CN109696127B - Laser identification method and device - Google Patents
Laser identification method and device Download PDFInfo
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- CN109696127B CN109696127B CN201910163901.5A CN201910163901A CN109696127B CN 109696127 B CN109696127 B CN 109696127B CN 201910163901 A CN201910163901 A CN 201910163901A CN 109696127 B CN109696127 B CN 109696127B
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- 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
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Abstract
The invention discloses a laser identification method, which comprises the following steps: controlling a laser source to move along the X-axis direction and carrying out laser scanning on a target object; acquiring a laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result; a fitting plane is determined from the coordinates of the data points. In the using process, the plane where the cleaning trolley is located and the plane where the carrying device platform is located in the photovoltaic cleaning system can be obtained through the method, and then the carrying device used for carrying the cleaning trolley is moved to the position matched with the plane where the cleaning trolley is located, so that the cleaning trolley can be transferred automatically. The invention also discloses a laser identification device.
Description
Technical Field
The invention relates to the technical field of photovoltaic cleaning, in particular to a laser identification method and laser identification equipment.
Background
With the increasing demand of society for clean energy, photovoltaic application is deepened and refined, and various photovoltaic devices of different types are applied to actual production and manufacturing gradually in various links from research and development to application.
Photovoltaic equipment is at the in-process that uses, need wash the photovoltaic board, generally adopts the washing dolly to wash the photovoltaic board, but the washing dolly need be transported to next photovoltaic board of treating the washing after accomplishing to the photovoltaic board washing, among the prior art, because the washing dolly can not directly be gone to another photovoltaic board of treating the washing by a photovoltaic board, generally adopts artifical or other haulage equipment to shift the washing dolly.
The method for manually transferring the cleaning trolley increases the labor cost, reduces the cleaning efficiency of the cleaning trolley, and cannot continuously clean; in the process of transferring the cleaning trolley by adopting the carrying equipment, the cleaning trolley needs to be moved to the carrying equipment by virtue of manpower, and the labor cost is also increased.
In summary, how to provide a method for determining a driving plane of a cleaning trolley is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method for laser recognition, which can determine the travel plane of a cleaning trolley.
Another object of the present invention is to provide a laser recognition apparatus applying the above-mentioned laser recognition method.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method of laser identification, comprising: controlling a laser source to move along the X-axis direction and carrying out laser scanning on a target object; acquiring the laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result; a fitting plane is determined from the coordinates of the data points.
Preferably, determining a fitting plane from the coordinates of the data points comprises: screening the data points to obtain data points for fitting; and determining the fitting plane according to the coordinates of the fitting data points.
Preferably, the screening the data points to obtain fitting data points includes: acquiring a Z coordinate standard for screening the data points, judging whether the Z coordinate of the data points accords with the Z coordinate standard, and removing the data points of which the Z coordinate does not accord with the Z coordinate standard to obtain data points for screening;
and acquiring a distance standard for screening the data points, judging whether the distance between the adjacent data points for screening meets the distance standard, and removing the data points for screening which do not meet the distance standard to obtain data points for distinguishing.
Preferably, the removing the screening data points that do not meet the distance criterion to obtain the distinguishing data points includes:
acquiring a Y coordinate standard for screening the data points for distinguishing, judging whether the data points for distinguishing accord with the Y coordinate standard or not according to the Y coordinate standard, and rejecting the data points for distinguishing which do not accord with the Y coordinate standard, or separating the data points for distinguishing according to the Y coordinate standard; resulting in deletion data points.
Preferably, the obtaining of the data point for deletion includes:
and acquiring a normal vector standard of the data points for deletion, judging whether a plane normal vector of the data points for deletion meets the normal vector standard, and eliminating the data points for deletion which do not meet the normal vector standard to obtain data points for fitting.
Preferably, the determining a fitting plane according to the coordinates of the data points for fitting includes:
s321: selecting a part of the fitting data points, and determining a pre-fitting plane according to the coordinates of the selected part of the fitting data points;
s322: judging whether more than half of the fitting data points are positioned on the pre-fitting plane;
s323: if so, determining the pre-fitting plane as the fitting plane, otherwise, reselecting the fitting data points and returning to the step S321.
Preferably, after determining that the pre-fitted plane is the fitted plane, the method includes:
and determining the boundary shape of the fitting plane according to the coordinates of the fitting data points positioned in the fitting plane so as to determine the boundary of the target object.
A laser identification apparatus, comprising:
the laser module is used for moving along the X-axis direction and carrying out laser scanning on a target object;
the control device is used for controlling the laser source to move along the X-axis direction and carrying out laser scanning on the target object; acquiring the laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result; and determining a fitting plane according to the coordinates of the data points.
Preferably, the laser module includes:
the laser source is used for carrying out laser scanning;
and the moving part is used for driving the laser source to move along the X axis.
Preferably, the control device includes:
a controller for controlling the movement of the moving part;
the information processing module is used for acquiring the coordinates of a plurality of data points according to the laser scanning result;
and the screening and fitting module is used for determining a fitting plane according to the coordinates of the data points.
The invention provides a laser identification method, which comprises the following steps: controlling a laser source to move along the X-axis direction and carrying out laser scanning on a target object; acquiring a laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result; from the coordinates of the data points, a fitting plane is determined.
In the using process, the plane where the cleaning trolley is located in the photovoltaic cleaning system can be obtained through the method, and then the carrying device used for carrying the cleaning trolley can be moved to the position matched with the plane where the cleaning trolley is located, so that the cleaning trolley can be transferred automatically.
In addition, the invention also provides a laser identification device which can identify the position of the plane where the cleaning trolley is located.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flowchart of a first embodiment of a laser identification method according to the present invention;
FIG. 2 is a schematic flow chart of step S3 shown in FIG. 1;
FIG. 3 is a schematic flow chart of step S31 shown in FIG. 2;
FIG. 4 is a schematic structural diagram of step S32 shown in FIG. 2;
FIG. 5 is a block diagram of a laser recognition apparatus according to the present invention;
fig. 6 is a schematic structural view of the apparatus shown in fig. 5.
In FIGS. 1-6:
1 is a laser source, 2 is a control device, and 3 is a laser module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
The core of the invention is to provide a laser identification method which can determine the position and angle information of the plane where the cleaning trolley is located and the plane where the carrying device platform is located. The other core of the invention is to provide a device for determining the laser identification of the plane where the cleaning trolley is located by applying the laser identification method.
Referring to fig. 1-6, fig. 1 is a schematic flow chart of a first embodiment of a laser identification method according to the present invention; FIG. 2 is a schematic flow chart of step S3 shown in FIG. 1; FIG. 3 is a schematic flow chart of step S31 shown in FIG. 2; FIG. 4 is a schematic structural diagram of step S32 shown in FIG. 2; FIG. 5 is a block diagram of a laser recognition apparatus according to the present invention; fig. 6 is a schematic structural view of the apparatus shown in fig. 5.
The laser identification method provided by the embodiment comprises the following steps:
step S1: the laser source 1 is controlled to move in the X-axis direction and perform laser scanning on the target object.
Step S2: and acquiring a laser scanning result, and acquiring the coordinates of a plurality of data points according to the laser scanning result.
Step S3: a fitting plane is determined from the coordinates of the data points.
In the above steps, controlling the laser source 1 to move along the X-axis direction and perform laser scanning on the target object means: the laser source 1 can move along the X axis at a constant speed or at a variable speed, preferably, the laser source 1 moves along the X axis at a constant speed, and the laser source 1 emits laser light at a fixed frequency to scan the surrounding environment containing the target object.
Preferably, the laser source 1 emits laser light at a frequency of 50Hz, once every 20 ms.
In the process of scanning the surrounding environment containing the target object by using the laser, after the laser irradiates the surface of the object, the surface of the object reflects the laser, and the coordinates of the data points can be obtained according to the speed and the direction of the reflected light.
Since the laser source 1 will obtain a large number of data points during the laser scanning, the fitting plane can be determined from the coordinates of the obtained data points.
The process of determining the fitting plane according to the coordinates of the data points may be to bring the coordinates of the data points into a plane function, or may be implemented by other fitting methods, and is specifically determined according to actual situations, which is not described herein again.
On the basis of the above embodiment, determining a fitting plane according to the coordinates of the data points includes:
step S31: and screening the data points to obtain data points for fitting.
Step S32: and determining a fitting plane according to the coordinates of the fitting data points.
In the above steps, the data points are screened to obtain fitting data points, which are mainly points scanned by the laser and not located on the target object, and the specific judgment standard can be determined according to the actual situation, which is not described herein again.
The fitting data points refer to data points which are left after points which are not located on the target object are removed, and a fitting plane is obtained through coordinate fitting of the fitting data points, so that the fitting plane is closer to a plane of the real target object.
On the basis of the above embodiment, the data points are screened, and obtaining the data points for fitting includes:
step S311: and acquiring a Z coordinate standard for screening the data points, judging whether the Z coordinate of the data points accords with the Z coordinate standard, and rejecting the data points of which the Z coordinate does not accord with the Z coordinate standard to obtain the data points for screening.
Step S312: and acquiring a distance standard for screening data points, judging whether the distance between adjacent screened data points meets the distance standard, and eliminating the screened data points which do not meet the distance standard to obtain data points for distinguishing.
In the above steps, the Z coordinate standard may be a predetermined numerical value, and the Z coordinate standard is directly input during screening, and since the scanning range of the laser source 1 is wide, the data points include many data points whose Z coordinates do not meet the Z coordinate standard, and the data points are removed to obtain data points for screening.
In the process of identifying the plane where the cleaning trolley is located in the photovoltaic cleaning system by using the laser identification method provided by the invention, the distance standard is 15mm to 25mm, and preferably, the distance standard is 20 mm.
In the judging process, calculating the distance between each screening data point and the adjacent screening data point, and judging whether the distance meets the distance standard; for example, a determination is made for one of the screening data points: the distance between the data point for screening and the adjacent points around the data point for screening is firstly calculated, if the distances all accord with the distance standard, the data point for screening does not need to be removed, and if the distance has a numerical value which does not accord with the distance standard, the data point for screening does not accord with the requirement and needs to be removed.
It should be noted that the distance between the data points for screening is related to the moving speed of the laser source 1 along the X-axis and the distance between the target object and the laser source 1, and therefore, the distance standard needs to be determined according to the actual situation, which is not described herein again.
After eliminating the screening data points which do not meet the distance standard, obtaining the distinguishing data points, the method comprises the following steps:
step S313: acquiring a Y coordinate standard for screening and distinguishing data points, judging whether the distinguishing data points accord with the Y coordinate standard or not according to the Y coordinate standard, and rejecting the distinguishing data points which do not accord with the Y coordinate standard or separating the distinguishing data points according to the Y coordinate standard; resulting in deletion data points.
During the laser scanning process, the environment around the target object is scanned. To make the fitting data points more accurate, the Y-coordinates of the distinguishing data points may be screened or separated according to a Y-coordinate standard.
When the plane of the platform of the carrying device is the known data, the target object is the plane of the cleaning trolley, after the Y coordinate standard is obtained, whether the data points for distinguishing accord with the Y coordinate standard is judged, the data points for distinguishing which do not accord with the Y coordinate standard are removed, and the data points for deleting are obtained; when the plane of the carrying device platform is unknown data, the target object is the plane of the cleaning trolley and the plane of the carrying device platform, after a Y coordinate standard is obtained, the data points for distinguishing are distinguished according to the Y coordinate standard to obtain data points for deleting, the data points for deleting comprise two parts, one part is the data points for deleting of the plane of the cleaning trolley, and the other part is the data points for deleting of the plane of the carrying device platform.
On the basis of the above embodiment, obtaining the data points for deletion includes:
step S314: and acquiring a normal vector standard of the data points for deletion, judging whether a normal vector of a plane where the data points for deletion are positioned meets the normal vector standard, and removing the data points for deletion which do not meet the normal vector standard to obtain the data points for fitting.
In the above steps, the plane where the deletion data points are located refers to: the plane formed by the data points for deletion and the adjacent or close points around the data points for deletion is dense in distribution, so that the approximate range of the normal vector of the plane of the target object can be basically determined after the data points for deletion are obtained.
When the target object is only the plane where the cleaning trolley is located, after the data points for deletion are obtained, the approximate value of the normal vector of the plane where the cleaning trolley is located is determined, then the data points for deletion and the data points for deletion adjacent to or closer to the data points for deletion are fitted into the plane, the normal vector of the plane is compared with the approximate normal vector of the plane where the cleaning trolley is located, and if the data points for deletion do not accord with the approximate value of the normal vector of the plane where the cleaning trolley is located, the corresponding data points for deletion are removed. When the target object is the plane where the cleaning trolley is located and the plane where the carrying device platform is located, respectively obtaining an approximate normal vector of the plane where the cleaning trolley is located and an approximate normal vector of the plane where the carrying device platform is located, then comparing a normal vector of the plane where a data point for deleting of the plane where the cleaning trolley is located with an approximate normal vector of the plane where the cleaning trolley is located, and eliminating data points for deleting which do not conform to the approximate value of the normal vector of the plane where the cleaning trolley is located to obtain a data point for fitting of the plane where the cleaning trolley is located; and comparing the normal vector of the plane of the carrying device platform where the data points for deletion are located with the approximate normal vector value of the plane of the carrying device platform, and eliminating the data points for deletion which do not conform to the approximate value of the normal vector of the plane of the carrying device platform where the data points for deletion are located to obtain the data points for fitting of the plane of the carrying device platform where the data points for deletion are located.
On the basis of the above embodiment, determining a fitting plane according to coordinates of the fitting data points includes:
step S321: partial fitting data points are selected, and a pre-fit plane is determined based on coordinates of the selected fitting data points.
Step S322: it is determined whether more than half of the fitting data points lie in the pre-fit plane.
Step S323: if yes, the pre-fitting plane is determined to be the fitting plane, and if not, the fitting data points are reselected and the process returns to step S321.
In the above steps, the fitting data points are those of the plane on which the cleaning cart is placed or those of the plane on which the carrier platform is placed. When the target object is the plane where the cleaning trolley is located and the plane where the carrying device platform is located, the steps need to be carried out twice, and the steps are repeated once after the plane where the cleaning trolley is located is obtained, and the plane where the carrying device platform is located is obtained. In determining the fitting plane from the fitting data points, an optimal plane needs to be selected such that at least more than half of the fitting data points are located within the fitting plane.
After determining the pre-fitted plane as the fitted plane, the method comprises the following steps: and determining the boundary shape of the fitting plane according to the coordinates of the fitting data points positioned in the fitting plane so as to determine the boundary of the target object.
The boundary and shape of the target object can be fitted by counting the coordinates of the data points located in the fitting plane and determining the extreme values of the coordinates of the data points located in the fitting plane.
In the photovoltaic cleaning system, the plane of the photovoltaic panel where the cleaning trolley is located can be determined through the laser identification method provided by the invention, and the boundary of the plane of the photovoltaic panel where the cleaning trolley is located is determined, so that the carrying device platform can move to the position matched with the photovoltaic panel where the cleaning trolley is located, and the cleaning trolley can drive to the carrying device platform. In the process of identifying the plane of the photovoltaic panel where the cleaning trolley is located by using the laser identification method provided by the invention, the cleaning trolley stays at the edge position of the photovoltaic panel, so that the laser scanning result cannot be influenced by the existence of the cleaning trolley.
It should be noted that, in order to enable the laser source 1 to be scanned completely by the target object during the scanning process, the scanning range of the laser may be between 180 ° and 200 °, preferably, the scanning range of the laser is 190 °, and each 0.5 ° emits one scanning point, and the plane formed by the scanning points of a single time is parallel to the plane formed by the Z axis and the Y axis.
It should be noted that, in the present invention, the X-axis, the Y-axis, and the Z-axis are all located in the coordinate system of the laser source 1, and when the target object is only the plane of the cleaning cart, the plane of the carrying device platform is known, but the coordinate system of the plane of the carrying device platform is the coordinate system of the mobile device, where the mobile device refers to a mobile device that can move the cleaning cart and the carrying device simultaneously, so the coordinate system of the plane of the carrying device platform needs to be converted to obtain the value of the plane of the carrying device platform in the laser coordinate system, and the conversion process needs to be determined according to actual situations, which is not described herein again.
In addition to the above laser identification method, the present invention further provides a laser identification device using the laser identification method disclosed in the above embodiment, the laser identification device includes a laser module 3 and a control device 2, and the laser module 3 is connected to the control device 2; the laser module 3 is used for moving along the X-axis direction and performing laser scanning on a target object, and the control device 2 is used for controlling the laser source 1 to move along the X-axis direction and performing laser scanning on the target object; acquiring a laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result; determining a fitting plane according to the coordinates of the data points; for the structure of other parts of the laser recognition device, please refer to the prior art, which is not described herein again.
It should be noted that the target object may be only the plane where the cleaning cart is located, or may include both the plane where the cleaning cart is located and the plane where the carrying device platform is located.
On the basis of the above embodiment, the laser module 3 includes the laser source 1 and the moving part, the laser source 1 is used for performing laser scanning, and the moving part is used for driving the laser source 1 to move along the X axis.
The moving part can be a guide rail sliding block structure, and can also be a transmission device such as a synchronous belt and a synchronous wheel structure, and the moving part is determined according to actual conditions.
Preferably, the laser module 3 may include a laser source 1 for emitting laser light and scanning, the laser source 1 is mounted on a slider movable along an X-axis, and the control device 2 controls the laser scanning and movement of the laser source 1.
On the basis of the above embodiment, the control device 2 includes a controller, an information processing module and a screening and fitting module, the controller is used for controlling the movement of the moving part, and the information processing module is used for acquiring the coordinates of a plurality of data points according to the laser scanning result; and the screening and fitting module is used for determining a fitting plane according to the coordinates of the data points.
It should be noted that the plurality of data points mentioned in this document refer to data points generated by a large number of laser scanning points, for example: the scanning range of the laser was 190 ° and one scanning point was emitted every 0.5 °, 381 data points could be obtained by a single laser emission, and 19050 data points could be obtained by 1 second if the frequency of the laser emission was 50 Hz.
Preferably, the screening and fitting module comprises a screening part and a fitting part, the screening part comprises a Z coordinate screening unit, a distance screening unit, a Y coordinate screening unit and a normal vector screening unit, the Z coordinate screening unit is used for acquiring a Z coordinate standard, judging whether the Z coordinate of the data point meets the Z coordinate standard or not, and eliminating the data point of which the Z coordinate does not meet the Z coordinate standard to obtain a data point for screening; the distance screening unit is used for acquiring a distance standard, judging whether the distance between adjacent screening data points meets the distance standard or not, and eliminating the screening data points which do not meet the distance standard to obtain distinguishing data points; the Y coordinate screening unit is used for acquiring a Y coordinate standard, judging whether the data points for distinguishing accord with the Y coordinate standard or not according to the Y coordinate standard, and rejecting the data points for distinguishing which do not accord with the Y coordinate standard or separating the data points for distinguishing according to the Y coordinate standard; obtaining a data point for deletion; the normal vector screening unit is used for acquiring a normal vector standard of the data points for deletion, judging whether a normal vector of a plane where the data points for deletion are located meets the normal vector standard or not, and eliminating the data points for deletion which do not meet the normal vector standard to obtain the data points for fitting.
The fitting component comprises a selection unit, a judgment unit and a definition unit, wherein the selection unit is used for selecting part of fitting data points and determining a pre-fitting plane according to the coordinates of the selected fitting data points; the judging unit is used for judging whether more than half of the fitting data points are positioned on the pre-fitting plane; the defining unit is used for determining a fitting plane, if more than half of the fitting data points are located on the pre-fitting plane, the pre-fitting plane is determined to be the fitting plane, if no more than half of the fitting data points are located on the pre-fitting plane, information is transmitted to the selecting unit to reselect part of the fitting data points, and the operation of the steps is continued.
In another embodiment, the laser module 3 includes a laser source 1 movable along the X-axis, the laser source 1 is mounted on a sliding block that can slide along a guide rail mounted along the X-axis, the controller is connected with a power device for driving the sliding block to slide, the information processing module is connected with the laser source 1, and the screening and fitting module is connected with the information processing module.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The method and apparatus for laser identification provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (4)
1. A method of laser identification, comprising:
controlling a laser source (1) to move along the X-axis direction and carrying out laser scanning on a target object;
acquiring the laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result;
determining a fitting plane according to the coordinates of the data points;
determining a fitting plane from the coordinates of the data points comprises:
screening the data points to obtain data points for fitting;
determining the fitting plane according to the coordinates of the fitting data points;
the screening the data points to obtain fitting data points includes:
acquiring a Z coordinate standard for screening the data points, judging whether the Z coordinate of the data points accords with the Z coordinate standard, and removing the data points of which the Z coordinate does not accord with the Z coordinate standard to obtain data points for screening;
acquiring a distance standard for screening the data points, judging whether the distance between adjacent screening data points meets the distance standard or not, and removing the screening data points which do not meet the distance standard to obtain distinguishing data points;
the step of eliminating the screening data points which do not meet the distance standard to obtain the distinguishing data points comprises the following steps:
acquiring a Y coordinate standard for screening the data points for distinguishing, judging whether the data points for distinguishing accord with the Y coordinate standard or not according to the Y coordinate standard, and rejecting the data points for distinguishing which do not accord with the Y coordinate standard, or separating the data points for distinguishing according to the Y coordinate standard; obtaining a data point for deletion;
the obtaining of the data points for deletion comprises:
and acquiring a normal vector standard of the data points for deletion, judging whether a plane normal vector of the data points for deletion meets the normal vector standard, and eliminating the data points for deletion which do not meet the normal vector standard to obtain data points for fitting.
2. The method of claim 1, wherein determining a fitting plane based on the coordinates of the fit data points comprises:
s321: selecting a part of the fitting data points, and determining a pre-fitting plane according to the coordinates of the selected part of the fitting data points;
s322: judging whether more than half of the fitting data points are positioned on the pre-fitting plane;
s323: if so, determining the pre-fitting plane as the fitting plane, otherwise, reselecting the fitting data points and returning to the step S321.
3. The method of laser identification according to claim 2, wherein said determining said pre-fitted plane as said fitted plane comprises:
and determining the boundary shape of the fitting plane according to the coordinates of the fitting data points positioned in the fitting plane so as to determine the boundary of the target object.
4. A laser identification device, comprising:
the laser module (3) is used for moving along the X-axis direction and carrying out laser scanning on a target object;
the control device (2) is used for controlling the laser source (1) to move along the X-axis direction and carrying out laser scanning on the target object; acquiring the laser scanning result, and acquiring coordinates of a plurality of data points according to the laser scanning result; determining a fitting plane according to the coordinates of the data points;
the laser module (3) comprises:
a laser source (1) for performing laser scanning;
the moving component is used for driving the laser source (1) to move along an X axis;
the control device (2) comprises:
a controller for controlling the movement of the moving part;
the information processing module is used for acquiring the coordinates of a plurality of data points according to the laser scanning result;
the screening and fitting module is used for determining a fitting plane according to the coordinates of the data points;
the screening and fitting module comprises a Z coordinate screening unit, a distance screening unit, a Y coordinate screening unit and a normal vector screening unit;
the Z coordinate screening unit is used for acquiring a Z coordinate standard, judging whether the Z coordinate of the data point meets the Z coordinate standard or not, and rejecting the data point of which the Z coordinate does not meet the Z coordinate standard to obtain a data point for screening;
the distance screening unit is used for acquiring a distance standard, judging whether the distance between the data points for adjacent screening meets the distance standard or not, and eliminating the data points for screening which do not meet the distance standard to obtain data points for distinguishing;
the Y coordinate screening unit is used for acquiring a Y coordinate standard, judging whether a data point for distinguishing meets the Y coordinate standard according to the Y coordinate standard, rejecting the data point for distinguishing which does not meet the Y coordinate standard, or separating the data point for distinguishing according to the Y coordinate standard; obtaining a data point for deletion;
the normal vector screening unit is used for acquiring a normal vector standard of a data point for deletion, judging whether a normal vector of a plane where the data point for deletion is located meets the normal vector standard or not, and eliminating the data point for deletion which does not meet the normal vector standard to obtain a data point for fitting.
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