CN108332708A - Laser leveler automatic checkout system and detection method - Google Patents
Laser leveler automatic checkout system and detection method Download PDFInfo
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- CN108332708A CN108332708A CN201810270383.2A CN201810270383A CN108332708A CN 108332708 A CN108332708 A CN 108332708A CN 201810270383 A CN201810270383 A CN 201810270383A CN 108332708 A CN108332708 A CN 108332708A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The present invention provides a kind of laser leveler automatic checkout system comprising：Vertical detection station, for vertical detection station for detecting vertical laser line, vertical laser line is deflected to horizontal laser light line by station equipped with pentaprism；Horizontal detection station is used for detection level laser rays；Optical collimator, the optical collimator is interior to be equipped with object lens, graticle, and the object lens are opposite with the graduation Board position, and laser rays is incident upon after the object lens on the graticle；Camera is used to acquire the laser image on the graticle；Computer, the camera are connect with the computer, and the computer is for analyzing the image that camera acquires, calculating.The vertically and horizontally laser rays angle that technical solution of the present invention can be emitted laser leveler is automatically, precisely measured, and the testing time is greatly shortened, improve efficiency, realize measurement of a set of optical collimator+camera to vertical laser line and horizontal laser light line simultaneously, cost is reduced, the space layout of detection device is also reduced.
Description
Technical field
The invention belongs to the fields such as optical detection, machine vision, and in particular to one kind is for detecting laser leveler outgoing
Laser rays automatic checkout equipment and detection method.
Background technology
Laser leveler can project laser rays, be incident upon on object, generate horizontally or vertically line that can be for reference,
The application in the fields such as engineering, building, decoration is very extensive.The angle of laser leveler shoot laser line is laser rays and eye point
Place horizontal plane or vertical guide angulation, are an important indicators for weighing laser leveler precision, and angle detection is usual
It is to ensure that product has qualified quality after processing group installs as the final inspection project on laser leveler production line.Currently
The laser leveler of domestic production is mostly to be judged that accuracy and repeatability are difficult to obtain by artificial macroscopic mode
It ensures, and detection efficiency is very low.
Optical collimator is a kind of metrical instrument that the auto-collimation principle using light measures, it can be by angle measurement
Linear measurement is converted to, the measurement of the accuracies such as low-angle, flatness, the depth of parallelism is widely used in.Utilize optical collimator pair
The shoot laser line angle degree of laser leveler measures, and can greatly improve the precision of measurement.And machine vision is to pass through
Targeted transformation is digital image signal by image-pickup device, is obtained according to information such as pixel distribution, form, brightness, colors
Clarification of objective is taken, to be judged.Artificial vision is replaced with machine vision, the repeated industrial production of high-volume can be improved
The degree of automation of process.Machine vision technique is widely used in industry manufacture, intelligent measurement field.If can be in laser
Machine vision technique is applied in the detection process of level meter, can greatly improve precision and efficiency of detecting, it is therefore necessary to this
One technology is further to be studied.
Invention content
In view of the foregoing deficiencies of prior art, optical collimator and machine being used the purpose of the present invention is to provide a kind of
The system that device vision system is detected laser leveler shoot laser line.
In order to achieve the above objects and other related objects, the present invention provides a kind of laser leveler automatic checkout system,
Including：Vertical detection station, the vertical detection station are set for placing measured laser level meter on the vertical detection station
There are pentaprism, the pentaprism that vertical laser line can be deflected to horizontal laser light line, to be detected to vertical laser line；Water
Flat detection station, the horizontal detection station are detected horizontal laser light line for placing measured laser level meter；Optics is accurate
Straight instrument, the optical collimator is interior to be equipped with object lens, graticle, and the object lens are opposite with the graduation Board position, the pentaprism
And the laser rays eye point of measured laser level meter should be with the axis position of the optical collimator in the horizontal detection station
In sustained height, horizontal laser light line is incident upon after the object lens on the graticle；Camera, the camera is for adopting
Collect the laser image on the graticle；Computer, the camera are connect with the computer, and the computer is used for taking the photograph
As the image that head acquires is analyzed, calculated, laser rays shooting angle is obtained.
Preferably, the horizontal detection station is equipped with turntable.
Preferably, the turntable is connect with the first upper and lower position regulating mechanism.
Preferably, the pentaprism is connect with the second upper and lower position regulating mechanism.
Preferably, the vertical detection station, be equipped with positioning pin in horizontal detection station, with measured laser level meter bottom
Portion's location hole cooperation.
The invention also discloses a kind of methods being detected using above-mentioned laser leveler automatic checkout system comprising
Following steps：
1）Height is adjusted：Adjust pentaprism mounting height, turntable mounting height, it is ensured that pentaprism exit facet center is placed on water
The laser rays eye point position of the measured laser level meter of flat detection station is located at sustained height with optical collimator axis；
2）Camera calibration：According to the graticle image that camera acquires, there is master scale on graticle, computer is according to several
True physical length between a scale and pixel number calculate the corresponding actual physics length of single pixel point, note
For k.
3）Equipment Alignment：Standard laser level meter is placed on horizontal detection station, standard laser level meter is opened, waits until
After its horizontal laser light line being emitted is stablized, computer can be automatically by the laser of the graticle laser image of camera acquisition at this time
Centerline pixels coordinate record gets off as a reference point, is denoted asy 0 ；
4）Horizontal laser light line detects：Testing laser level meter is placed on horizontal detection station, opens testing laser level meter, etc.
To after the horizontal laser light line stabilization of its outgoing, computer can be automatically by the sharp of the graticle laser image of camera acquisition at this time
Light center line pixel coordinate, which is recorded, to be denoted asy 1 , according to geometric optical theory, havek|y 1 -y 0 | = f’ tanβ, therefore it is horizontal sharp
Beam projecting angleβCalculation formula be：β = arctan[k|y 1 -y 0 |/f’], wherein k is the corresponding reality of single pixel point
Physical length；f’For optical collimator objective focal length, if the shooting angleβAngle is in threshold range, then it is assumed that measured laser
The horizontal laser light line of level meter outgoing is qualified；
5）Vertical laser line detects：Testing laser level meter is placed on vertical detection station, opens testing laser level meter, etc.
To after the vertical laser line stabilization of its outgoing, the inclined of laser rays and horizontal plane of the vertical laser line by pentaprism refraction is measured
Angle, according to the refraction principle of pentaprism, the shooting angle of the drift angle, that is, vertical laser line, according to step 4）In computational methods,
If the shooting angle is in threshold range, then it is assumed that the vertical laser line of measured laser level meter outgoing is qualified.
Preferably, in step 4）In need to carry out horizontal laser light line segmentation detection, carry out horizontal laser light line segmentation detection when,
The position that turntable is first rotated to laser leveler face optical collimator, according to step 4）Measure laser leveler under the position
It is emitted the angle of horizontal laser light line；Turntable is rotated clockwise to 45 ° of positions again, laser leveler under the position is measured and goes out jetting
The angle of flat laser rays；Turntable is finally rotated counterclockwise into -45 ° of positions, it is horizontal to measure laser leveler outgoing under the position
The angle of laser rays；The angle that three positions of Integrated comparative obtain, if three angles all within the scope of defined threshold, and three angles
The differential seat angle of degree is within the scope of defined threshold, then it is assumed that the horizontal laser light line of measured laser level meter outgoing is qualified.
Preferably, computer in the calculation the heart location of pixels when firstly the need of the effective width for judging laser, removal is invalid
Noise, then to image carry out binaryzation, effective rectangular area of laser rays pixel is fitted according to algorithm, to be swashed
The centerline pixels coordinate of light.
As described above, the laser leveler automatic checkout system and detection method of the present invention have the advantages that：This
The vertically and horizontally laser rays angle that inventive technique scheme can be emitted laser leveler is automatically, precisely measured,
And the testing time is greatly shortened, improve efficiency, at the same realize a set of optical collimator+camera to vertical laser line and
The measurement of horizontal laser light line, reduces cost, also reduces the space layout of detection device.
Description of the drawings
Fig. 1 is the structural schematic diagram that the embodiment of the present invention tests test system.
Light schematic diagram when Fig. 2 is the progress equipment Alignment of the embodiment of the present invention.
Fig. 3 is the light schematic diagram when embodiment of the present invention carries out laser rays detection.
1, pentaprism；2, vertical detection station；3, horizontal detection station；4, turntable；5, optical collimator；6, camera；
7, computer；8, the second upper and lower position regulating mechanism；9, the first upper and lower position regulating mechanism；10, standard water level；11, object lens；
12, graticle；13, measured laser level meter.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this explanations by particular specific embodiment below
Content disclosed by book understands other advantages and effect of the present invention easily.
Please refer to Fig.1,2,3.It should be clear that structure, ratio, size etc. depicted in this specification institute accompanying drawings, only to
Coordinate the revealed content of specification, so that those skilled in the art understands and reads, being not limited to the present invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, should all still fall in disclosed skill
Art content obtains in the range of capable of covering.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, in the case where changing technology contents without essence, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, the present invention provides a kind of laser leveler automatic checkout system comprising：Vertical detection station 2,
Horizontal detection station 3, optical collimator 5, camera 6 and computer 7.
Vertical detection station 2 is equipped with pentaprism 1, pentaprism for placing measured laser level meter, vertical detection station 2
1 can be deflected to vertical laser line on horizontal laser light line.Pentaprism 1 is connect with the second upper and lower position regulating mechanism 8, on second
Lower position adjusting mechanism 8 can adjust the height of pentaprism 1.
Pentaprism 1 is common optical element, has the optical characteristics for making incident light in 90 ° of main cross section intrinsic deflection.Laser
The vertical laser line of level meter outgoing reflects 90 ° of post deflection by pentaprism 1, is converted into horizontal laser rays and enters optical alignment
It is detected after instrument, the drift angle of the laser rays and horizontal plane after refraction can be measured.According to the refraction principle of pentaprism, the drift angle
That is the shooting angle of vertical laser line.After pentaprism 1, using a set of optical collimator+camera, so that it may with to laser water
The vertical laser line and horizontal laser light line of level outgoing carry out priority detection, reduce cost, also reduce entire detection device
Space layout.
Horizontal detection station 3 is additionally provided with a turntable 4, is tested for placing measured laser level meter in horizontal detection station 3
Laser leveler is placed on turntable 4, and rotating table 4 can drive measured laser level meter to rotate.Turntable 4 and the first upper and lower position
Regulating mechanism 9 connects, and turntable 4 can be driven to move up and down by the first upper and lower position regulating mechanism 9, and then can drive measured laser
Level meter moves up and down.
Parallel arranged is point-blank before and after vertical detection station 2, horizontal detection station 3 and optical collimator 4.Optics
Object lens 11, graticle 12 are equipped in collimator 4, object lens 11 are opposite with 12 position of graticle.Laser rays occurs after object lens 11
Refraction, finally on present graticle 12.When being detected, measured laser is horizontal in pentaprism 1 and horizontal detection station
The laser rays eye point of instrument should be located at sustained height with the axis of optical collimator.In order to be accurately positioned, vertical detection work
Positioning pin is respectively provided on position 2, horizontal detection station 3 to position measured laser level meter.
Optical collimator 5 is used to receive the vertical laser line of laser leveler outgoing reflected by pentaprism, Yi Jizhi
Pick out the horizontal laser light line penetrated.If laser rays shooting angle is with horizontal plane at a subtle drift angle, optical collimator can be to receiving
The laser rays arrived generates deflection, is imaged on the graticle of instrument internal.The basic principle of optical collimator is autocollimation method, is led to
It is usually used in the low-angle displacement to measured piece and carries out micrometric measurement.The shoot laser line of external laser leveler passes through optical alignment
The object lens of instrument, are finally imaged on graticle.It needs to be calibrated using standard water level before measurement, it is believed that it, which is emitted, swashs
Light is completely parallel to optical collimator axis.The laser rays of standard water level outgoing after optical collimator by being imaged onOPoint,
This point on the basis of point.In measurement process, if tested laser leveler and horizontal plane are at a subtle drift angleβ, pass through optical alignment
It is imaged on after instrumentO’Place.Pass through measurementOO’Distance utilizes the geometric optical theory of above-mentioned optical collimator, so that it may to calculate
The angle of measured laser level meter shoot laser lineβ, to judge whether qualification.
Camera 6 is mounted on the tail portion of optical collimator 4, and camera 6 is used to acquire the laser image on graticle 12.It takes the photograph
Picture head 6 is connect with computer 7, and computer 7 is for analyzing the image that camera 6 acquires, calculating.
Camera 6 is mounted on optical collimator tail portion, can acquire the image on optical collimator graticle in real time.Camera shooting
Head is monochromatic black and white camera, and Ethernet interface has high pixel and high frame per second.The image collected is uploaded to meter by camera 6
In calculation machine 7.Since the image of laser rays is dotted stacking, the intermediate bright both sides of presentation are dark, and the more noises in edge, need to be carried out to image
A series of processing, it is necessary first to judge which noise for the effective width of laser, remove invalid noise, then carry out to image
Binaryzation.Effective rectangular area that laser rays pixel is fitted according to algorithm, the centerline pixels to obtain laser rays are sat
Mark.Standard water level and measured laser level meter laser rays picture centre line pixel coordinate are obtained respectively, calculate the coordinate of the two
Difference, then it is converted to actual distance, so that it may to calculate the angle of measured laser level meter shoot laser line.
The method being detected using above-mentioned laser leveler automatic checkout system comprising following steps：
1）Height is adjusted：Adjust pentaprism mounting height, turntable mounting height, it is ensured that pentaprism exit facet center is placed on water
The laser rays eye point position of the measured laser level meter of flat detection station is located at sustained height with optical collimator axis；
2) camera calibration：According to the graticle image that camera acquires, have master scale on graticle, if computer according to
True physical length between dry scale and pixel number, calculate the corresponding actual physics length of single pixel point,
It is denoted ask。
3）Equipment Alignment：Standard laser level meter is placed on horizontal detection station, standard laser level meter is opened, waits until
After its horizontal laser light line being emitted is stablized, computer can be automatically by the laser of the graticle laser image of camera acquisition at this time
Centerline pixels coordinate record gets off as a reference point, is denoted asy 0 ；
4）Horizontal laser light line detects：Testing laser level meter is placed on horizontal detection station, opens testing laser level meter, etc.
To after the horizontal laser light line stabilization of its outgoing, computer can be automatically by the sharp of the graticle laser image of camera acquisition at this time
Light center line pixel coordinate, which is recorded, to be denoted asy 1 , according to geometric optical theory, havek|y 1 -y 0 | = f’ tanβ, therefore it is horizontal sharp
The calculation formula of beam projecting angle beta is：β = arctan[k|y 1 -y 0 |/f’], whereinkFor the corresponding reality of single pixel point
Physical length；f 'For optical collimator objective focal length, if the shooting angleβAngle is in threshold range, then it is assumed that measured laser
The horizontal laser light line of level meter outgoing is qualified；
5）Vertical laser line detects：Testing laser level meter is placed on vertical detection station, opens testing laser level meter, etc.
To after the vertical laser line stabilization of its outgoing, the inclined of laser rays and horizontal plane of the vertical laser line by pentaprism refraction is measured
Angle, according to the refraction principle of pentaprism, the shooting angle of the drift angle, that is, vertical laser line, according to step 4）In computational methods,
If the shooting angle is in threshold range, then it is assumed that the vertical laser line of measured laser level meter outgoing is qualified.
6）For horizontal detection station, due to horizontal laser light line be distributed in the horizontal direction it is very long, can be into when measuring every time
The light entered to optical collimator be it is a bit of in laser rays horizontal direction, such measurement result do not have it is representative and
Generality.By revolving-turret, the rotation of measured laser level meter is driven, the horizontal laser light line of outgoing can be allowed to be segmented and enter light
It learns and is measured in collimator, it is hereby achieved that most accurate measurement result.In order to shorten time of measuring, 0 °, 45 ° is usually taken
These three representative rotation angles measure with -45 °.For vertical detection station, since vertical laser line only has
One section can reflect away by pentaprism, therefore the laser rays limited length after pentaprism reflects, and so there is no need to vertical
Segmentation detection is carried out to it in detection station.In horizontal detection station segmentation detection process, turntable is first rotated into laser level
The position of instrument face optical collimator, i.e. 0 ° of position, then according to step 4）It is horizontal to measure laser leveler outgoing under the position
The angle of laser rays；Turntable is rotated clockwise to 45 ° of positions again, laser leveler under the position is measured and is emitted horizontal laser light line
Angle；Turntable is finally rotated counterclockwise into -45 ° of positions, measures laser leveler outgoing horizontal laser light line under the position
Angle；The angle that three positions of Integrated comparative obtain, if three angles all within the scope of defined threshold, and the angle of three angles
Difference is within the scope of defined threshold, then it is assumed that the horizontal laser light line of measured laser level meter outgoing is qualified.
Technical solution of the present invention can to laser leveler be emitted vertically and horizontally laser rays angle carry out automatically, essence
It really measures, and the testing time is greatly shortened, improve efficiency, while realizing a set of optical collimator+camera to hanging down
The measurement of straight laser rays and horizontal laser light line, reduces cost, also reduces the space layout of detection device.So the present invention
It effectively overcomes various shortcoming in the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (8)
1. a kind of laser leveler automatic checkout system, which is characterized in that it includes：
Vertical detection station, the vertical detection station are used to place measured laser level meter, be measured to vertical laser line,
The vertical detection station is equipped with pentaprism, and vertical laser line can be deflected to horizontal laser light line by the pentaprism；
Horizontal detection station, the horizontal detection station measure horizontal laser light line for placing measured laser level meter；
Optical collimator, the optical collimator is interior to be equipped with object lens, graticle, and the object lens are opposite with the graduation Board position,
The laser rays eye point of measured laser level meter should be with the optical alignment on the pentaprism and the horizontal detection station
The axis of instrument is located at sustained height；
Camera, the camera are used to acquire the image on the graticle；
Computer, the camera are connect with the computer, and the image that the computer is used to acquire camera divides
Analysis calculates, and obtains laser rays shooting angle.
2. laser leveler automatic checkout system according to claim 1, it is characterised in that：In the horizontal detection station
Equipped with turntable.
3. laser leveler automatic checkout system according to claim 1, it is characterised in that：About first turntable and
Position adjusting mechanism connects.
4. laser leveler automatic checkout system according to claim 1, it is characterised in that：On the pentaprism and second
Lower position adjusting mechanism connection.
5. laser leveler automatic checkout system according to claim 1, it is characterised in that：The vertical detection station,
It is equipped with positioning pin in horizontal detection station, is coordinated with measured laser level meter bottom location hole.
6. a kind of laser leveler detects automatic testing method automatically, which is characterized in that it includes the following steps：
1）Height is adjusted：Adjust pentaprism mounting height, turntable mounting height, it is ensured that pentaprism exit facet center is placed on water
The laser rays eye point position of the measured laser level meter of flat detection station is located at sustained height with optical collimator axis；
2）Camera calibration：According to the graticle image that camera acquires, there is master scale on graticle, computer is according to several
True physical length between a scale and pixel number calculate the corresponding actual physics length of single pixel point, note
For k；
3）Equipment Alignment：Standard laser level meter is placed on horizontal detection station, standard laser level meter is opened, until it goes out
After the horizontal laser light line penetrated is stablized, computer can be automatically by the laser center of the graticle laser image of camera acquisition at this time
Line pixel coordinate is recorded as a reference point, is denoted asy 0 ；
4）Horizontal laser light line detects：Testing laser level meter is placed on horizontal detection station, opens testing laser level meter, etc.
To after the horizontal laser light line stabilization of its outgoing, computer can be automatically by the sharp of the graticle laser image of camera acquisition at this time
Light center line pixel coordinate is recorded, and is denoted asy 1 , according to geometric optical theory, havek|y 1 -y 0 | = f’ tanβ, therefore it is horizontal sharp
The calculation formula of beam projecting angle beta is：β = arctan[k|y 1 -y 0 |/f’], whereinkFor the corresponding reality of single pixel point
Physical length；f’For optical collimator objective focal length, if the shooting angleβIn threshold range, then it is assumed that measured laser is horizontal
The horizontal laser light line of instrument outgoing is qualified；
5）Vertical laser line detects：Testing laser level meter is placed on vertical detection station, opens testing laser level meter, etc.
To after the vertical laser line stabilization of its outgoing, the inclined of laser rays and horizontal plane of the vertical laser line by pentaprism refraction is measured
Angle, according to the refraction principle of pentaprism, the shooting angle of the drift angle, that is, vertical laser line, according to step 4）In computational methods,
If the shooting angle is in threshold range, then it is assumed that the vertical laser line of measured laser level meter outgoing is qualified.
7. laser leveler according to claim 6 detects automatic testing method automatically, it is characterised in that：In step 4）In
The segmentation detection of horizontal laser light line need to be carried out, when carrying out the segmentation detection of horizontal laser light line, 3 angles are generally selected, first by turntable
The position for rotating to laser leveler face optical collimator, according to step 4）It is horizontal to measure laser leveler outgoing under the position
The angle of laser rays；Turntable is rotated clockwise to 45 ° of positions again, laser leveler under the position is measured and is emitted horizontal laser light line
Angle；Turntable is finally rotated counterclockwise into -45 ° of positions, measures laser leveler outgoing horizontal laser light line under the position
Angle；The angle that three positions of Integrated comparative obtain, if three angles all within the scope of defined threshold, and the angle of three angles
Difference is within the scope of defined threshold, then it is assumed that the horizontal laser light line of measured laser level meter outgoing is qualified.
8. laser leveler according to claim 6 detects automatic testing method automatically, it is characterised in that：Computer is being counted
Firstly the need of the effective width for judging laser when calculating center pixel position, invalid noise is removed, then binaryzation is carried out to image,
Effective rectangular area that laser rays pixel is fitted according to algorithm, to obtain the centerline pixels coordinate of laser rays.
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| CN109821907A (en) * | 2019-03-05 | 2019-05-31 | 上海宝钢工业技术服务有限公司 | For the operation roll of mill depth of parallelism and the detection device and method of intersection degree |
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| CN115979597A (en) * | 2023-02-13 | 2023-04-18 | 杭州简并激光科技有限公司 | Defect detection method for cone mirror of laser level meter |
| CN116147593A (en) * | 2023-04-14 | 2023-05-23 | 成都量芯集成科技有限公司 | Vertical alignment detection device and method based on laser |
| WO2023236615A1 (en) * | 2022-06-06 | 2023-12-14 | 美国西北仪器公司 | Device for measuring horizontal accuracy of measuring instrument |
| CN112611396B (en) * | 2020-12-31 | 2024-05-03 | 上海诺司纬光电仪器有限公司 | Method for calibrating a laser scanner |
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