CN111896965B - Laser ranging calibration method and laser range finder capable of being calibrated automatically - Google Patents
Laser ranging calibration method and laser range finder capable of being calibrated automatically Download PDFInfo
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- CN111896965B CN111896965B CN202010526259.5A CN202010526259A CN111896965B CN 111896965 B CN111896965 B CN 111896965B CN 202010526259 A CN202010526259 A CN 202010526259A CN 111896965 B CN111896965 B CN 111896965B
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention belongs to the technical field of laser ranging, and discloses a laser ranging calibration method and an automatically calibrated laser range finder, wherein the laser range finder comprises a range finder body and a target object; the range finder body comprises a reflecting device, an optical window, a laser range finding device, a gyroscope and a control device; wherein: the control device stores a calibration model; the laser ranging device is used for detecting the shortest distance between the range finder body and the target object in a mode of emitting and receiving laser; the gyroscope is used for detecting the current installation deflection angle of the range finder body; the reflecting device is arranged in front of the laser emission of the laser ranging device and used for calibrating the laser reflection direction emitted by the laser ranging device according to the control of the control device; in conclusion, the laser range finder provided by the invention can keep the horizontal emission of laser no matter how large installation deflection angle exists, improves the range finding precision and reduces the installation difficulty.
Description
Technical Field
The invention belongs to the technical field of laser ranging, and particularly relates to a laser ranging calibration method and an automatic calibration laser range finder.
Background
The laser range finder is an instrument for accurately measuring the target distance by utilizing laser. The laser range finder emits a very thin laser beam to the target during operation, the photoelectric element receives the laser beam reflected by the target, and the timer measures the time from the emission to the reception of the laser beam, so as to calculate the distance from the observation point to the target position. The existing laser range finder has the advantages of light weight, small volume and quick detection and speed measurement.
Along with the development of modern technology, the laser range finder is widely applied to the functions of mobile positioning, obstacle avoidance, navigation and the like of automobiles and mobile robots. However, when the distance measurement positioning of the laser distance meter is realized, as shown in fig. 1, in order to ensure the positioning accuracy, the laser distance meter is required to always emit detection laser to the target object in a horizontal state, and once the laser distance meter has inclination deviation, the deviation exists in the corresponding detected distance, so that the positioning information is inaccurate, and the accurate horizontal installation of the laser distance meter is difficult to realize, so that the laser distance meter is difficult to position and measure on an automobile and a mobile robot with high accuracy.
Based on the above-mentioned problems, it is necessary to provide a laser range finder with more accurate ranging effect.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a laser ranging calibration method and an automatically calibrated laser ranging device; specifically, the gyroscope for calibrating the installation deflection angle is arranged in the laser range finder, and the reflecting device capable of automatically rotating and calibrating is arranged in cooperation with the gyroscope, so that the laser range finder can keep horizontal emission of laser no matter how large the installation deflection angle exists, the ranging accuracy is improved, and the installation difficulty is reduced.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a laser ranging calibration method relates to a laser range finder, wherein a gyroscope for detecting an installation deflection angle and a reflecting device for rotatably calibrating a laser emission direction are arranged in the laser range finder, and the calibration method comprises the following steps:
performing ranging training on the laser range finder to obtain training data, constructing a calibration model between the gyroscope and the reflecting device according to the training data, and storing the calibration model in the laser range finder;
installing the laser range finder and detecting the current installation deflection angle of the laser range finder based on the gyroscope;
based on the mounting offset angle and the calibration model, an automatic calibration of the reflecting device is performed.
The utility model provides a but self-calibration's laser range finder, includes range finder body and target object, the range finder body is used for with the direction of non-slope to the target object transmission laser detects the shortest distance between range finder body and the target object:
the range finder body comprises a reflecting device, an optical window, a laser range finding device, a gyroscope and a control device; wherein:
the control device is internally stored with a calibration model;
the laser ranging device is connected with the control device and is used for detecting the shortest distance between the range finder body and the target object in a mode of emitting and receiving laser;
the gyroscope is connected with the control device and is used for detecting the current installation deflection angle of the range finder body;
the reflecting device is connected with the control device, is arranged in front of the laser emission of the laser ranging device and is used for calibrating the laser reflection direction emitted by the laser ranging device according to the control of the control device;
the optical window is arranged on one side of the reflecting device and is used for emitting the laser reflected by the reflecting device.
As an implementation structure of the present invention, the control device includes a calibration module and a ranging module;
the calibration module includes:
a calibration storage unit for storing the calibration model;
the calibration acquisition unit is used for acquiring the current installation deflection angle detected by the gyroscope;
the calibration calculation unit is used for calculating calibration data of the reflecting device according to the calibration model and the current installation deflection angle;
a calibration control unit for controlling the reflecting device to perform calibration according to the calibration data calculated by the calculation unit;
the ranging module includes:
the distance measurement control unit is used for controlling the laser distance measurement device to perform distance measurement;
a ranging acquisition unit for acquiring ranging data when the laser ranging device performs ranging;
the distance measuring calculation unit is used for calculating the distance between the range finder body and the target object according to the distance measuring data;
and the distance measurement storage unit is used for storing the calculation result of the distance measurement calculation unit.
As an implementation structure of the present invention, the reflecting device includes a rotatable laser reflecting plate, and a side of the laser reflecting plate, which is close to the laser ranging device, is used for reflecting laser.
As an implementation structure of the invention, the reflecting device further comprises a guiding and limiting device, the guiding and limiting device comprises two arc-shaped guide plates which are concentrically arranged, the two arc-shaped guide plates are respectively a first guide plate and a second guide plate, and the two arc-shaped guide plates are respectively connected with the two ends of the laser reflecting plate in a sliding way.
As an implementation structure of the present invention, the reflecting device further includes a rotation driving device, and the rotation driving device includes a driving motor for driving the laser reflecting plate to rotate.
As an implementation structure of the invention, two ends of the mounting plate are respectively connected with the first guide plate and the second guide plate in a sliding way; the connecting part of the mounting plate and the driving motor is positioned at the circle centers of the first guide plate and the second guide plate; the connection part of the mounting plate and the driving motor is staggered with the connection part of the mounting plate and the laser reflecting plate.
As an implementation structure of the invention, the range finder body further comprises a mounting shell, the reflecting device, the laser range finding device, the gyroscope and the control device are all arranged in the mounting shell, and the optical window is arranged on one side wall of the mounting shell.
As an implementation structure of the present invention, the rangefinder body further includes a data transmission device, configured to transmit the shortest distance between the rangefinder body and the target object obtained by ranging by the laser ranging device.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, the reflecting device and the gyroscope which are matched with each other are arranged, wherein the gyroscope is used for detecting the installation deflection angle of the laser range finder, and the reflecting device is used for realizing the laser angle calibration of the laser range finder according to the installation deflection angle, so that the laser range finder provided by the invention can always keep the non-inclined emission of laser, effectively improve the range finding precision and reduce the installation difficulty.
Corresponding calibration models are established through ranging training aiming at the cooperation of the reflecting device and the gyroscope, so that the accuracy of the laser range finder during calibration is effectively ensured.
The reflecting device mainly comprises a rotatable laser reflecting plate and has the advantages of simple structure and low cost.
The rotatable laser reflecting plate is correspondingly provided with the guide limiting device so as to effectively ensure the stability of the rotatable laser reflecting plate during rotation.
In addition, the device is also provided with a driving device which is arranged in a dislocation mode, and under the installation deflection angle of any size, the calibrated reflection points of the non-inclined laser on the target object are uniform, so that the distance measurement precision is further improved; meanwhile, the laser range finder provided by the invention can be effectively suitable for the range finding of tiny objects, and the situation that the target object cannot be detected at the current position after calibration can not occur.
Drawings
FIG. 1 is a schematic diagram of the principle of use of a conventional laser range finder;
fig. 2 is a schematic diagram of a use principle of the laser range finder provided by the invention when installed without deflection angle;
FIG. 3 is a schematic diagram of the principle of use of the laser rangefinder of the present invention when installed with an off-angle;
fig. 4 is an enlarged view at a in fig. 3;
FIG. 5 is an enlarged view at B in FIG. 3;
fig. 6 is a schematic perspective view of a laser range finder according to the present invention;
fig. 7 is a schematic perspective view of a reflecting device in a laser range finder according to the present invention;
FIG. 8 is a block diagram of a control device in a laser range finder provided by the invention;
in the figure: 10-distancer body, 1-installation shell, 2-reflecting device, 21-first baffle, 22-second baffle, 23-laser reflecting plate, 24-mounting panel, 25-driving motor, 3-optical window, 4-laser rangefinder, 5-gyroscope, 6-controlling means, 61-calibration module, 62-rangefinder module, 20-target.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the embodiment of the invention, a laser ranging calibration method is provided, which relates to a laser range finder, wherein a gyroscope for detecting an installation deflection angle and a reflecting device for rotatably calibrating a laser emitting direction are arranged in the laser range finder, and the calibration method comprises the following steps:
performing ranging training on the laser range finder to obtain training data, constructing a calibration model between the gyroscope and the reflecting device according to the training data, and storing the calibration model in the laser range finder;
the above-mentioned ranging training method for the laser range finder is not particularly limited in the embodiment of the present invention.
For example, a laser range finder is taken as a sample, the sample is mounted on any rotatable platform in the prior art, an induction tube which is not shown in the drawing is mounted in front of the detection platform, the induction tube is a cylindrical hollow tube, one end of the hollow tube, which is close to the detection platform, is kept on, and one end, which is far away from the detection platform, is mounted with an induction device for inducing whether laser passes through the induction tube and irradiates the induction device.
During detection, the laser range finder is driven to rotate through the rotation detection platform, wherein under the state shown in an initial state figure 2, the installation deflection angle positioned by the gyroscope is 0, the calibration angle or the calibration radian of the reflecting device is also 0, at the moment, the whole laser range finder emits laser to the induction tube in the state shown in the figure 2, the laser irradiates on the induction device in a completely horizontal state, and the whole ranging training process is started. Along with the rotation of the detection platform, the whole laser range finder is driven to rotate, so that the emitting direction of laser is changed along with the rotation, the sensing tube cannot sense the laser at the moment, the gyroscope detects that the installation deflection angle of the rotating angle at the moment is a, the rotation of the detection platform is stopped, the reflecting device is started to conduct rotation calibration until the sensing tube senses the laser emitted by the laser range finder again in the same state as the initial state, the calibration angle or the calibration radian of the reflecting device at the moment is b, and then the installation deflection angle a and the calibration angle or the calibration radian b are in front of establishing a corresponding relation. And repeatedly executing the ranging training process for a plurality of times to construct a complete calibration model through a plurality of groups of corresponding relations.
Installing a laser range finder, and detecting the current installation deflection angle of the laser range finder based on a gyroscope;
based on the mounting offset angle and the calibration model, automatic calibration of the reflecting device is performed.
Specifically, if the installation deflection angle is a, the reflection device is controlled to be automatically calibrated to a state that the calibration angle or the calibration radian is b based on the calibration model constructed in the ranging training process, so that the automatic calibration of the whole laser range finder is realized, namely, the laser emitted by the laser range finder is always in a horizontal state, the influence of the installation deflection angle is avoided, the ranging precision in the using process is ensured, and the installation difficulty is reduced.
In the embodiment of the invention, a laser range finder capable of automatic calibration is further provided, and the laser range finder in the embodiment adopts the laser range finding calibration method disclosed in the embodiment to calibrate and measure the distance, so that a high-accuracy range finding result is obtained.
Referring to fig. 2-8, the laser range finder provided in this embodiment includes a range finder body 10 and a target 20, wherein the range finder body 10 is configured to emit laser to the target 20 in a non-inclined direction, and detect a shortest distance between the range finder body 10 and the target 20;
the range finder body 10 comprises a reflecting device 2, an optical window 3, a laser range finder 4, a gyroscope 5 and a control device 6; wherein:
the control device 6 stores a calibration model;
the laser ranging device 4 is connected with the control device 6 and is used for detecting the shortest distance between the range finder body 10 and the target object 20 in a laser emitting and receiving mode;
the gyroscope 5 is connected with the control device 6 and is used for detecting the current installation deflection angle of the range finder body 10;
the reflecting device 2 is connected with the control device 6, is arranged in front of the laser emission of the laser ranging device 4 and is used for calibrating the laser reflection direction emitted by the laser ranging device 4 according to the control of the control device 6;
the optical window 3 is installed at one side of the reflecting device 2, and is used for emitting the laser light reflected by the reflecting device 2.
In this embodiment, as shown in fig. 8, regarding the control device 6, as an implementation manner, a calibration module 61 and a ranging module 62 are specifically included, where:
the calibration module 61 includes:
a calibration storage unit for storing a calibration model;
a calibration acquisition unit for acquiring a current installation deflection angle detected by the gyroscope 5;
a calibration calculation unit for calculating calibration data of the reflection device 2 based on the calibration model and the current installation bias angle;
a calibration control unit for controlling the reflection device 2 to perform calibration according to the calibration data calculated by the calculation unit;
the ranging module 62 includes:
a ranging control unit for controlling the laser ranging device 4 to perform ranging;
a ranging acquisition unit for acquiring ranging data when the laser ranging device 4 performs ranging;
a ranging calculation unit for calculating a distance between the rangefinder body 10 and the target object 20 according to the ranging data;
and the distance measurement storage unit is used for storing the calculation result of the distance measurement calculation unit.
In conclusion, based on the structure, the control requirement of the whole laser range finder in the process of performing ranging and calibration can be effectively met.
In the present embodiment, as shown in connection with fig. 6 and 7, regarding the reflecting device 2, a rotatable laser reflecting plate 23 is included, and the side of the laser reflecting plate 23 near the laser distance measuring device 4 is used for reflecting laser light.
Specifically, the rotation calibration principle with respect to the laser reflection plate 23 is: when the integral range finder body 10 has an installation deflection angle, the laser range finder 4, the gyroscope 5 and the laser reflecting plate 23 have the same deflection angle, and at the moment, the laser angle emitted by the laser range finder 4 deviates, so that the angle formed by the laser reflected by the laser reflecting plate 23 also deviates, namely the laser emitted by the integral range finder body 10 forms an inclined state; in this state, the angle of the laser reflection plate 23 is adjusted, so that the reflection angle formed by the laser on the laser reflection plate 23 is changed, and the direction of the reflected laser is changed, so that the laser in an inclined state can be effectively returned to a non-inclined state, and the calibration is completed.
In this embodiment, further, as shown in fig. 6 and 7, regarding the reflecting device 2, the guiding and limiting device further includes two arc-shaped guiding plates concentrically disposed, the two arc-shaped guiding plates are respectively a first guiding plate 21 and a second guiding plate 22, and the two arc-shaped guiding plates are respectively slidably connected at two ends of the laser reflecting plate 23. Based on this, the stability of the laser reflection plate 23 in the rotation calibration process is effectively improved, thereby avoiding the ranging deviation caused by the deviation of the laser reflection plate 23.
In this embodiment, as shown in particular in connection with fig. 7, regarding the form of sliding connection of the laser reflection plate 23 with the first guide plate 21 and the second guide plate 22, there is provided an embodiment in which: arc-shaped sliding grooves are formed in the inner walls of the first guide plate 21 and the second guide plate 22, and sliding blocks are arranged at the two ends of the laser reflecting plate 23, so that the sliding blocks are matched in the arc-shaped sliding grooves to realize sliding connection.
In this embodiment, as shown in fig. 6 and 7, the reflecting device 2 further includes a rotation driving device, and the rotation driving device includes a driving motor 25 for driving the laser reflection plate 23 to rotate.
In this embodiment, as shown in fig. 6 and 7, the rotation driving device further includes a mounting plate 24, and the mounting plate 24 is used for connecting the driving motor 25 and the laser reflection plate 23.
In the present embodiment, regarding the mounting plate 24, it is preferable that:
the two ends of the mounting plate 24 are respectively connected with the first guide plate 21 and the second guide plate 22 in a sliding way, and the sliding connection mode can be the same as that of the laser reflecting plate 23;
the connection part of the mounting plate 24 and the driving motor 25 is positioned at the circle centers of the first guide plate 21 and the second guide plate 22; the connection between the mounting plate 24 and the driving motor 25 is offset from the connection between the mounting plate 24 and the laser reflection plate 23.
The above-mentioned misalignment can be specifically shown by referring to the structure in fig. 2-7, and as can be seen from the schematic diagrams of fig. 2 and 3, in the manner of the misalignment, the emission position of the laser after being reflected by the reflecting device 2 is the same as the emission position in the initial state, and the correspondence is expressed as: no matter what size of the installation deflection angle of the range finder body 10 is, the reflection points of the calibrated non-inclined laser on the target object 20 are the same, so that the range finding precision is further improved, and meanwhile, the laser range finder provided by the embodiment of the invention can be effectively suitable for the range finding of micro objects, and the condition that the target object 20 cannot be detected at the current position after the calibration can not occur.
Specifically, the actual misalignment dimensions of the laser reflection plate 23, the mounting plate 24, and the driving motor 25 may be defined according to the actual production requirements, and are not particularly limited in the embodiment of the present invention. And this dimension can also be obtained by testing according to the ranging training mentioned in the laser ranging calibration method.
In addition, in the present preferred embodiment, the calibration data about the laser reflection plate 23 may be preferably represented by a rotation arc, and is shown in schematic diagrams in conjunction with fig. 2 to 5:
in fig. 2, a broken line is shown as a mounting plate 24, a solid line is shown as a laser reflection plate 23, and an overall state is shown as an initial state in which a mounting deflection angle is 0 and a calibration radian is 0;
in fig. 3, the dashed line indicates that the integral laser range finder is in an initial state, the solid line indicates that the integral laser range finder is in a state with a mounting offset angle a, and the calibration of the laser reflection plate 23 is correspondingly generated in the state indicated by the solid line, and the specific calibration radian is shown with reference to fig. 4 and 5;
in fig. 4, the calibration radian of one end of the laser reflection plate 23 is shown, where h1 is the positioning position of the laser reflection plate 23 when the calibration radian is 0, and h2 is the calibration radian of one end of the laser reflection plate 23 when the installation offset angle is a;
in fig. 5, the calibration radian of the other end of the laser reflection plate 23 is shown, where h3 is the positioning position of the laser reflection plate 23 when the calibration radian is 0, and h4 is the calibration radian of the other end of the laser reflection plate 23 when the installation offset angle is a.
In this embodiment, regarding the rangefinder body 10 further includes a mounting housing 1, the reflecting device 2, the laser ranging device 4, the gyroscope 5 and the control device 6 are all disposed inside the mounting housing 1, and the optical window 3 is disposed on a side wall of the mounting housing 1. Based on this, a protective installation of the individual structures of the overall rangefinder body 10 is achieved.
In this embodiment, the distance meter body 10 further includes a data transmission device for transmitting the shortest distance between the distance meter body 10 and the target 20 obtained by the distance measurement by the laser distance measurement device 4. Therefore, the whole range finder body 10 can effectively feed back the ranging result when being installed on an automobile and a mobile robot, so as to realize intelligent control by matching with the automobile and the mobile robot.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The laser ranging calibration method is characterized by comprising the following steps of:
performing ranging training on the laser range finder to obtain training data, constructing a calibration model between the gyroscope and the reflecting device according to the training data, and storing the calibration model in the laser range finder;
installing the laser range finder and detecting the current installation deflection angle of the laser range finder based on the gyroscope;
based on the mounting offset angle and the calibration model, an automatic calibration of the reflecting device is performed.
2. But self-calibration's laser range finder, its characterized in that: the range finder comprises a range finder body (10) and a target object (20), wherein the range finder body (10) is used for emitting laser to the target object (20) in a non-inclined direction, and detecting the shortest distance between the range finder body (10) and the target object (20);
the range finder body (10) comprises a reflecting device (2), an optical window (3), a laser range finding device (4), a gyroscope (5) and a control device (6); wherein:
the control device (6) is internally stored with a calibration model;
the laser distance measuring device (4) is connected with the control device (6) and is used for detecting the shortest distance between the distance measuring instrument body (10) and the target object (20) in a laser emitting and receiving mode;
the gyroscope (5) is connected with the control device (6) and is used for detecting the current installation deflection angle of the range finder body (10);
the reflecting device (2) is connected with the control device (6), is arranged in front of the laser emission of the laser ranging device (4) and is used for calibrating the laser reflection direction emitted by the laser ranging device (4) according to the control of the control device (6);
the optical window (3) is arranged on one side of the reflecting device (2) and is used for emitting laser reflected by the reflecting device (2);
the control device (6) comprises a calibration module (61) and a ranging module (62);
the calibration module (61) comprises:
a calibration storage unit for storing the calibration model;
a calibration acquisition unit for acquiring a current installation deflection angle detected by the gyroscope (5);
a calibration calculation unit for calculating calibration data of the reflecting device (2) according to the calibration model and a current installation deflection angle;
a calibration control unit for controlling the reflecting device (2) to perform calibration according to the calibration data calculated by the calculation unit;
the ranging module (62) includes:
a ranging control unit for controlling the laser ranging device (4) to perform ranging;
a ranging acquisition unit for acquiring ranging data when the laser ranging device (4) performs ranging;
a distance measurement calculation unit for calculating a distance between the rangefinder body (10) and a target object (20) according to the distance measurement data;
and the distance measurement storage unit is used for storing the calculation result of the distance measurement calculation unit.
3. An automatically calibrated laser rangefinder in accordance with claim 2 wherein: the reflecting device (2) comprises a rotatable laser reflecting plate (23), and one side of the laser reflecting plate (23) close to the laser ranging device (4) is used for reflecting laser.
4. An automatically calibrated laser rangefinder in accordance with claim 3 wherein: the reflecting device (2) further comprises a guiding limiting device, the guiding limiting device comprises two arc guide plates which are concentrically arranged, the two arc guide plates are a first guide plate (21) and a second guide plate (22) respectively, and the two arc guide plates are connected with the two ends of the laser reflecting plate (23) in a sliding mode respectively.
5. An automatically calibrated laser rangefinder in accordance with claim 4 wherein: the reflecting device (2) further comprises a rotation driving device, and the rotation driving device comprises a driving motor (25) for driving the laser reflecting plate (23) to rotate.
6. An automatically calibrated laser rangefinder in accordance with claim 5 wherein: the rotation driving device further comprises a mounting plate (24), and the mounting plate (24) is used for connecting the driving motor (25) and the laser reflecting plate (23).
7. An automatically calibrated laser rangefinder in accordance with claim 6 wherein:
the two ends of the mounting plate (24) are respectively connected with the first guide plate (21) and the second guide plate (22) in a sliding way;
the connection part of the mounting plate (24) and the driving motor (25) is positioned at the circle centers of the first guide plate (21) and the second guide plate (22);
the joint of the mounting plate (24) and the driving motor (25) is misplaced with the joint of the mounting plate (24) and the laser reflecting plate (23).
8. An automatically calibrated laser rangefinder in accordance with claim 2 wherein: the range finder body (10) further comprises an installation shell (1), the reflecting device (2), the laser ranging device (4), the gyroscope (5) and the control device (6) are arranged inside the installation shell (1), and the optical window (3) is arranged on one side wall of the installation shell (1).
9. An automatically calibrated laser rangefinder in accordance with claim 2 wherein: the range finder body (10) further comprises a data transmission device, wherein the data transmission device is used for transmitting the shortest distance between the range finder body (10) and the target object (20) obtained by ranging through the laser range finding device (4).
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| CN112711005B (en) * | 2020-12-29 | 2024-05-17 | 深圳市利拓光电有限公司 | Distance measuring device based on laser and control method |
| CN113650022A (en) * | 2021-07-30 | 2021-11-16 | 佛山缔乐视觉科技有限公司 | Robot programming method and device and storage medium |
| CN115079133B (en) * | 2022-06-14 | 2023-05-12 | 山东沂蒙地理信息有限公司 | Calibration range finder based on laser ranging technology and operation method thereof |
| CN116482656B (en) * | 2023-06-21 | 2023-09-22 | 华中科技大学 | Light path control switching device in laser range finder |
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