CN116973894A - Calibration method and system of line laser ranging sensor - Google Patents
Calibration method and system of line laser ranging sensor Download PDFInfo
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- CN116973894A CN116973894A CN202310949376.6A CN202310949376A CN116973894A CN 116973894 A CN116973894 A CN 116973894A CN 202310949376 A CN202310949376 A CN 202310949376A CN 116973894 A CN116973894 A CN 116973894A
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- 238000012360 testing method Methods 0.000 claims abstract description 49
- 238000004519 manufacturing process Methods 0.000 claims abstract description 11
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Classifications
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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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- 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
Abstract
The invention provides a calibration method and a calibration system of a line laser ranging sensor, wherein the method comprises the following steps: designing and manufacturing a trapezoid tool required by calibration, wherein the trapezoid tool comprises a plurality of steps, each step comprises a calibration surface, and any two calibration surfaces are arranged in parallel; installing a trapezoid tooling and a line laser ranging sensor to be calibrated, so that line laser of the line laser ranging sensor to be calibrated is beaten on each calibration surface; for each calibration surface, determining a test distance corresponding to the calibration surface based on line laser; based on the test distance and the actual distance corresponding to each calibration surface, the correction parameters of the line laser ranging sensor to be calibrated are determined, and the calibration method has the advantage of improving the calibration efficiency of the line laser ranging sensor.
Description
Technical Field
The invention relates to the field of structured light ranging, in particular to a calibration method and system of a line laser ranging sensor.
Background
The laser ranging technology is a mainstream ranging technology with the advantages of high ranging precision, long ranging distance and the like; accordingly, the ranging accuracy calibration (calibration) of the laser ranging device is an important link in the production process.
In the related art, the distance is calculated by the principle of a trigonometry based on two light paths of transmission and reception; and calibrating the laser ranging device according to the plurality of test distance values at different positions and the plurality of standard distance values at different positions. The operation of moving the reflector consumes manpower and a great deal of time, and severely restricts the calibration efficiency.
Therefore, it is necessary to provide a calibration method and system for a line laser ranging sensor, which are used for improving the calibration efficiency of the line laser ranging sensor.
Disclosure of Invention
One of the embodiments of the present disclosure provides a calibration method of a line laser ranging sensor, the method including: designing and manufacturing a trapezoidal tool required by calibration, wherein the trapezoidal tool comprises a plurality of steps, each step comprises a calibration surface, and any two calibration surfaces are arranged in parallel; installing the trapezoid tooling and the line laser ranging sensor to be calibrated, so that line laser of the line laser ranging sensor to be calibrated is beaten on each calibration surface; for each calibration surface, determining a test distance corresponding to the calibration surface based on the line laser; and determining correction parameters of the line to be calibrated laser ranging sensor based on the test distance and the actual distance corresponding to each calibration surface.
In some embodiments, the designing and manufacturing the trapezoidal tooling required for calibration includes: determining parameters of the trapezoid tooling according to the field angle of a camera module in the line to be calibrated laser ranging sensor; and manufacturing the trapezoid tool based on parameters of the trapezoid tool.
In some embodiments, the line laser ranging sensor to be calibrated comprises at least a camera module, a line laser assembly, and a microcontroller, both of which are electrically connected with the microcontroller; the line laser assembly comprises a left line laser emitter and a right line laser emitter, wherein the left line laser emitter and the right line laser emitter are respectively positioned on two sides of the camera module.
In some embodiments, the determining, based on the line laser, a test distance corresponding to the calibration surface includes: acquiring a laser image corresponding to the calibration surface; and determining the testing distance corresponding to the calibration surface based on the laser image.
In some embodiments, the determining, based on the laser image, a test distance corresponding to the calibration surface includes: for each line of laser, determining an imaging point of a projection point on the calibration surface on the laser image; determining a linear equation between the projection point and the imaging point based on the coordinates of the imaging point and the origin coordinates of a camera module in the line to be calibrated laser ranging sensor; solving a plane equation of the line laser according to the structure of the sensor; determining three-dimensional coordinates of the projection points on the calibration surface through line-plane phase; and determining the corresponding test distance of the calibration surface based on the three-dimensional coordinates of the projection point on the calibration surface.
In some embodiments, the determining the correction parameter of the line to be calibrated laser ranging sensor based on the test distance and the actual distance corresponding to each calibration surface includes: and determining an error curve based on the test distance and the actual distance corresponding to each calibration surface.
In some embodiments, the method further comprises: after calibration is completed, the distance between the line to be calibrated laser ranging sensor and the measured object measured by the line to be calibrated laser ranging sensor is obtained, and the measured distance between the line to be calibrated laser ranging sensor and the measured object is corrected based on the error curve to generate a corrected distance.
One of the embodiments of the present specification provides a calibration system of a line laser ranging sensor, including: the trapezoid tooling comprises a plurality of steps, wherein each step comprises a calibration surface, and any two calibration surfaces are arranged in parallel; the laser ranging sensor for the line to be calibrated is used for transmitting line laser to be beaten on each calibration surface; the data processing device is used for determining the test distance corresponding to each calibration surface based on the line laser; and the correction parameters of the line to be calibrated laser ranging sensor are determined based on the test distance and the actual distance corresponding to each calibration surface.
In some embodiments, the parameters of the trapezoidal tool are determined based on the field angle of a camera module in the line-of-sight laser ranging sensor.
In some embodiments, the line laser ranging sensor to be calibrated comprises at least a camera module, a line laser assembly, and a microcontroller, both of which are electrically connected with the microcontroller; the line laser assembly comprises a left line laser emitter and a right line laser emitter, wherein the left line laser emitter and the right line laser emitter are respectively positioned on two sides of the camera module.
Drawings
The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:
FIG. 1 is a block diagram of a calibration system for a line laser ranging sensor according to some embodiments of the present description;
FIG. 2 is a schematic structural view of a trapezoidal tool according to some embodiments of the present disclosure;
FIG. 3 is a block diagram of a line to be calibrated laser ranging sensor according to some embodiments of the present disclosure;
FIG. 4 is a block diagram of a line laser assembly according to some embodiments of the present description;
FIG. 5 is a flow chart of a method of calibrating a line laser ranging sensor according to some embodiments of the present disclosure;
FIG. 6 is a flow chart illustrating determining correction parameters for a line to be calibrated laser ranging sensor according to some embodiments of the present disclosure;
fig. 7 is a schematic diagram of a straight line between a projection point and an imaging point, according to some embodiments of the present disclosure.
In the figure, 410, left line laser transmitter; 420. right line laser transmitter; 430. and a camera module.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.
As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
A flowchart is used in this specification to describe the operations performed by the system according to embodiments of the present specification. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.
Because the distance of the line laser ranging sensor is calculated by the principle of structured light, the method for calculating the distance has very high structural accuracy requirement on the line laser ranging sensor, and once the luminous angle and the base line distance are changed, larger error can be generated on the calculated distance, so that the calibration of each line laser ranging sensor is extremely important.
FIG. 1 is a block diagram of a calibration system for a line laser ranging sensor according to some embodiments of the present description. As shown in fig. 1, the calibration system of the line laser ranging sensor may include a trapezoidal tooling, a line laser ranging sensor to be calibrated, and a data processing device.
Fig. 2 is a schematic structural diagram of a trapezoidal tool according to some embodiments of the present disclosure, where, as shown in fig. 2, the trapezoidal tool may include a plurality of steps, each step includes a calibration surface, and any two calibration surfaces are disposed parallel to each other. In some embodiments, parameters of the trapezoidal tool are determined based on the field angle of the camera module 430 in the line of sight laser ranging sensor to be calibrated.
The line to be calibrated laser ranging sensor can be used for emitting line laser to strike on each calibration surface. Fig. 3 is a block diagram of a line to be calibrated laser ranging sensor according to some embodiments of the present disclosure, as shown in fig. 3, the line to be calibrated laser ranging sensor may include at least a camera module 430 (e.g., an infrared camera, etc.), a line laser assembly, and a microcontroller, with the camera module 430 and the line laser assembly each being electrically connected to the microcontroller (e.g., MCU (Microcontroller Unit), etc.). Fig. 4 is a block diagram of a line laser assembly according to some embodiments of the present disclosure, and as shown in fig. 4, the line laser assembly includes a left line laser transmitter 410 and a right line laser transmitter 420, and the left line laser transmitter 410 and the right line laser transmitter 420 are respectively located at two sides of a camera module 430. For example, the camera module 430 may be positioned directly in the middle of the left line laser transmitter 410 and the right line laser transmitter 420.
In some embodiments, the line to be calibrated laser ranging sensor may be installed above the trapezoidal tool, and the line laser is thrown down to the trapezoidal tool, where the calibration surface of the step is the top surface.
In some embodiments, the line to be calibrated laser ranging sensor may be installed at a side of the trapezoidal tool, and line laser is horizontally projected to the trapezoidal tool, and the calibration surface of the step is the side surface of the line to be calibrated laser ranging sensor.
The data processing device can be used for determining the corresponding test distance of the calibration surface based on the line laser for each calibration surface.
The data processing device can also be used for determining the correction parameters of the laser ranging sensor of the line to be calibrated based on the test distance and the actual distance corresponding to each calibration surface.
Some examples of data processing apparatus include, but are not limited to, central Processing Units (CPUs), graphics Processing Units (GPUs), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processors, controllers, microcontrollers, etc.
FIG. 5 is a flow chart of a method of calibrating a line laser ranging sensor according to some embodiments of the present description. In some embodiments, the calibration method of the line laser ranging sensor may be performed by the calibration system of the line laser ranging sensor shown in fig. 1. As shown in fig. 5, the calibration method of the line laser ranging sensor may include the following steps.
Step 510, designing and manufacturing a trapezoidal tool required for calibration.
In some embodiments, parameters of the trapezoidal tooling (e.g., height, width, number, etc. of each step) may be determined from the field angle of the camera module 430 in the line-of-sight laser ranging sensor; and manufacturing the trapezoidal tool based on the parameters of the trapezoidal tool.
Specifically, the irradiation ranges of different corresponding test distances can be determined according to the field angle of the camera module 430, so that the maximum irradiation range is determined, and the maximum irradiation range is within the field angle of the camera module 430, so that the laser emitted by the left line laser emitter 410 and the right line laser emitter 420 cannot strike the outside of the trapezoid tool in the calibration process, the maximum irradiation height and the maximum irradiation width can be determined based on the maximum irradiation range, and the tool height of the trapezoid tool needs to be designed to be greater than the maximum irradiation height, and the tool width of the trapezoid tool needs to be designed to be greater than the maximum irradiation width. Further, the height of each step is determined according to the ratio of the maximum irradiation height to the number of steps required for the test, and the width of each step is determined according to the ratio of the maximum irradiation width to the number of steps required for the test.
For more description of the trapezoidal tool, see fig. 1-4 and their associated description, which are not repeated here.
Step 520, installing a trapezoidal tool and a line laser ranging sensor to be calibrated, so that line laser of the line laser ranging sensor to be calibrated is beaten on each calibration surface.
For further description of the line to be calibrated laser ranging sensor, reference may be made to fig. 1-4 and their associated description, which are not repeated here.
Step 530, for each calibration surface, determining a test distance corresponding to the calibration surface based on the line laser.
FIG. 6 is a flow chart of determining calibration parameters of a laser ranging sensor to be calibrated according to some embodiments of the present disclosure, as shown in FIG. 6, in some embodiments, a laser image corresponding to a calibration surface may be obtained; and determining the testing distance corresponding to the calibration surface based on the laser image, namely. The laser image may be acquired by a camera module 430 of the line to be calibrated laser ranging sensor.
In some embodiments, after the left line laser transmitter 410 and the right line laser transmitter 420 transmit line laser to the trapezoidal tool, the camera module 430 of the line laser ranging sensor may acquire a trapezoidal tool image containing laser information, and then intercept the laser image corresponding to each calibration surface from the trapezoidal tool image.
In some embodiments, determining the test distance corresponding to the calibration surface based on the laser image may include:
for each line of laser, determining an imaging point of a projection point on a calibration surface on a laser image;
determining a linear equation between the projected point and the imaging point based on coordinates of the imaging point and coordinates of an origin of the camera module 430 in the line to be calibrated laser ranging sensor;
solving a plane equation of the line laser according to the structure of the sensor;
determining three-dimensional coordinates of the projection points on the calibration surface through line-plane phase;
and determining the corresponding test distance of the calibration surface based on the three-dimensional coordinates of the projection point on the calibration surface.
Fig. 7 is a schematic diagram of a straight line between a projection point and an imaging point according to some embodiments of the present disclosure, as shown in fig. 7, a point a is a point (i.e., a projection point) where line laser strikes a certain calibration surface, a point B is an image (i.e., an imaging point) where the point a is imaged inside the camera module 430, a straight line equation of AB is obtained through coordinates of the point B in a camera coordinate system and origin coordinates of the camera coordinate system, a surface equation of line laser is obtained according to a structure of the sensor, a three-dimensional coordinate of the projection point on the calibration surface under the camera coordinates is obtained through intersection of the line surfaces, a left line laser test distance and a right line laser test distance corresponding to the calibration surface are determined according to the three-dimensional coordinate of the projection point on the calibration surface under the camera coordinates and coordinates of the point B under the camera coordinate system, and a test distance corresponding to the calibration surface is determined based on the left line laser test distance and the right line laser test distance.
Specifically, the linear equation of AB can be used to determine the coordinates of the intersection point of the linear line of AB and the laser surface, so as to obtain the test distance corresponding to the calibration surface.
In some embodiments, solving the plane equation of the line laser according to the structure of the sensor may include: and carrying out line laser refinement treatment on the laser image, calibrating parameters outside the board, calculating the three-dimensional coordinates of line laser in the laser image under the camera coordinates, and carrying out surface fitting on the calculated three-dimensional coordinates. The plane equation parameters of the laser plane under the camera coordinate system can be calculated. Wherein, performing line laser refinement processing on the laser image may include: the laser image is binarized, morphological operation is carried out after binarization, and then skeleton refinement processing is carried out by adopting a skeleton refinement algorithm (such as a parallel iterative algorithm and the like).
In some embodiments, determining the three-dimensional coordinates of the projected point on the calibration surface by line-to-surface phase may include: after skeleton extraction, the three-dimensional coordinates of the projection points on the calibration surface can be obtained by using a calibrated surface equation and an imaging principle of the points on the laser line.
Step 540, determining the correction parameters of the line to be calibrated laser ranging sensor based on the test distance and the actual distance corresponding to each calibration surface.
In some embodiments, an error curve may be determined based on the test distance and the actual distance for each calibration surface. For example, a function of the test distance and the actual distance may be determined based on the test distance and the actual distance corresponding to each calibration surface, and an error curve may be determined according to the function. The independent variable of the error curve is the test distance, and the dependent variable of the error curve is the actual distance.
In some embodiments, after calibration is completed, the distance between the line to be calibrated laser ranging sensor and the measured object measured by the line to be calibrated laser ranging sensor is obtained, and based on an error curve, the measured distance between the line to be calibrated laser ranging sensor and the measured object is corrected, so that the corrected distance is generated. And writing all parameters into a fixed memory of the sensor, correcting and compensating through the parameters in the memory when the test distance is given each time, and finally outputting the calibrated distance information to the outside.
For example, each time a test distance is given, a compensation value of the test distance may be determined based on the error curve, and the test distance is corrected according to the compensation value, so as to output a relatively real distance.
In some embodiments, the calibration method of the line laser ranging sensor is implemented by designing and manufacturing a trapezoidal tool required for calibration, and installing the trapezoidal tool and the line laser ranging sensor to be calibrated, so that line laser of the line laser ranging sensor to be calibrated is beaten on each calibration surface; for each calibration surface, determining a test distance corresponding to the calibration surface based on line laser; based on the test distance and the actual distance corresponding to each calibration surface, the correction parameters of the line laser ranging sensor to be calibrated are determined, so that the calibration of the line laser ranging sensors with a plurality of distances can be completed at one time, and the calibration efficiency is improved.
It should be noted that the above description of the calibration method of the line laser ranging sensor is only for illustration and description, and does not limit the application scope of the present disclosure. Various modifications and variations of the calibration method of the line laser ranging sensor are possible to those skilled in the art under the guidance of the present specification. However, such modifications and variations are still within the scope of the present description.
While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.
Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.
Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.
Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.
Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.
Claims (10)
1. The calibration method of the line laser ranging sensor is characterized by comprising the following steps of:
designing and manufacturing a trapezoidal tool required by calibration, wherein the trapezoidal tool comprises a plurality of steps, each step comprises a calibration surface, and any two calibration surfaces are arranged in parallel;
installing the trapezoid tooling and the line laser ranging sensor to be calibrated, so that line laser of the line laser ranging sensor to be calibrated is beaten on each calibration surface;
for each calibration surface, determining a test distance corresponding to the calibration surface based on the line laser;
and determining correction parameters of the line to be calibrated laser ranging sensor based on the test distance and the actual distance corresponding to each calibration surface.
2. The method for calibrating a line laser ranging sensor according to claim 1, wherein the designing and manufacturing of the trapezoidal tooling required for calibration comprises:
determining parameters of the trapezoid tooling according to the field angle of a camera module in the line to be calibrated laser ranging sensor;
and manufacturing the trapezoid tool based on parameters of the trapezoid tool.
3. The method for calibrating a line laser ranging sensor according to claim 1, wherein the line laser ranging sensor to be calibrated at least comprises a camera module, a line laser assembly and a microcontroller, wherein the camera module and the line laser assembly are electrically connected with the microcontroller;
the line laser assembly comprises a left line laser emitter and a right line laser emitter, wherein the left line laser emitter and the right line laser emitter are respectively positioned on two sides of the camera module.
4. A method for calibrating a line laser ranging sensor according to any one of claims 1-3, wherein said determining, based on said line laser, a test distance corresponding to said calibration surface comprises:
acquiring a laser image corresponding to the calibration surface;
and determining the testing distance corresponding to the calibration surface based on the laser image.
5. The method for calibrating a line laser ranging sensor according to claim 4, wherein determining the test distance corresponding to the calibration surface based on the laser image comprises:
for each line of laser, determining an imaging point of a projection point on the calibration surface on the laser image;
determining a linear equation between the projection point and the imaging point based on the coordinates of the imaging point and the origin coordinates of a camera module in the line to be calibrated laser ranging sensor;
solving a plane equation of the line laser according to the structure of the sensor;
determining three-dimensional coordinates of the projection points on the calibration surface through line-plane phase;
and determining the corresponding test distance of the calibration surface based on the three-dimensional coordinates of the projection point on the calibration surface.
6. A method for calibrating a line laser ranging sensor according to any one of claims 1-3, wherein determining the calibration parameters of the line laser ranging sensor to be calibrated based on the test distance and the actual distance corresponding to each calibration surface comprises:
and determining an error curve based on the test distance and the actual distance corresponding to each calibration surface.
7. The method for calibrating a line laser ranging sensor as defined in claim 6, further comprising:
after calibration is completed, the distance between the line to be calibrated laser ranging sensor and the measured object measured by the line to be calibrated laser ranging sensor is obtained, and the measured distance between the line to be calibrated laser ranging sensor and the measured object is corrected based on the error curve to generate a corrected distance.
8. A calibration system for a line laser ranging sensor, comprising:
the trapezoid tooling comprises a plurality of steps, wherein each step comprises a calibration surface, and any two calibration surfaces are arranged in parallel;
the laser ranging sensor for the line to be calibrated is used for transmitting line laser to be beaten on each calibration surface;
the data processing device is used for determining the test distance corresponding to each calibration surface based on the line laser; and the correction parameters of the line to be calibrated laser ranging sensor are determined based on the test distance and the actual distance corresponding to each calibration surface.
9. The line laser ranging sensor calibration system of claim 8, wherein the parameters of the trapezoidal tooling are determined based on the field angle of a camera module in the line laser ranging sensor to be calibrated.
10. The calibration system of a line laser ranging sensor according to claim 8 or 9, wherein the line laser ranging sensor to be calibrated comprises at least a camera module, a line laser assembly and a microcontroller, both of which are electrically connected to the microcontroller;
the line laser assembly comprises a left line laser emitter and a right line laser emitter, wherein the left line laser emitter and the right line laser emitter are respectively positioned on two sides of the camera module.
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| CN114755664A (en) * | 2022-04-26 | 2022-07-15 | 美智纵横科技有限责任公司 | Line laser ranging sensor, calibration method and device thereof, cleaning assembly and equipment |
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