US 12,000,925 B2
Terrace detection device and use method of terrace detection device
Siqiao Li, Suzhou (CN); Wenlong Feng, Suzhou (CN); Xiao Zong, Suzhou (CN); Bo Liu, Suzhou (CN); Hao Zhou, Suzhou (CN); Jie Wang, Suzhou (CN); and Wei Hu, Suzhou (CN)
Assigned to SUZHOU FANGSHI TECHNOLOGY CO., LTD., Suzhou (CN)
Filed by Suzhou Fangshi Technology Co., Ltd., Suzhou (CN)
Filed on Jan. 6, 2023, as Appl. No. 18/151,389.
Application 18/151,389 is a continuation of application No. PCT/CN2022/091859, filed on May 10, 2022.
Claims priority of application No. 202111619719.X (CN), filed on Dec. 27, 2021.
Prior Publication US 2023/0204758 A1, Jun. 29, 2023
Int. Cl. G01S 13/89 (2006.01); B60R 11/04 (2006.01); F16L 55/28 (2006.01); F16L 101/30 (2006.01); G01M 3/00 (2006.01); G01N 29/22 (2006.01); G01N 29/265 (2006.01)
CPC G01S 13/89 (2013.01) [B60R 11/04 (2013.01); F16L 55/28 (2013.01); G01M 3/005 (2013.01); G01N 29/225 (2013.01); G01N 29/265 (2013.01); F16L 2101/30 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A terrace detection device, comprising:
a target vehicle (10), the target vehicle (10) comprising:
a first mobile vehicle (11) that can either move under control of a remote control or be self-navigated following movement of a second mobile vehicle (21);
a X-shaped target (12) mounted on the first mobile vehicle (11);
a measuring vehicle (20), the measuring vehicle (20) comprising:
the second mobile vehicle (21) comprising:
a navigation device mounted thereon with a laser radar, a visual sensor, a depth camera and a magnetic guidance;
a measuring head (22) mounted on the second mobile vehicle (21), the measuring head (22) being used for acquiring planar point cloud data and target graphic information in an established measuring range via stereoscopic vision and an implementation mode of stereoscopic vision, including a monocular/binocular vision method, a laser scanning method, and a structured light method; and
a controller electrically connected with the measuring vehicle (20) and the target vehicle (10), respectively, and used for controlling the first mobile vehicle (11) and the second mobile vehicle (21) to move from a first established measuring range to a second established measuring range, wherein the controller further controls the measuring head (22) to acquire first point cloud data in the first established measuring range and second point cloud data in the second established measuring range as well as first target graphic information in the first established measuring range and second target graphic information in the second established measuring range, and the controller splices the first point cloud data and the second point cloud data together according to the first target graphic information and the second target graphic information.