit Plane；
S322: judge whether that the fitting data point more than half is located at the pre- fit Plane；
S323: if so, determining that the pre- fit Plane is the fit Plane, if it is not, then reselecting the fitting number
Strong point and return step S321.
7. laser according to claim 6 knows method for distinguishing, which is characterized in that the determination pre- fit Plane is institute
After stating fit Plane, comprising:
The boundary shape of the fit Plane is determined according to the coordinate for the fitting data point being located in the fit Plane,
With the boundary of the determination target object.
8. a kind of equipment of laser identification characterized by comprising
Laser module (3), for moving along the x axis and carrying out laser scanning to target object；
Control device (2), for control the laser source (1) move along the x axis and to the target object carry out laser sweep
It retouches；The laser scanning is obtained as a result, obtaining the coordinate of multiple data points according to the laser scanning result；According to the data
The coordinate of point, determines fit Plane.
9. a kind of equipment of laser identification according to claim 8, which is characterized in that the laser module (3) includes:
Laser source (1), for carrying out laser scanning surface；
Moving parts, for driving the laser source (1) to move along the x-axis.
10. a kind of equipment of laser identification according to claim 9, which is characterized in that the control device (2) includes:
Controller, it is mobile for controlling the moving parts；
Message processing module, for obtaining the coordinate of multiple data points according to the laser scanning result；
It screens fitting module and determines fit Plane for the coordinate according to the data point.
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