CN114185056A - Laser ranging method and laser ranging device - Google Patents

Laser ranging method and laser ranging device Download PDF

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Publication number
CN114185056A
CN114185056A CN202111200324.6A CN202111200324A CN114185056A CN 114185056 A CN114185056 A CN 114185056A CN 202111200324 A CN202111200324 A CN 202111200324A CN 114185056 A CN114185056 A CN 114185056A
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Prior art keywords
laser
workpiece
reflector
equivalent
detection
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胡德山
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Xianghuai Intelligent Technology Changxing Co ltd
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Xianghuai Intelligent Technology Changxing Co ltd
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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
    • 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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a laser ranging method and a laser ranging device, wherein the method comprises the following steps: arranging a reflector in a position to be installed of a workpiece; the method comprises the following steps of (1) striking upper laser to a receiving point of lower laser through a reflector, and obtaining an included angle between the upper laser and the lower laser, a distance between an upper laser sensor and the reflector, and a distance between a lower laser sensor and the reflector; after a workpiece is installed, an upper laser detection value and a lower laser detection value are obtained; obtaining the detection equivalent of the workpiece; and obtaining the offset of the workpiece according to the detection equivalent. The reflection point of the reflector and the upper laser are projected to the lower laser in the same plane and pass through the workpiece, so that the measurement and calculation of the workpiece are facilitated; calculating detection equivalent according to the data in the two directions, so that the detection equivalent reflects the data in the two directions, and the detection equivalent can reflect the integral offset of work; the later stage processing is guided through the size of offset, the polishing effect is improved, and the product quality is improved.

Description

Laser ranging method and laser ranging device
Technical Field
The invention relates to the technical field of distance measurement, in particular to a laser distance measuring method and a laser distance measuring device.
Background
Laser distance measuring (laser distance measuring) measures distance using a laser as a light source. And are classified into a continuous laser and a pulse laser according to the way the laser operates. The laser range finder not only can work day and night but also can improve the range finding precision compared with a photoelectric range finder because of the characteristics of good monochromaticity, strong directivity and the like of laser and the integrated electronic circuit. However, most of the existing laser distance measuring devices are inconvenient to accurately ensure that the measuring surface of the laser distance measuring device is parallel to the plane to be measured, and particularly, the measuring device is inconvenient in some cases, or a truss with a linear structure has a complex mechanical structure, high processing cost and difficult maintenance.
In the manufacturing field, errors are easily generated in casting of workpieces, and therefore, the polishing effect is not good when finishing and surface polishing treatment of workpieces is performed by a polishing machine, such as a polishing robot or the like, and therefore, a method and an auxiliary device for optimizing a trajectory and compensating for poor polishing effect due to casting errors are required.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a laser ranging method and a laser ranging device, which are used for detecting the offset of a workpiece by the laser ranging method to obtain the error of the workpiece and have an auxiliary effect on the later processing of the workpiece, so that the polishing effect is improved.
The invention discloses a laser ranging method, which comprises the following steps: arranging a reflector in a position to be installed of a workpiece; the method comprises the following steps of (1) striking upper laser to a receiving point of lower laser through a reflector, and obtaining an included angle between the upper laser and the lower laser, a distance between an upper laser sensor and the reflector, and a distance between a lower laser sensor and the reflector; after a workpiece is installed, an upper laser detection value and a lower laser detection value are obtained; obtaining the detection equivalent of the workpiece according to the included angle between the upper laser and the lower laser, the distance between the upper laser sensor and the reflector, the distance between the lower laser sensor and the reflector, the upper laser detection value and the lower laser detection value; and obtaining the offset of the workpiece according to the detection equivalent.
Preferably, the method for obtaining the included angle between the upper laser and the lower laser comprises the following steps:
Figure BDA0003304687420000021
wherein theta is the included angle between the upper laser and the lower laser, L is the distance between the upper laser sensor and the lower laser sensor, and L is the distance between the upper laser sensor and the lower laser sensor1Is the distance between the lower laser sensor and the reflector, L2Is the distance between the upper laser sensor and the reflector.
Preferably, the detection equivalent of the workpiece is obtained by using formula 5 or formula 6:
Δl2(cosα-tanβ*sinα)＝l4 (5)
Δl1(cos(α+θ)-tanβ*sin(α+θ))＝l4 (6)
wherein l1For lower laser detection value, /)2Is the upper laser detection value, alpha is the horizontal angle of the upper laser, beta is the vertical angle of the workpiece detection surface, l4For detecting equivalent weight, the distance from the intersection point of the upper laser and the lower laser to the workpiece detection surface in the horizontal direction is described;
Δl2＝L2-l2 (2)
Δl1＝L1-l1 (3)
sinα＝L3/L2 (4)
wherein L is3The distance between the intersection point of the upper laser and the lower laser and the upper laser sensor in the vertical direction is shown.
Preferably, the method for obtaining the workpiece offset comprises the following steps:
calculating the offset according to the detection equivalent and the standard detection equivalent:
Δl4＝σ-l4 (7)
where σ denotes the standard detection equivalent,. DELTA.l4Denoted as offset.
Preferably, the standard detection equivalent is obtained by a method comprising:
a plurality of workpieces are inspected, and the average of the inspection equivalent of the plurality of workpieces is used as a standard inspection equivalent.
Preferably, the two detection equivalent weights calculated according to the formulas 5 and 6 are used as the average value of the two detection equivalent weights as the final detection equivalent weight.
The invention also provides a laser ranging device for realizing the laser ranging method, which is characterized by comprising an upper laser sensor, a lower laser sensor, a movable plate and an adjusting component,
the adjustment assembly includes a first mount and a second mount,
the first mounting seat is arranged on the movable plate, a first worm wheel and a first worm matched with the first worm wheel are arranged in the first mounting seat, the first worm wheel is connected with the second mounting seat, and the first worm is connected with a first knob arranged on one side of the first mounting seat;
the second mounting seat comprises a second worm wheel arranged in the second mounting seat and a second worm matched with the second worm wheel, and the second worm is connected with a second knob arranged on one side of the second mounting seat;
the upper laser sensor is arranged on a second worm wheel of the upper adjusting assembly, the lower laser sensor is arranged on a second worm wheel of the lower adjusting assembly, the emitting angle and the receiving angle of the laser are adjusted through the first knob and the second knob, so that the upper laser is projected onto a receiving point of the lower laser through the reflector, and the reflector is arranged in the position, to be mounted, of the workpiece;
after the workpiece is installed, the upper laser sensor is used for obtaining an upper laser detection value, and the lower laser sensor is used for obtaining a lower laser detection value.
Preferably, the laser distance measuring device of the invention further comprises a memory and a processor, wherein the memory is used for storing instructions for calculating the equivalent detection amount and the offset amount of the workpiece,
the processor is to execute the instructions.
Preferably, the laser distance measuring device further comprises a vertical support plate, wherein a guide rail is arranged on one side of the vertical support plate, a through hole is formed in one side of the guide rail, a thrust block is arranged on the other side of the vertical support plate, a screw rod is arranged on the thrust block, a screw rod sleeve is arranged on the screw rod, and the screw rod sleeve penetrates through the through hole and is connected with the movable plate;
and a hand wheel connected with the screw rod is arranged on the thrust block.
Preferably, the laser distance measuring device further comprises a rubbing plate, a guide rail bar is arranged on the rubbing plate, the vertical support plate is arranged on the guide rail bar,
a fixing plate is arranged on the front side of the rubbing plate, a second screw rod is arranged on the fixing plate, a second screw rod sleeve is arranged on the second screw rod, and the vertical supporting plate is fixed on the second screw rod sleeve;
and a second hand wheel connected with the second screw rod is arranged on the front side of the fixed plate.
Compared with the prior art, the invention has the beneficial effects that: by adjusting the upper laser sensor and the lower laser sensor, the reflection point of the reflector and the upper laser are made to hit the lower laser in the same plane and pass through the workpiece, which is beneficial to measuring and calculating the workpiece; calculating detection equivalent according to the data in the two directions, so that the detection equivalent reflects the data in the two directions, and the detection equivalent can reflect the integral offset of work; the later stage processing is guided through the size of offset, the polishing effect is improved, and the product quality is improved.
Drawings
FIG. 1 is a flow chart of a method of laser ranging of the present invention;
FIG. 2 is a schematic illustration of adjusting the upper and lower lasers;
FIG. 3 is a schematic view of inspecting a workpiece;
FIG. 4 is a schematic illustration of calculating a detection equivalent;
FIG. 5 is a schematic structural diagram of a laser distance measuring device of the present invention;
FIG. 6 is a schematic structural view of the adjustment assembly;
fig. 7 is a schematic structural view of the vertical support plate.
The labels in the figure are:
the laser positioning device comprises a laser sensor 1, an upper laser sensor 11, a lower laser sensor 12, a movable plate 2, an adjusting component 3, a first mounting seat 31, a first worm 311, a first worm wheel 312, a first knob 313, a second mounting seat 32, a second worm 321, a second worm wheel 322, a second knob 323, a vertical support plate 4, a guide rail 41, a through hole 2, a thrust block 43, a screw rod 44, a screw rod sleeve 45, a hand wheel 46, an adjustable handle 47, a rubbing plate 5, a guide rail bar 51, a fixed plate 52, a second screw rod 53 and a second hand wheel 54.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
a method of laser ranging, as shown in fig. 1, the method comprising:
step 101: the mirror is arranged in a position of the workpiece to be mounted.
Step 102: and (3) shooting the upper laser to a receiving point of the lower laser through the reflector, and obtaining an included angle theta between the upper laser and the lower laser, the distance between the upper laser sensor and the reflector and the distance between the lower laser sensor and the reflector. The reflector can adopt a biaxial precise graduated reflector.
Step 103: after the workpiece is mounted, an upper laser detection value and a lower laser detection value are obtained. During the detection, the laser sensor angle adjusted in step 102 is maintained.
Step 104: according to the included angle theta of the upper laser and the lower laser and the distance L between the upper laser sensor and the reflector2Distance L between lower laser sensor and reflector1Upper laser detection value l1And lower laser detection value l2Obtaining a detection equivalent L of the workpiece4。
Step 105: according to the detection equivalent L4And obtaining the offset of the workpiece. The offset can be judged by comparing the detection equivalent of different workpieces.
By adjusting the upper laser sensor and the lower laser sensor, the reflection point of the reflector and the upper laser are made to hit the lower laser in the same plane and pass through the workpiece, which is beneficial to measuring and calculating the workpiece; calculating detection equivalent according to the data in the two directions, so that the detection equivalent reflects the data in the two directions, and the detection equivalent can reflect the integral offset of work; the later stage processing is guided through the size of offset, the polishing effect is improved, and the product quality is improved.
Fig. 2 shows a light path diagram in step 102, and a method for obtaining an included angle between an upper laser and a lower laser includes:
Figure BDA0003304687420000051
theta is the angle between the upper laser and the lower laser, L is the distance between the upper laser sensor and the lower laser sensor, L1Is the distance between the lower laser sensor and the reflector, L2M is the distance from the upper laser sensor to the mirror, and M is denoted as the mirror. L is1And L2The L value can be measured by a laser ranging method, and is generally a known mechanical design value. In fig. 2, the lower laser sensor is a circular point, the direction of the lower laser sensor is a Y-axis direction, a coordinate system is established, and a reflection point of the reflector should be arranged inside the position where the workpiece is to be installed, that is, in the detection stage, the intersection point of the extension lines of the upper laser and the lower laser is inside the workpiece.
In FIG. 2, the horizontal angle α of the upper laser is also introduced, and it can be seen that
sinα＝L3/L2 (4)
Wherein L is3The distance between the intersection point of the upper laser and the lower laser and the distance between the upper laser sensor and the upper laser sensor in the vertical direction can be obtained through a laser level meter and a height gauge. The angles alpha and theta can be calculated by averaging over repeated measurements.
Fig. 3 shows the light path diagram in step 103, fig. 4 shows a schematic diagram of calculating the detection equivalent, and equation 5 or equation 6 is used to obtain the detection equivalent of the workpiece:
Δl2(cosα-tanβ*sinα)＝l4 (5)
Δl1(cos(α+θ)-tanβ*sin(α+θ))＝l4 (6)
wherein l1For lower laser detection value, /)2Is the upper laser detection value, alpha is the horizontal angle of the upper laser, beta is the vertical angle of the workpiece detection surface, l4For detecting equivalent weight, the distance from the intersection point of the upper laser and the lower laser to the workpiece detection surface in the horizontal direction is described;
Δl2＝L2-l2 (2)
Δl1＝L1-l1 (3)
sinα＝L3/L2 (4)
wherein,. DELTA.l2Difference, Δ l, for describing detection value of upper laser1For describing the difference in the detection value of the lower laser light. It should be noted that the laser sensor should maintain the angle of the conditioning phase while inspecting the workpiece. In the design of the die, a film drawing angle beta of about 3-5 degrees is generally designed on an outer hub line of a casting, so that the die is convenient to withdraw; l1、l2Or by repeating the measurement and averaging. The deformation of a workpiece cast by the existing die is usually 1-2 mm; it should be noted that α and β in actual workpieces are typically relatively small, and the angles in fig. 2-4 are exaggerated for ease of illustration.
Can be determined by detecting the equivalent l4Judging the offset of the workpiece, specifically, calculating the offset by using formula 7:
Δl4＝σ-l4 (7)
where σ denotes the standard detection equivalent,. DELTA.l4Expressed as offset, i.e. the offset is calculated from the detection equivalent and the standard detection equivalent.
In the case where the standard detection equivalent is not known, a plurality of workpieces may be detected, and the average of the detection equivalents of the plurality of workpieces may be set as the standard detection equivalent.
The formula 5 and the formula 6 can respectively calculate to obtain two detection equivalent weights, and the average value of the two detection equivalent weights is used as the final detection equivalent weight. It should be noted that the calculation results of equation 5 and equation 6 may have a small error.
The invention also provides a laser ranging device for realizing the laser ranging method, as shown in fig. 5-7, the laser ranging device comprises a laser sensor 1, a movable plate 2 and an adjusting component 3, the laser sensor 1 comprises an upper laser sensor 11 and a lower laser sensor 12, the adjusting component 3 comprises a first mounting seat 31 and a second mounting seat 32, the first mounting seat 31 is arranged on the movable plate 2, a first worm wheel 312 and a first worm 311 matched with the first worm wheel 312 are arranged in the first mounting seat 31, the first worm wheel 312 is connected with the second mounting seat 32, and the first worm 311 is connected with a first knob 313 arranged on one side of the first mounting seat 31; the second mounting seat 32 comprises a second worm wheel 322 arranged in the second mounting seat 32 and a second worm 321 matched with the second worm wheel 322, and the second worm 321 is connected with a second knob 323 arranged on one side of the second mounting seat 32; the upper laser sensor 11 is arranged on a second worm gear 322 of the upper adjusting component 3, the lower laser sensor 12 is arranged on a second worm gear 322 of the lower adjusting component 3, and the emitting angle and the receiving angle of the laser are adjusted through a first knob 313 and a second knob 323, so that the upper laser is projected to the receiving point of the lower laser through a reflector which is arranged in the position to be mounted of the workpiece; after the workpiece is mounted, the upper laser sensor 11 is used to obtain an upper laser detection value, and the lower laser sensor 12 is used to obtain a lower laser detection value.
The laser ranging apparatus of the present invention further comprises a memory for storing instructions for calculating the equivalent weight and offset amount of the workpiece detection, and a processor (not shown in the figure) for executing the instructions.
As shown in fig. 6 and 7, the laser distance measuring device of the present invention further comprises a vertical support plate 4, wherein a guide rail 41 is arranged on one side of the vertical support plate 4, a through hole 42 is arranged on one side of the guide rail, a thrust block 43 is arranged on the other side of the vertical support plate 4, a screw 44 is arranged on the thrust block 43, a screw sleeve 45 is arranged on the screw 44, and the screw sleeve 45 passes through the through hole 42 and is connected with the movable plate 2; the thrust block 43 is provided with a hand wheel 46 connected with the screw 44. The screw 44 is rotated by the hand wheel 46, thereby adjusting the height of the screw housing 45 and the movable plate 2. An adjustable handle 47 may be further disposed on one side of the thrust block 43, and a stud extending toward the screw 44 is disposed on the adjustable handle and used for locking the screw to play a role in fixing.
The laser distance measuring device of the invention also comprises a rubbing board 5, a guide rail bar 51 is arranged on the rubbing board 5, the vertical support plate 4 is arranged on the guide rail bar 51,
the front side of the rubbing plate 5 is provided with a fixing plate 52, the fixing plate 52 is provided with a second screw 53, the second screw 53 is provided with a second screw sleeve (not shown in the figure), and the vertical support plate 4 is fixed on the second screw sleeve; a second wheel 54 connected to the second screw 53 is provided on the front side of the fixed plate 52. The second screw 53 is rotated by the second hand wheel 54, thereby adjusting the positions of the second screw housing and the vertical support plate.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method of laser ranging, the method comprising:
arranging a reflector in a position to be installed of a workpiece;
the method comprises the following steps of (1) striking upper laser to a receiving point of lower laser through a reflector, and obtaining an included angle between the upper laser and the lower laser, a distance between an upper laser sensor and the reflector, and a distance between a lower laser sensor and the reflector;
after a workpiece is installed, an upper laser detection value and a lower laser detection value are obtained;
obtaining the detection equivalent of the workpiece according to the included angle between the upper laser and the lower laser, the distance between the upper laser sensor and the reflector, the distance between the lower laser sensor and the reflector, the upper laser detection value and the lower laser detection value;
and obtaining the offset of the workpiece according to the detection equivalent.
2. The laser ranging method of claim 1, wherein the method of obtaining the angle between the upper laser and the lower laser comprises:
Figure FDA0003304687410000011
wherein theta is the included angle between the upper laser and the lower laser, L is the distance between the upper laser sensor and the lower laser sensor, and L is the distance between the upper laser sensor and the lower laser sensor1Is the distance between the lower laser sensor and the reflector, L2Is the distance between the upper laser sensor and the reflector.
3. The laser ranging method as claimed in claim 2, wherein the detection equivalent of the workpiece is obtained using equation 5 or equation 6:
Δl2(cosα-tanβ*sinα)＝l4 (5)
Δl1(cos(α+θ)-tanβ*sin(α+θ))＝l4 (6)
wherein l1For lower laser detection value, /)2Is the upper laser detection value, alpha is the horizontal angle of the upper laser, beta is the vertical angle of the workpiece detection surface, l4For detecting equivalent weight, the distance from the intersection point of the upper laser and the lower laser to the workpiece detection surface in the horizontal direction is described;
Δl2＝L2-l2 (2)
Δl1＝L1-l1 (3)
sinα＝L3/L2 (4)
wherein L is3The distance between the intersection point of the upper laser and the lower laser and the upper laser sensor in the vertical direction is shown.
4. A laser ranging method according to claim 3, wherein the method of obtaining the workpiece offset comprises:
calculating the offset according to the detection equivalent and the standard detection equivalent:
Δl4＝σ-l4 (7)
where σ denotes the standard detection equivalent,. DELTA.l4Denoted as offset.
5. The laser ranging method according to claim 4, wherein the obtaining of the standard detection equivalent comprises:
a plurality of workpieces are inspected, and the average of the inspection equivalent of the plurality of workpieces is used as a standard inspection equivalent.
6. The laser ranging method as claimed in claim 3, wherein the two detected equivalent weights calculated according to the equations 5 and 6, respectively, take an average value of the two detected equivalent weights as a final detected equivalent weight.
7. A laser rangefinder apparatus for carrying out the laser rangefinder method of any of claims 1-6 comprising an upper laser sensor, a lower laser sensor, a movable plate and an adjustment assembly,
the adjustment assembly includes a first mount and a second mount,
the first mounting seat is arranged on the movable plate, a first worm wheel and a first worm matched with the first worm wheel are arranged in the first mounting seat, the first worm wheel is connected with the second mounting seat, and the first worm is connected with a first knob arranged on one side of the first mounting seat;
the second mounting seat comprises a second worm wheel arranged in the second mounting seat and a second worm matched with the second worm wheel, and the second worm is connected with a second knob arranged on one side of the second mounting seat;
the upper laser sensor is arranged on a second worm wheel of the upper adjusting assembly, the lower laser sensor is arranged on a second worm wheel of the lower adjusting assembly, the emitting angle and the receiving angle of the laser are adjusted through the first knob and the second knob, so that the upper laser is projected onto a receiving point of the lower laser through the reflector, and the reflector is arranged in the position, to be mounted, of the workpiece;
after the workpiece is installed, the upper laser sensor is used for obtaining an upper laser detection value, and the lower laser sensor is used for obtaining a lower laser detection value.
8. The laser ranging device as claimed in claim 7, further comprising a memory and a processor, wherein the memory is configured to store instructions for calculating a workpiece detection equivalent and an offset,
the processor is to execute the instructions.
9. The laser ranging device as claimed in claim 7, further comprising a vertical support plate, wherein a guide rail is arranged on one side of the vertical support plate, a through hole is formed on one side of the guide rail, a thrust block is arranged on the other side of the vertical support plate, a screw rod is arranged on the thrust block, a screw rod sleeve is arranged on the screw rod, and the screw rod sleeve penetrates through the through hole and is connected with the movable plate;
and a hand wheel connected with the screw rod is arranged on the thrust block.
10. The laser ranging device as claimed in claim 9, further comprising a rubbing plate, wherein a guide rail bar is provided on the rubbing plate, the vertical support plate is provided on the guide rail bar,
a fixing plate is arranged on the front side of the rubbing plate, a second screw rod is arranged on the fixing plate, a second screw rod sleeve is arranged on the second screw rod, and the vertical supporting plate is fixed on the second screw rod sleeve;
and a second hand wheel connected with the second screw rod is arranged on the front side of the fixed plate.
CN202111200324.6A 2021-10-15 2021-10-15 Laser ranging method and laser ranging device Pending CN114185056A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111200324.6A CN114185056A (en) 2021-10-15 2021-10-15 Laser ranging method and laser ranging device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111200324.6A CN114185056A (en) 2021-10-15 2021-10-15 Laser ranging method and laser ranging device

Publications (1)

Publication Number Publication Date
CN114185056A true CN114185056A (en) 2022-03-15

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ID=80601399

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111200324.6A Pending CN114185056A (en) 2021-10-15 2021-10-15 Laser ranging method and laser ranging device

Country Status (1)

Country Link
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