Linear laser ranging sensors, calibration methods and apparatus, cleaning components and equipment

Abstract

This invention proposes a line laser rangefinder sensor and its calibration method, apparatus, cleaning components, and equipment. The calibration method for the line laser rangefinder sensor includes: determining a first straight line based on the line laser plane and a target plane; determining a second straight line on the camera's imaging plane based on the first straight line; and calibrating the built-in parameters of the line laser rangefinder sensor based on the relative distance between the target plane and the laser camera and the second straight line; wherein the first and second straight lines correspond to each other. The calibration method proposed in this invention calibrates built-in parameters, including the offset angle, by using the relative distance between the target plane and the laser camera, and the relevant parameters of the second straight line in the camera's imaging plane. This reduces the impact of the deviation between the installation angle and the design angle on the test results, thus improving the accuracy of the rangefinder sensor's test results.

Description

Technical Field

[0001] This invention relates to the field of optical measurement technology, and more specifically, to a line laser ranging sensor and its calibration method and apparatus, cleaning components and equipment. Background Technology

[0002] With the development of intelligent cleaning technology, intelligent cleaning equipment has been gradually upgraded. Current cleaning equipment can identify obstacles in front or to the side and stop at an appropriate location to avoid collisions. This function is specifically achieved through its distance measuring sensors. However, during the production and installation of cleaning equipment, there is often a deviation between the actual installation position and the designed position of the distance measuring sensor. This leads to inaccurate test results from the distance measuring sensor, affecting the working performance of the cleaning equipment and reducing the cleaning effect. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, the first aspect of the present invention is to provide a calibration method for a line laser rangefinder sensor.

[0005] A second aspect of the present invention is to provide a calibration device for a line laser ranging sensor.

[0006] A third aspect of the present invention is to provide a line laser ranging sensor.

[0007] A fourth aspect of the present invention is to provide a line laser ranging sensor.

[0008] The fifth aspect of the invention is to provide a cleaning component.

[0009] The sixth aspect of the present invention is to provide a cleaning device.

[0010] The seventh aspect of the present invention is to provide a readable storage medium.

[0011] In view of this, according to one aspect of the present invention, a calibration method for a line laser rangefinder sensor is proposed, comprising: determining a first straight line based on the line laser plane and a target plane; determining a second straight line on the camera imaging plane based on the first straight line; calibrating the built-in parameters of the line laser rangefinder sensor based on the relative distance between the target plane and the laser camera and the second straight line; wherein the first straight line and the second straight line correspond to each other.

[0012] The calibration method for a line laser rangefinder sensor provided by this invention can be implemented by a calibration device for the line laser rangefinder sensor, or it can be determined according to actual usage requirements, and no specific limitation is made here. To more clearly describe the calibration method for a line laser rangefinder sensor provided by this invention, the following description will focus on the calibration device for the line laser rangefinder sensor as the implementing entity.

[0013] The calibration method for a line laser rangefinder provided by this invention is used to calibrate and correct the built-in parameters of the line laser rangefinder. These built-in parameters are related to the motion state of the rangefinder, specifically its motion matrix, and also to the deflection angle of its internal structure during rangefinder operation. Based on this, when correcting the built-in parameters of the rangefinder using the above calibration method, the deflection angle of its internal structure during rangefinder operation can be corrected.

[0014] It is understandable that when the aforementioned line laser rangefinder sensor is applied to physical products (such as cleaning components and equipment with obstacle recognition capabilities), there is often an angular deviation between the actual installation position of the rangefinder sensor in the physical product and its designed installation position during the product design process. This angular deviation affects the rangefinder sensor's ranging operation, resulting in less accurate test results for target distance information, thus reducing the accuracy of the rangefinder sensor's ranging function. Consequently, for physical products equipped with the aforementioned rangefinder sensor, such as cleaning equipment, this reduces the accuracy of subsequent operation control of the cleaning equipment, thereby reducing the cleaning effect.

[0015] Therefore, in the calibration method proposed in this invention, when the line laser rangefinder is in operation, the intersection line between the target plane and the line laser plane of the rangefinder (i.e., the first straight line) is determined. Based on this, a corresponding straight line (i.e., the second straight line) is determined within the camera imaging plane of the rangefinder according to the determined intersection line between the target plane and the line laser plane. Then, based on the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder, the built-in parameters of the laser rangefinder are calibrated and corrected.

[0016] Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and line information involved or generated by the rangefinder during ranging operations, the built-in parameters of the rangefinder are calibrated and corrected. This means correcting the deflection angle of the internal structure of the rangefinder during ranging operations. This effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product, thereby reducing the impact of this angular deviation on the ranging operation and improving the accuracy of the rangefinder's test results for target distance information. In other words, it improves the accuracy of the ranging operation. Based on this, for physical products (such as cleaning equipment) equipped with this rangefinder, the accuracy of subsequent operation control is improved, ensuring the working effect of the physical product.

[0017] The target plane mentioned above is the laser reflection plane of the rangefinder sensor during laser ranging. Based on the ranging principle of a line laser rangefinder sensor, when performing ranging, the sensor first emits a laser pulse towards the target (i.e., the target plane). The laser pulse is then reflected by the target plane, with a portion of the reflected laser returning to the rangefinder sensor's laser imaging device (such as a laser camera). An image is then generated on the imaging plane of this laser imaging device. Based on this, the target distance can be determined by the difference between the laser emission time and the image generation time.

[0018] Furthermore, the second straight line corresponds to the first straight line. Specifically, the first straight line is a straight line formed by the laser emitted by the laser emitting device of the ranging sensor into the target plane, and the second straight line is a straight line generated on the imaging plane of the laser imaging device of the ranging sensor after the laser pulse corresponding to the first straight line is reflected.

[0019] It should be noted that, to ensure the correspondence between the second straight line and the first straight line, the laser imaging device of the ranging sensor should conform to the pinhole camera model, meaning that the image generated within the imaging plane of the laser imaging device should not be distorted. However, if the laser imaging device does not conform to the pinhole camera model (e.g., a fisheye model), or if the image generated within the imaging plane of the laser imaging device is distorted, distortion correction processing of the image generated within the imaging plane and equivalent pinhole camera model processing of the laser imaging device are required. Then, based on the actual plane and line information involved or generated by the ranging sensor during ranging operations, the built-in parameters of the ranging sensor should be calibrated and corrected to ensure the accuracy of the calibration and correction.

[0020] In summary, the calibration method for the line laser rangefinder proposed in this invention determines the intersection line between the target plane and the line laser plane of the rangefinder (i.e., the first straight line mentioned above), and based on the determined intersection line, a corresponding straight line (i.e., the second straight line mentioned above) is determined within the camera imaging plane of the rangefinder. On this basis, the built-in parameters of the laser rangefinder are calibrated and corrected according to the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder. Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and straight line information involved or generated by the rangefinder during ranging operations, calibrating and correcting the built-in parameters of the rangefinder effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product. This reduces the impact of the angular deviation on the ranging operation of the rangefinder and improves the accuracy of the rangefinder's test results for target distance information. Based on this, for physical products (such as cleaning equipment) equipped with this ranging sensor, the accuracy of subsequent work control is improved, ensuring the working effect of the physical product.

[0021] The calibration method for the line laser ranging sensor according to the present invention may further include the following additional technical features:

[0022] In the above technical solution, determining the first straight line based on the line laser plane and the target plane specifically includes: determining the line laser plane and the target plane based on the motion matrix of the line laser ranging sensor; and determining the first straight line based on the intersection of the line laser plane and the target plane.

[0023] In this technical solution, when the aforementioned line laser rangefinder is in operation, the target plane and the line laser plane of the rangefinder are determined using the motion matrix corresponding to the actual operating state of the rangefinder. Then, the intersection line between these two planes is determined and designated as the first straight line. Thus, by determining the target plane and the line laser plane of the rangefinder using the actual motion matrix of the rangefinder, and then determining the first straight line, the determined first straight line is correlated with the actual motion matrix of the rangefinder, meaning that the determined first straight line is correlated with the deflection angle of the internal structure of the rangefinder during range measurement.

[0024] Furthermore, the aforementioned built-in parameters are related to the motion state of the ranging sensor, that is, the built-in parameters are related to the motion matrix of the ranging sensor, and that is, the built-in parameters are related to the deflection angle of the internal structure of the ranging sensor when it performs ranging work.

[0025] Based on this, when performing subsequent processing through the determined first straight line to calibrate and correct the built-in parameters of the laser rangefinder, the accuracy of the calibration results is ensured. This effectively reduces the angular deviation between the actual installation position of the rangefinder in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the rangefinder's ranging operation and improving the accuracy of the rangefinder's test results for target distance information.

[0026] In any of the above technical solutions, determining the second straight line on the camera imaging plane based on the first straight line specifically includes: determining the first plane based on the first straight line and the position coordinates of the laser camera; and determining the second straight line based on the intersection of the first plane and the camera imaging plane.

[0027] In this technical solution, after determining the target plane and the laser plane of the ranging sensor using the actual motion matrix of the ranging sensor, and then determining the first straight line, the position coordinates of the laser imaging device (such as a laser camera) in the ranging sensor and the determined first straight line are used to determine the position coordinates of the laser imaging device and the plane containing the first straight line (i.e., the first plane). Specifically, the first plane is determined based on the calculation principle of generating a plane from points and lines. On this basis, the intersection line between the imaging plane of the laser imaging device and the first plane is determined, and then this intersection line is determined as the second straight line.

[0028] In this way, the second straight line is determined by the intersection of the plane containing the first straight line and the imaging plane of the laser imaging device, based on the coordinates of the laser imaging device's position, ensuring the accuracy of the second straight line determination. Furthermore, the first straight line is related to the actual motion matrix of the ranging sensor, that is, it is related to the deflection angle of the internal structure of the ranging sensor during ranging operations. This ensures that the determined second straight line is also related to the deflection angle of the internal structure of the ranging sensor during ranging operations. When subsequent processing is performed using the determined second straight line to calibrate and correct the built-in parameters of the laser ranging sensor, the accuracy of the calibration results is guaranteed. This effectively reduces the angular deviation between the actual installation position and the designed installation position of the ranging sensor in the physical product, thereby reducing the impact of this angular deviation on the ranging sensor's ranging operation and improving the accuracy of the ranging sensor's target distance information test results.

[0029] In any of the above technical solutions, the built-in parameters of the line laser rangefinder are calibrated based on the relative distance between the target plane and the laser camera and the second straight line. Specifically, this includes: determining the target slope and target position based on the second straight line; and calibrating the built-in parameters based on the correspondence between the target slope and the relative distance and the target position.

[0030] In this technical solution, after determining the second straight line by the intersection of the plane containing the first straight line and the imaging plane of the laser imaging device, using the position coordinates of the laser imaging device, the corresponding target slope and target point are determined based on the second straight line. The target slope is the slope of the second straight line, and the target point is the coordinates of a fixed point traversed by the second straight line. Furthermore, based on these fixed coordinates and the correspondence between the slope of the second straight line and the relative distance between the target plane and the laser imaging device, the built-in parameters of the laser rangefinder sensor are calibrated and corrected.

[0031] Thus, based on the slope of the second straight line, the coordinates of the fixed points traversed by the second straight line, and the correspondence between the relative distance between the target plane and the laser imaging device in the ranging sensor and the slope of the second straight line, the built-in parameters of the laser ranging sensor are calibrated and corrected. That is, based on the ranging principle of the line laser ranging sensor, the built-in parameters of the ranging sensor are calibrated and corrected according to the relevant information of the plane and straight line actually involved in the ranging operation. This ensures the accuracy of the determination of the built-in parameters, effectively reducing the angular deviation between the actual installation position of the ranging sensor in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the ranging operation of the ranging sensor and improving the accuracy of the ranging sensor's test results for target distance information. On this basis, for physical products equipped with this ranging sensor, the accuracy of subsequent operation control is improved, ensuring the working effect of the physical product.

[0032] In any of the above technical solutions, determining the target point based on the second straight line specifically includes: adjusting the relative distance value; and determining the target point based on multiple second straight lines corresponding to different relative distances.

[0033] In this technical solution, during the ranging operation of the aforementioned ranging sensor, the relative distance between the target plane and the laser imaging device of the ranging sensor is adjusted. Based on this, for any one of the adjusted relative distances, the intersection line between the laser plane and the target plane at that current relative distance, i.e., the aforementioned first straight line, is determined. Then, based on the obtained first straight line, a corresponding second straight line is determined, thus obtaining multiple second straight lines at different relative distances. Based on this, and using mathematical theorems related to straight lines, the coordinates of the fixed points traversed by the multiple second straight lines are determined, i.e., the target point locations are determined.

[0034] In this way, by determining the target point using multiple second straight lines, the randomness of target point determination is avoided, thus ensuring the accuracy of the target point determination. Based on this, when performing subsequent processing using the determined target point to calibrate and correct the built-in parameters of the laser rangefinder, the accuracy of the calibration results is guaranteed. This effectively reduces the angular deviation between the actual installation position of the rangefinder in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the rangefinder's ranging operation and improving the accuracy of the rangefinder's test results for target distance information.

[0035] In any of the above technical solutions, after adjusting the relative distance values, the calibration method further includes: determining multiple target slopes based on multiple second lines corresponding to multiple relative distances; and determining the correspondence between target slopes and relative distances based on multiple relative distances and multiple target slopes.

[0036] In this technical solution, after adjusting the relative distance between the target plane and the laser imaging device of the ranging sensor through relative motion, for any one of the adjusted relative distances, the intersection line of the laser plane and the target plane at the current relative distance, i.e., the aforementioned first straight line, is determined. Then, a corresponding second straight line is determined based on the obtained first straight line. Furthermore, the slope of each second straight line is determined; that is, for each second straight line, a corresponding target probability is determined, thus obtaining multiple target probabilities. Based on this, mathematical algorithms such as statistical algorithms, inductive algorithms, and regression algorithms are used to analyze and process the obtained multiple target slopes and multiple relative distances, thereby determining the correspondence between the aforementioned relative distances and target slopes.

[0037] In this way, by statistically analyzing multiple target slopes and multiple relative distances, the correspondence between the relative distances and target slopes is determined, ensuring the accuracy of the determined correspondence. Based on this, subsequent processing using the determined correspondence to calibrate and correct the built-in parameters of the laser rangefinder ensures the accuracy of the calibration results. This effectively reduces the angular deviation between the actual installation position of the rangefinder in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the rangefinder's ranging operation and improving the accuracy of the rangefinder's test results for target distance information.

[0038] In any of the above technical solutions, the corresponding relationship is: the reciprocal of the target slope is directly proportional to the relative distance.

[0039] In this technical solution, the relative distance between the target plane and the laser imaging device of the ranging sensor is directly proportional to the reciprocal of the slope of the second straight line (i.e., the target slope). That is, the relative distance between the target plane and the laser imaging device of the ranging sensor is inversely proportional to the slope of the second straight line (i.e., the target slope).

[0040] Specifically, the relationship between the relative distance and the target slope can be expressed by the following formula:

[0041] or

[0042] Where k is the target slope, d is the relative distance, and k0 and b0 are constant coefficients.

[0043] Furthermore, regarding the calibration method proposed in this invention, when defining the internal parameters of the line laser rangefinder sensor, the specific calculation method and process can be implemented using world coordinate systems, camera coordinate systems, pixel coordinate systems, etc. The world coordinate system, also known as the measurement coordinate system, is a three-dimensional Cartesian coordinate system. It serves as a reference to describe the spatial position of the camera and the object being measured. The position of the world coordinate system can be freely determined according to the actual situation. The camera coordinate system is also a three-dimensional Cartesian coordinate system, with its origin located at the optical center of the lens. The x and y axes are parallel to the two sides of the image plane, and the z-axis is the lens optical axis, perpendicular to the image plane. The pixel coordinate system is a two-dimensional Cartesian coordinate system that reflects the pixel arrangement in the camera's CCD (Charge-coupled Device) / CMOS (Complementary Metal Oxide Semiconductor) chip. Its origin is located at the upper left corner of the image, and the x and y axes are parallel to the two sides of the image plane. The unit of the coordinate axes in the pixel coordinate system is the pixel.

[0044] In practical applications, the specific implementation method for parameter calibration can be selected according to the actual situation, and no specific restrictions are imposed here.

[0045] According to a second aspect of the present invention, a calibration device for a line laser ranging sensor is provided, comprising: a processing unit for determining a first straight line based on a line laser plane and a target plane; the processing unit further for determining a second straight line on a camera imaging plane based on the first straight line; and the processing unit further for calibrating built-in parameters of the line laser ranging sensor based on the relative distance between the target plane and the laser camera and the second straight line; wherein the first straight line and the second straight line correspond to each other.

[0046] The calibration device for a line laser rangefinder provided by this invention is used to calibrate and correct the built-in parameters of the line laser rangefinder. These built-in parameters are related to the motion state of the rangefinder, specifically its motion matrix, and also to the deflection angle of its internal structure during rangefinder operation. Based on this, when correcting the built-in parameters of the rangefinder using the above calibration method, the deflection angle of the internal structure during rangefinder operation can be corrected.

[0047] It is understandable that when the aforementioned line laser rangefinder sensor is applied to physical products (such as cleaning components and equipment with obstacle recognition capabilities), there is often an angular deviation between the actual installation position of the rangefinder sensor in the physical product and its designed installation position during the product design process. This angular deviation affects the rangefinder sensor's ranging operation, resulting in less accurate test results for target distance information, thus reducing the accuracy of the rangefinder sensor's ranging function. Consequently, for physical products equipped with the aforementioned rangefinder sensor, such as cleaning equipment, this reduces the accuracy of subsequent operation control of the cleaning equipment, thereby reducing the cleaning effect.

[0048] Therefore, in the calibration device proposed in this invention, when the line laser rangefinder is in operation, the processing unit determines the intersection line (i.e., the first straight line) between the target plane and the line laser plane of the rangefinder. Based on this, the processing unit then determines a corresponding straight line (i.e., the second straight line) within the camera imaging plane of the rangefinder according to the determined intersection line between the target plane and the line laser plane. Furthermore, the processing unit calibrates and corrects the built-in parameters of the laser rangefinder based on the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder.

[0049] Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and line information involved or generated by the rangefinder during ranging operations, the built-in parameters of the rangefinder are calibrated and corrected. This means correcting the deflection angle of the internal structure of the rangefinder during ranging operations. This effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product, thereby reducing the impact of this angular deviation on the ranging operation and improving the accuracy of the rangefinder's test results for target distance information. In other words, it improves the accuracy of the ranging operation. Based on this, for physical products (such as cleaning equipment) equipped with this rangefinder, the accuracy of subsequent operation control is improved, ensuring the working effect of the physical product.

[0050] The target plane mentioned above is the laser reflection plane of the ranging sensor when it performs laser ranging.

[0051] Furthermore, the second straight line corresponds to the first straight line. Specifically, the first straight line is a straight line formed by the laser emitted by the laser emitting device of the ranging sensor into the target plane, and the second straight line is a straight line generated on the imaging plane of the laser imaging device of the ranging sensor after the laser pulse corresponding to the first straight line is reflected.

[0052] In summary, in the calibration device for the line laser rangefinder proposed in this invention, the processing unit determines the intersection line (i.e., the first straight line) between the target plane and the line laser plane of the rangefinder. Based on the determined intersection line, a corresponding straight line (i.e., the second straight line) is determined within the camera imaging plane of the rangefinder. On this basis, the processing unit calibrates and corrects the built-in parameters of the laser rangefinder based on the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder. Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and straight line information involved or generated by the rangefinder during ranging operations, the calibration and correction of the built-in parameters of the rangefinder effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product. This reduces the impact of the angular deviation on the ranging operation of the rangefinder and improves the accuracy of the rangefinder's test results for target distance information. Based on this, for physical products (such as cleaning equipment) equipped with this ranging sensor, the accuracy of subsequent work control is improved, ensuring the working effect of the physical product.

[0053] According to a third aspect of the present invention, a line laser ranging sensor is provided, comprising: a memory storing a program or instructions; and a processor, which, when executing the program or instructions, implements the steps of the calibration method for the line laser ranging sensor as described in any of the above-described technical solutions. Therefore, the line laser ranging sensor proposed in the third aspect of the present invention possesses all the beneficial effects of the calibration method for the line laser ranging sensor in any of the technical solutions of the first aspect described above, and will not be elaborated further here.

[0054] According to a fourth aspect of the present invention, a line laser ranging sensor is provided, comprising: a calibration device for the line laser ranging sensor described above.

[0055] The line laser ranging sensor proposed in the fourth aspect of the present invention includes the calibration device for the line laser ranging sensor in the second aspect of the above-mentioned technical solution. Therefore, it has all the beneficial effects of the calibration device for the line laser ranging sensor in the second aspect of the above-mentioned technical solution, which will not be repeated here.

[0056] The line laser ranging sensor according to the present invention may also have the following additional technical features:

[0057] In the above technical solution, the line laser ranging sensor further includes: a laser emitting device for emitting a line laser towards the target plane for laser ranging; and a laser imaging device for receiving the line laser reflected from the target plane and imaging the target plane based on the line laser.

[0058] In this technical solution, the line laser rangefinder also includes a laser emitting device and a laser imaging device. Specifically, when the laser rangefinder performs range measurement, it first emits a laser pulse towards the target (i.e., the aforementioned target plane) through its laser emitting device. The laser pulse is then reflected by the target plane, and part of the reflected laser returns to the rangefinder's laser imaging device (such as a laser camera), thereby generating a corresponding image on the imaging plane of the laser imaging device. Based on this, the target distance can be determined according to the difference between the laser emission time and the image generation time.

[0059] According to a fifth aspect of the present invention, a cleaning component is provided, comprising: a line laser ranging sensor as described in any of the above-described technical solutions.

[0060] The cleaning component proposed in the fifth aspect of this invention includes the line laser ranging sensor of the third aspect or the line laser ranging sensor of the fourth aspect. Therefore, the cleaning component proposed in the fifth aspect of this invention possesses all the beneficial effects of the line laser ranging sensor of the third aspect, or all the beneficial effects of the line laser ranging sensor of the fourth aspect, which will not be elaborated further here.

[0061] According to a sixth aspect of the present invention, a cleaning device is provided, comprising the cleaning components described in the fifth aspect of the technical solution. Therefore, the cleaning device proposed in the sixth aspect of the present invention possesses all the beneficial effects of the cleaning components described in the fifth aspect of the technical solution, which will not be elaborated further here.

[0062] Furthermore, the aforementioned cleaning equipment also includes a power supply component for supplying power to the cleaning components.

[0063] The cleaning device provided by this invention also includes a power supply component for supplying power to the cleaning component to ensure its normal operation. During operation, the power supply component can be installed in a fixed location within the house. The cleaning component can be connected to the power supply component. When the cleaning component performs a cleaning task, it separates from the power supply component and performs cleaning work according to the cleaning instructions. After cleaning is completed, the cleaning component returns to the power supply component and is recharged to ensure the smooth execution of the next cleaning task.

[0064] According to a seventh aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, implement the calibration method for a line laser ranging sensor as described in any of the above-described technical solutions. Therefore, the readable storage medium proposed in the sixth aspect of the present invention possesses all the beneficial effects of the calibration method for a line laser ranging sensor in any of the technical solutions of the first aspect described above, and will not be elaborated further here.

[0065] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0066] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0067] Figure 1 One of the flowcharts of the calibration method for a line laser ranging sensor according to an embodiment of the present invention is shown;

[0068] Figure 2 The second schematic flowchart of the calibration method for the line laser ranging sensor according to an embodiment of the present invention is shown.

[0069] Figure 3 The third schematic flowchart illustrates the calibration method for a line laser ranging sensor according to an embodiment of the present invention.

[0070] Figure 4 The fourth schematic flowchart illustrates the calibration method for a line laser ranging sensor according to an embodiment of the present invention.

[0071] Figure 5 The fifth schematic flowchart illustrates the calibration method for a line laser ranging sensor according to an embodiment of the present invention.

[0072] Figure 6 This is the sixth schematic flowchart illustrating the calibration method for a line laser ranging sensor according to an embodiment of the present invention;

[0073] Figure 7 One of the schematic diagrams of the calibration method for a line laser ranging sensor according to an embodiment of the present invention is shown;

[0074] Figure 8 The second schematic diagram illustrates the calibration method of the line laser ranging sensor according to an embodiment of the present invention.

[0075] Figure 9 A structural block diagram of a calibration device for a line laser ranging sensor according to an embodiment of the present invention is shown;

[0076] Figure 10This shows one of the structural block diagrams of a line laser ranging sensor according to an embodiment of the present invention;

[0077] Figure 11 A second structural block diagram of the line laser ranging sensor according to an embodiment of the present invention is shown;

[0078] Figure 12 One of the structural block diagrams of the cleaning component according to an embodiment of the present invention is shown;

[0079] Figure 13 A second structural block diagram of the cleaning component according to an embodiment of the present invention is shown;

[0080] Figure 14 One of the structural block diagrams of the cleaning device according to an embodiment of the present invention is shown;

[0081] Figure 15 A second structural block diagram of the cleaning device according to an embodiment of the present invention is shown.

[0082] in, Figure 7 and Figure 8 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0083] 702 Laser camera, 704 Laser emitter, 706 Finished circuit board (PCBA), 708 Line laser plane, 710 Target plane, 712 First straight line, 802 Cleaning equipment, 804 Baffle, 806 Line laser plane. Detailed Implementation

[0084] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0085] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0086] The following is combined Figures 1 to 15 The present application provides a detailed description of the line laser ranging sensor, calibration method and apparatus, cleaning components and equipment provided in the embodiments of this application through specific implementations and application scenarios.

[0087] Example 1, Figure 1 A schematic flowchart of a calibration method for a line laser ranging sensor according to an embodiment of the present invention is shown. The calibration method includes the following steps S102 to S106:

[0088] Step S102: Determine the first straight line based on the line laser plane and the target plane;

[0089] Step S104: Determine the second straight line on the camera imaging plane based on the first straight line;

[0090] Step S106: Based on the relative distance between the target plane and the laser camera and the second straight line, calibrate the built-in parameters of the line laser rangefinder sensor;

[0091] The first straight line corresponds to the second straight line.

[0092] The calibration method for a line laser rangefinder sensor provided by this invention can be implemented by a calibration device for the line laser rangefinder sensor, or it can be determined according to actual usage requirements, and no specific limitation is made here. To more clearly describe the calibration method for a line laser rangefinder sensor provided by this invention, the following description will focus on the calibration device for the line laser rangefinder sensor as the implementing entity.

[0093] The calibration method for a line laser rangefinder provided by this invention is used to calibrate and correct the built-in parameters of the line laser rangefinder. These built-in parameters are related to the motion state of the rangefinder, specifically its motion matrix, and also to the deflection angle of its internal structure during rangefinder operation. Based on this, when correcting the built-in parameters of the rangefinder using the above calibration method, the deflection angle of its internal structure during rangefinder operation can be corrected.

[0094] It is understandable that when the aforementioned line laser rangefinder sensor is applied to physical products (such as cleaning components and equipment with obstacle recognition capabilities), there is often an angular deviation between the actual installation position of the rangefinder sensor in the physical product and its designed installation position during the product design process. This angular deviation affects the rangefinder sensor's ranging operation, resulting in less accurate test results for target distance information, thus reducing the accuracy of the rangefinder sensor's ranging function. Consequently, for physical products equipped with the aforementioned rangefinder sensor, such as cleaning equipment, this reduces the accuracy of subsequent operation control of the cleaning equipment, thereby reducing the cleaning effect.

[0095] Therefore, in the calibration method proposed in this invention, when the line laser rangefinder is in operation, the intersection line between the target plane and the line laser plane of the rangefinder (i.e., the first straight line) is determined. Based on this, a corresponding straight line (i.e., the second straight line) is determined within the camera imaging plane of the rangefinder according to the determined intersection line between the target plane and the line laser plane. Then, based on the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder, the built-in parameters of the laser rangefinder are calibrated and corrected.

[0096] Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and line information involved or generated by the rangefinder during ranging operations, the built-in parameters of the rangefinder are calibrated and corrected. This means correcting the deflection angle of the internal structure of the rangefinder during ranging operations. This effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product, thereby reducing the impact of this angular deviation on the ranging operation and improving the accuracy of the rangefinder's test results for target distance information. In other words, it improves the accuracy of the ranging operation. Based on this, for physical products (such as cleaning equipment) equipped with this rangefinder, the accuracy of subsequent operation control is improved, ensuring the working effect of the physical product.

[0097] The target plane mentioned above is the laser reflection plane of the rangefinder sensor during laser ranging. Based on the ranging principle of a line laser rangefinder sensor, when performing ranging, the sensor first emits a laser pulse towards the target (i.e., the target plane). The laser pulse is then reflected by the target plane, with a portion of the reflected laser returning to the rangefinder sensor's laser imaging device (such as a laser camera). An image is then generated on the imaging plane of this laser imaging device. Based on this, the target distance can be determined by the difference between the laser emission time and the image generation time.

[0098] Furthermore, the second straight line corresponds to the first straight line. Specifically, the first straight line is a straight line formed by the laser emitted by the laser emitting device of the ranging sensor into the target plane, and the second straight line is a straight line generated on the imaging plane of the laser imaging device of the ranging sensor after the laser pulse corresponding to the first straight line is reflected.

[0099] It should be noted that, to ensure the correspondence between the second straight line and the first straight line, the laser imaging device of the ranging sensor should conform to the pinhole camera model, meaning that the image generated within the imaging plane of the laser imaging device should not be distorted. However, if the laser imaging device does not conform to the pinhole camera model (e.g., a fisheye model), or if the image generated within the imaging plane of the laser imaging device is distorted, distortion correction processing of the image generated within the imaging plane and equivalent pinhole camera model processing of the laser imaging device are required. Then, based on the actual plane and line information involved or generated by the ranging sensor during ranging operations, the built-in parameters of the ranging sensor should be calibrated and corrected to ensure the accuracy of the calibration and correction.

[0100] Specifically, such as Figure 7 As shown, the aforementioned line laser rangefinder consists of a laser camera 702, a laser emitter 704, and a PCBA (Printed Circuit Board Assembly) 706. During the laser ranging operation of this rangefinder, the laser emitter 704 emits a line laser towards the target plane 710. The intersection of the line laser plane 708 and the target plane 710 is the first straight line 712. Based on this, the first straight line 712 is reflected by the target plane 710 and received by the laser camera 702, thereby generating a corresponding second straight line within the imaging plane of the laser camera 702.

[0101] In summary, the calibration method for the line laser rangefinder proposed in this invention determines the intersection line between the target plane and the line laser plane of the rangefinder (i.e., the first straight line mentioned above), and based on the determined intersection line, a corresponding straight line (i.e., the second straight line mentioned above) is determined within the camera imaging plane of the rangefinder. On this basis, the built-in parameters of the laser rangefinder are calibrated and corrected according to the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder. Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and straight line information involved or generated by the rangefinder during ranging operations, calibrating and correcting the built-in parameters of the rangefinder effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product. This reduces the impact of the angular deviation on the ranging operation of the rangefinder and improves the accuracy of the rangefinder's test results for target distance information. Based on this, for physical products (such as cleaning equipment) equipped with this ranging sensor, the accuracy of subsequent work control is improved, ensuring the working effect of the physical product.

[0102] Example 2, Figure 2 A second schematic flowchart of a calibration method for a line laser ranging sensor according to an embodiment of the present invention is shown. The calibration method includes the following steps S202 to S208:

[0103] Step S202: Determine the target plane and the line laser plane based on the motion matrix of the line laser ranging sensor;

[0104] Step S204: Determine the first straight line based on the intersection of the target plane and the line laser plane;

[0105] Step S206: Determine the second straight line on the camera imaging plane based on the first straight line;

[0106] Step S208: Based on the second straight line and the relative distance between the laser camera and the target plane, calibrate the built-in parameters of the line laser rangefinder.

[0107] The second line corresponds to the first line.

[0108] In this embodiment, the specific method for determining the first straight line using the target plane and the linear laser plane of the ranging sensor is defined. Specifically, when the linear laser ranging sensor is in operation, the target plane and the linear laser plane of the ranging sensor are determined using the motion matrix corresponding to the actual operating state of the ranging sensor. Then, the intersection line between these two planes is determined, and this intersection line is defined as the first straight line. Thus, by determining the target plane and the linear laser plane of the ranging sensor using the actual motion matrix of the ranging sensor, and then determining the first straight line, the determined first straight line is related to the actual motion matrix of the ranging sensor, which means that the determined first straight line is related to the deflection angle of the internal structure of the ranging sensor during ranging operations.

[0109] Furthermore, the aforementioned built-in parameters are related to the motion state of the ranging sensor, that is, the built-in parameters are related to the motion matrix of the ranging sensor, and that is, the built-in parameters are related to the deflection angle of the internal structure of the ranging sensor when it performs ranging work.

[0110] Based on this, when performing subsequent processing through the determined first straight line to calibrate and correct the built-in parameters of the laser rangefinder, the accuracy of the calibration results is ensured. This effectively reduces the angular deviation between the actual installation position of the rangefinder in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the rangefinder's ranging operation and improving the accuracy of the rangefinder's test results for target distance information.

[0111] Example 3, Figure 3 This is a third schematic flowchart illustrating the calibration method for a line laser ranging sensor according to an embodiment of the present invention. In this embodiment, the line laser ranging sensor is equipped with an inlet valve and an outlet valve, and the calibration method includes the following steps S302 to S308:

[0112] Step S302: Determine the first straight line based on the target plane and the line laser plane;

[0113] Step S304: Determine the first plane based on the position coordinates of the laser camera and the first straight line;

[0114] Step S306: Determine the second straight line based on the intersection of the camera imaging plane and the first plane;

[0115] Step S308: Based on the second straight line and the relative distance between the laser camera and the target plane, calibrate the built-in parameters of the line laser rangefinder.

[0116] The second line corresponds to the first line.

[0117] In this embodiment, the specific method for determining the second straight line within the camera imaging plane of the ranging sensor using the first straight line is defined. Specifically, after determining the target plane and the laser plane of the ranging sensor using the actual motion matrix of the ranging sensor, and then determining the first straight line, the position coordinates of the laser imaging device (such as a laser camera) in the ranging sensor and the determined first straight line are used to determine the position coordinates of the laser imaging device and the plane containing the first straight line (i.e., the first plane). Specifically, the first plane is determined based on the calculation principle of generating a plane from points and lines. On this basis, the intersection line between the imaging plane of the laser imaging device and the first plane is determined, and this intersection line is then determined as the second straight line.

[0118] In this way, the second straight line is determined by the intersection of the plane containing the first straight line and the imaging plane of the laser imaging device, based on the coordinates of the laser imaging device's position, ensuring the accuracy of the second straight line determination. Furthermore, the first straight line is related to the actual motion matrix of the ranging sensor, that is, it is related to the deflection angle of the internal structure of the ranging sensor during ranging operations. This ensures that the determined second straight line is also related to the deflection angle of the internal structure of the ranging sensor during ranging operations. When subsequent processing is performed using the determined second straight line to calibrate and correct the built-in parameters of the laser ranging sensor, the accuracy of the calibration results is guaranteed. This effectively reduces the angular deviation between the actual installation position and the designed installation position of the ranging sensor in the physical product, thereby reducing the impact of this angular deviation on the ranging sensor's ranging operation and improving the accuracy of the ranging sensor's target distance information test results.

[0119] Specifically, such as Figure 7 As shown, the aforementioned line laser ranging sensor comprises a laser camera 702, a laser emitter 704, and a PCBA 706. During the laser ranging operation of this ranging sensor, the laser emitter 704 emits a line laser towards the target plane 710. At this time, the intersection of the line laser plane 708 and the target plane 710 is the aforementioned first straight line 712. Based on this, the same plane (i.e., the first plane) containing the center point of the first straight line 712 and the laser camera 702 is determined. Then, the intersection line of the first plane and the imaging plane of the laser camera 702 is determined, and this intersection line is the aforementioned second straight line.

[0120] Example 4, Figure 4 This is shown as a fourth schematic flowchart of a calibration method for a line laser ranging sensor according to an embodiment of the present invention. The calibration method includes the following steps S402 to S408:

[0121] Step S402: Determine the first straight line based on the target plane and the line laser plane;

[0122] Step S404: Determine the second straight line on the camera imaging plane based on the first straight line;

[0123] Step S406: Determine the target slope and target point position based on the second straight line;

[0124] Step S408: Based on the target point location and the correspondence between the relative distance and the target slope, calibrate the built-in parameters;

[0125] The second line corresponds to the first line.

[0126] In this embodiment, the specific method for calibrating and correcting the built-in parameters of the laser ranging sensor based on the relevant straight-line parameters passing through the second straight line and the relative distance between the target plane and the laser imaging device in the ranging sensor is defined. Specifically, after determining the second straight line by the intersection of the plane containing the first straight line and the imaging plane of the laser imaging device, the corresponding target slope and target point are determined based on the second straight line. Here, the target slope is the slope of the second straight line, and the target point is the coordinate of a fixed point traversed by the second straight line. Based on this, the built-in parameters of the laser ranging sensor are calibrated and corrected according to the fixed-point coordinates and the correspondence between the slope of the second straight line and the relative distance between the target plane and the laser imaging device.

[0127] Thus, based on the slope of the second straight line, the coordinates of the fixed points traversed by the second straight line, and the correspondence between the relative distance between the target plane and the laser imaging device in the ranging sensor and the slope of the second straight line, the built-in parameters of the laser ranging sensor are calibrated and corrected. That is, based on the ranging principle of the line laser ranging sensor, the built-in parameters of the ranging sensor are calibrated and corrected according to the relevant information of the plane and straight line actually involved in the ranging operation. This ensures the accuracy of the determination of the built-in parameters, effectively reducing the angular deviation between the actual installation position of the ranging sensor in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the ranging operation of the ranging sensor and improving the accuracy of the ranging sensor's test results for target distance information. On this basis, for physical products equipped with this ranging sensor, the accuracy of subsequent operation control is improved, ensuring the working effect of the physical product.

[0128] Example 5, Figure 5 Fifth of the flowcharts illustrates a calibration method for a line laser rangefinder sensor according to an embodiment of the present invention. In this embodiment, the operating temperature includes the ambient temperature of the line laser rangefinder sensor, and the calibration method includes the following steps S502 to S508:

[0129] Step S502: Determine the first straight line based on the target plane and the line laser plane;

[0130] Step S504: Determine the second straight line on the camera imaging plane based on the first straight line;

[0131] Step S506: Adjust the relative distance values, and determine the target point based on the multiple second lines corresponding to the adjusted relative distances;

[0132] Step S508: Based on the target point location and the correspondence between the relative distance and the target slope of the second straight line, calibrate the built-in parameters;

[0133] The second line corresponds to the first line.

[0134] In this embodiment, the specific method for determining the coordinates of the fixed points traversed by the second straight line is defined. Specifically, during the ranging operation of the ranging sensor, the relative distance between the target plane and the laser imaging device of the ranging sensor is adjusted. Based on this, for any one of the adjusted relative distances, the intersection line of the laser plane and the target plane at the current relative distance, i.e., the first straight line, is determined. Then, based on the obtained first straight line, the corresponding second straight line is determined, thereby obtaining multiple second straight lines at different relative distances. Based on this, according to mathematical theorems related to straight lines, the coordinates of the fixed points traversed by the multiple second straight lines are determined, i.e., the target point is determined.

[0135] In this way, by determining the target point using multiple second straight lines, the randomness of target point determination is avoided, thus ensuring the accuracy of the target point determination. Based on this, when performing subsequent processing using the determined target point to calibrate and correct the built-in parameters of the laser rangefinder, the accuracy of the calibration results is guaranteed. This effectively reduces the angular deviation between the actual installation position of the rangefinder in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the rangefinder's ranging operation and improving the accuracy of the rangefinder's test results for target distance information.

[0136] When adjusting the relative distance between the target plane and the laser imaging device of the ranging sensor, this adjustment can be achieved through relative movement between the target plane and the laser imaging device. Specifically, the position of the ranging sensor (i.e., the position of the laser imaging device) can be kept constant, while the target plane is moved relative to the ranging sensor to increase or decrease the relative distance between them. Alternatively, the position of the target plane can be kept constant, while the ranging sensor is moved relative to the target plane to increase or decrease the relative distance between them.

[0137] For example, Figure 8 A top view is shown of the cleaning device 802, equipped with the aforementioned line laser rangefinder sensor, during the calibration of its built-in parameters. Figure 8As shown, with the aforementioned line laser rangefinder sensor mounted on the cleaning device 802, a target plane is formed by setting a baffle 804. Based on this, while keeping the position of the cleaning device 802 unchanged, the baffle 804 is moved away from the cleaning device 802 to gradually increase the relative distance between the target plane and the laser imaging device of the rangefinder sensor. During the movement of the baffle 804, as... Figure 8 As shown, the line intersection line (i.e. the first straight line mentioned above) between the line laser plane 806 of the line laser ranging sensor and the baffle 804, i.e. the target plane, also changes accordingly. Thus, the second straight line obtained by subsequent processing of the first straight line is asynchronously the same.

[0138] In practical applications, the relative motion between the target plane and the laser imaging device of the ranging sensor includes, but is not limited to, the following motion modes: relative rotational motion, relative linear motion, and relative oblique linear movement. Users can choose the appropriate relative motion mode between the target plane and the ranging sensor based on the actual situation; no specific restrictions are imposed here. Based on this, the details of the aforementioned built-in calibration parameters are adjusted accordingly according to the specific motion mode to achieve accurate parameter calibration for different motion modes.

[0139] In addition, it should be noted that, in order to ensure the accuracy of the determination of the above target points, at least two different relative distances should be obtained when adjusting the above relative distances, so as to determine different second straight lines based on different relative distances, and then determine the above target points based on different second straight lines.

[0140] Example 6, Figure 6 This is a sixth schematic flowchart illustrating a calibration method for a line laser ranging sensor according to an embodiment of the present invention. The calibration method includes the following steps S602 to S610:

[0141] Step S602: Determine the first straight line based on the target plane and the line laser plane;

[0142] Step S604: Determine the second straight line on the camera imaging plane based on the first straight line;

[0143] Step S606: Adjust the relative distance values, and determine the target points and multiple target slopes based on the multiple second lines corresponding to the adjusted relative distances.

[0144] Step S608: Determine the correspondence between relative distance and target slope based on multiple target slopes and corresponding relative distances;

[0145] Step S610: Calibrate the built-in parameters according to the target point location and the corresponding relationship;

[0146] The second line corresponds to the first line.

[0147] In this embodiment, after adjusting the relative distance between the target plane and the laser imaging device of the ranging sensor through relative motion, for any one of the adjusted relative distances, the intersection line of the laser plane and the target plane at the current relative distance, i.e., the aforementioned first straight line, is determined. Then, a corresponding second straight line is determined based on the obtained first straight line. Furthermore, the slope of each second straight line is determined; that is, for each second straight line, a corresponding target probability is determined, thus obtaining multiple target probabilities. Based on this, mathematical algorithms such as statistical algorithms, inductive algorithms, and regression algorithms are used to analyze and process the obtained multiple target slopes and multiple relative distances, thereby determining the correspondence between the aforementioned relative distances and target slopes.

[0148] In this way, by statistically analyzing multiple target slopes and multiple relative distances, the correspondence between the relative distances and target slopes is determined, ensuring the accuracy of the determined correspondence. Based on this, subsequent processing using the determined correspondence to calibrate and correct the built-in parameters of the laser rangefinder ensures the accuracy of the calibration results. This effectively reduces the angular deviation between the actual installation position of the rangefinder in the physical product and its designed installation position, thereby reducing the impact of this angular deviation on the rangefinder's ranging operation and improving the accuracy of the rangefinder's test results for target distance information.

[0149] It should be noted that, in order to ensure the accuracy of the correspondence between the target slope and the relative distance, a certain number of the target slope and the relative distance should be provided to ensure the credibility of the results of statistical analysis of multiple target slopes and multiple relative distances.

[0150] Furthermore, the relative distance between the target plane and the laser imaging device of the ranging sensor is directly proportional to the reciprocal of the slope of the second straight line (i.e., the target slope). That is, the relative distance between the target plane and the laser imaging device of the ranging sensor is inversely proportional to the slope of the second straight line (i.e., the target slope).

[0151] Specifically, the relationship between the relative distance and the target slope can be expressed by the following formula:

[0152] or

[0153] Where k is the target slope, d is the relative distance, and k0 and b0 are constant coefficients.

[0154] Furthermore, regarding the calibration method proposed in this invention, when limiting the internal parameters of the line laser rangefinder sensor, the specific calculation method and process can be implemented using world coordinate systems, camera coordinate systems, pixel coordinate systems, etc. The world coordinate system, also known as the measurement coordinate system, is a three-dimensional Cartesian coordinate system. It serves as a reference to describe the spatial position of the camera and the object being measured. The position of the world coordinate system can be freely determined according to the actual situation. The camera coordinate system is also a three-dimensional Cartesian coordinate system, with its origin located at the optical center of the lens. The x and y axes are parallel to the two sides of the image plane, and the z-axis is the lens optical axis, perpendicular to the image plane. The pixel coordinate system is a two-dimensional Cartesian coordinate system that reflects the arrangement of pixels in the camera's CCD / CMOS chip. Its origin is located at the upper left corner of the image, and the x and y axes are parallel to the two sides of the image plane. The unit of the coordinate axes in the pixel coordinate system is the pixel.

[0155] In practical applications, the specific implementation method for parameter calibration can be selected according to the actual situation, and no specific restrictions are imposed here.

[0156] Example 7, Figure 9 A structural block diagram of a calibration device 900 for a line laser rangefinder sensor according to an embodiment of the present invention is shown. The calibration device 900 includes a processing unit 902.

[0157] Processing unit 902 is used to determine a first straight line based on the line laser plane and the target plane;

[0158] The processing unit 902 is also configured to determine a second straight line on the camera imaging plane based on the first straight line;

[0159] The processing unit 902 is also used to calibrate the built-in parameters of the line laser rangefinder sensor based on the relative distance between the target plane and the laser camera and the second straight line;

[0160] The first straight line corresponds to the second straight line.

[0161] The calibration device 900 for a line laser rangefinder sensor provided by this invention is used to calibrate and correct the built-in parameters of the line laser rangefinder sensor. These built-in parameters are related to the motion state of the rangefinder sensor, specifically its motion matrix, and also to the deflection angle of its internal structure during rangefinder operation. Based on this, when correcting the built-in parameters of the rangefinder sensor using the above calibration method, the deflection angle of its internal structure during rangefinder operation can be corrected.

[0162] It is understandable that when the aforementioned line laser rangefinder sensor is applied to physical products (such as cleaning components and equipment with obstacle recognition capabilities), there is often an angular deviation between the actual installation position of the rangefinder sensor in the physical product and its designed installation position during the product design process. This angular deviation affects the rangefinder sensor's ranging operation, resulting in less accurate test results for target distance information, thus reducing the accuracy of the rangefinder sensor's ranging function. Consequently, for physical products equipped with the aforementioned rangefinder sensor, such as cleaning equipment, this reduces the accuracy of subsequent operation control of the cleaning equipment, thereby reducing the cleaning effect.

[0163] Therefore, the calibration device 900 for a line laser rangefinder provided in this embodiment of the invention includes a processing unit 902. When the line laser rangefinder is in operation, the processing unit 902 determines the intersection line (i.e., the first straight line) between the target plane and the line laser plane of the rangefinder. Based on this, the processing unit 902 determines a corresponding straight line (i.e., the second straight line) within the camera imaging plane of the rangefinder according to the determined intersection line between the target plane and the line laser plane. Then, the processing unit 902 calibrates and corrects the built-in parameters of the laser rangefinder based on the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder.

[0164] Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and line information involved or generated by the rangefinder during ranging operations, the built-in parameters of the rangefinder are calibrated and corrected. This means correcting the deflection angle of the internal structure of the rangefinder during ranging operations. This effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product, thereby reducing the impact of this angular deviation on the ranging operation and improving the accuracy of the rangefinder's test results for target distance information. In other words, it improves the accuracy of the ranging operation. Based on this, for physical products (such as cleaning equipment) equipped with this rangefinder, the accuracy of subsequent operation control is improved, ensuring the working effect of the physical product.

[0165] The target plane mentioned above is the laser reflection plane of the rangefinder sensor during laser ranging. Based on the ranging principle of a line laser rangefinder sensor, when performing ranging, the sensor first emits a laser pulse towards the target (i.e., the target plane). The laser pulse is then reflected by the target plane, with a portion of the reflected laser returning to the rangefinder sensor's laser imaging device (such as a laser camera). An image is then generated on the imaging plane of this laser imaging device. Based on this, the target distance can be determined by the difference between the laser emission time and the image generation time.

[0166] Furthermore, the second straight line corresponds to the first straight line. Specifically, the first straight line is a straight line formed by the laser emitted by the laser emitting device of the ranging sensor into the target plane, and the second straight line is a straight line generated on the imaging plane of the laser imaging device of the ranging sensor after the laser pulse corresponding to the first straight line is reflected.

[0167] It should be noted that, to ensure the correspondence between the second straight line and the first straight line, the laser imaging device of the ranging sensor should conform to the pinhole camera model, meaning that the image generated within the imaging plane of the laser imaging device should not be distorted. However, if the laser imaging device does not conform to the pinhole camera model (e.g., a fisheye model), or if the image generated within the imaging plane of the laser imaging device is distorted, distortion correction processing of the image generated within the imaging plane and equivalent pinhole camera model processing of the laser imaging device are required. Then, based on the actual plane and line information involved or generated by the ranging sensor during ranging operations, the built-in parameters of the ranging sensor should be calibrated and corrected to ensure the accuracy of the calibration and correction.

[0168] Specifically, such as Figure 7 As shown, the aforementioned line laser rangefinder consists of a laser camera 702, a laser emitter 704, and a PCBA (Printed Circuit Board Assembly) 706. During the laser ranging operation of this rangefinder, the laser emitter 704 emits a line laser towards the target plane 710. The intersection of the line laser plane 708 and the target plane 710 is the first straight line 712. Based on this, the first straight line 712 is reflected by the target plane 710 and received by the laser camera 702, thereby generating a corresponding second straight line within the imaging plane of the laser camera 702.

[0169] In summary, in the calibration device 900 for the line laser rangefinder proposed in this invention, the processing unit 902 determines the intersection line (i.e., the first straight line) between the target plane and the line laser plane of the rangefinder. Based on the determined intersection line, a corresponding straight line (i.e., the second straight line) is determined within the camera imaging plane of the rangefinder. On this basis, the processing unit 902 calibrates and corrects the built-in parameters of the laser rangefinder based on the relevant straight line parameters of the second straight line and the relative distance between the target plane and the laser camera in the rangefinder. Thus, based on the ranging principle of the line laser rangefinder, and according to the actual plane and straight line information involved or generated by the rangefinder during ranging operations, the calibration and correction of the built-in parameters of the rangefinder effectively reduces the angular deviation between the actual installation position and the designed installation position of the rangefinder in the physical product. This reduces the impact of the angular deviation on the ranging operation of the rangefinder and improves the accuracy of the rangefinder's test results for target distance information. Based on this, for physical products (such as cleaning equipment) equipped with this ranging sensor, the accuracy of subsequent work control is improved, ensuring the working effect of the physical product.

[0170] In this embodiment, the processing unit 902 is further configured to: determine the line laser plane and the target plane based on the motion matrix of the line laser ranging sensor; and determine a first straight line based on the intersection of the line laser plane and the target plane.

[0171] In this embodiment, the processing unit 902 is further used to: determine a first plane based on the first straight line and the position coordinates of the laser camera; and determine a second straight line based on the intersection of the first plane and the camera imaging plane.

[0172] In this embodiment, the processing unit 902 is further used to: determine the target slope and target point based on the second straight line; and calibrate the built-in parameters based on the correspondence between the target slope and the relative distance and the target point.

[0173] In this embodiment, the processing unit 902 is further used to: adjust the value of the relative distance; and determine the target point based on the multiple second lines corresponding to different relative distances.

[0174] In this embodiment, the processing unit 902 is further configured to: determine multiple target slopes based on multiple second straight lines corresponding to multiple relative distances; and determine the correspondence between target slopes and relative distances based on multiple relative distances and multiple target slopes.

[0175] In this embodiment, the correspondence is further defined as follows: the reciprocal of the target slope is directly proportional to the relative distance.

[0176] Example 8, Figure 10 A structural block diagram of a line laser rangefinder 1000 provided in an embodiment of the present invention is shown. The line laser rangefinder 1000 includes:

[0177] Memory 1002, on which programs or instructions are stored;

[0178] The processor 1004 executes the above-described program or instructions to implement the steps of the calibration method for the line laser ranging sensor as described in any of the above embodiments.

[0179] The line laser ranging sensor 1000 provided in this embodiment includes a memory 1002 and a processor 1004. When the program or instructions in the memory 1002 are executed by the processor 1004, they implement the steps of the calibration method of the line laser ranging sensor as described in any of the above embodiments. Therefore, the line laser ranging sensor 1000 has all the beneficial effects of the calibration method of the line laser ranging sensor as described in any of the above embodiments, which will not be repeated here.

[0180] Specifically, the memory 1002 and the processor 1004 can be connected via a bus or other means. The processor 1004 may include one or more processing units, and the processor 1004 may be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other chips.

[0181] Example 9, Figure 11 A structural block diagram of a line laser ranging sensor 1100 provided in an embodiment of the present invention is shown. The line laser ranging sensor 1100 includes the calibration device 900 of the line laser ranging sensor in the above embodiments. Therefore, the line laser ranging sensor 1100 has all the beneficial effects of the calibration device 900 of the line laser ranging sensor in any of the above embodiments, which will not be repeated here.

[0182] In this embodiment, the line laser ranging sensor 1100 further includes a laser emitting device and a laser imaging device.

[0183] Specifically, when a laser rangefinder performs range measurement, it first emits a laser pulse towards the target (i.e., the aforementioned target plane) through its laser emission device. The laser pulse is then reflected by the target plane, with a portion of the reflected laser returning to the rangefinder's laser imaging device (such as a laser camera). A corresponding image is then generated on the imaging plane of this laser imaging device. Based on this, the target distance can be determined by the difference between the laser emission time and the image generation time.

[0184] Example 10, Figure 12 A structural block diagram of a cleaning component 1200 provided in an embodiment of the present invention is shown. The cleaning component 1200 includes the line laser rangefinder 1000 described in the above embodiments. Therefore, the cleaning component 1200 possesses all the technical effects of the line laser rangefinder 1000 described in the above embodiments, and will not be repeated here.

[0185] Example 11, Figure 13 A structural block diagram of a cleaning component 1300 provided in an embodiment of the present invention is shown. The cleaning component 1300 includes the line laser rangefinder 1100 described in the above embodiments. Therefore, the cleaning component 1300 possesses all the technical effects of the line laser rangefinder 1100 described in the above embodiments, and will not be repeated here.

[0186] Example 12, Figure 14 A structural block diagram of a cleaning device 1400 provided in an embodiment of the present invention is shown. The cleaning device 1400 includes the cleaning component 1200 described in the above embodiments. Therefore, the cleaning device 1400 possesses all the technical effects of the cleaning component 1200 described in the above embodiments, and will not be repeated here.

[0187] Example 13, Figure 15 A structural block diagram of a cleaning device 1500 provided in an embodiment of the present invention is shown. The cleaning device 1500 includes the cleaning component 1300 described in the above embodiments. Therefore, the cleaning device 1500 possesses all the technical effects of the cleaning component 1300 described in the above embodiments, and will not be repeated here.

[0188] The cleaning device provided in this embodiment of the invention further includes a power supply component for supplying power to the cleaning component to ensure its normal operation. During operation, the power supply component can be located in a fixed position within the house. The cleaning component can be connected to the power supply component. When the cleaning component performs a cleaning task, it separates from the power supply component and performs cleaning work according to the cleaning instructions. After cleaning is completed, the cleaning component returns to the power supply component and is recharged to ensure the smooth execution of the next cleaning task.

[0189] Example fourteen, an embodiment of the seventh aspect of the present invention, provides a readable storage medium. A program or instructions are stored thereon, which, when executed by a processor, implement the steps of the calibration method for a line laser rangefinder sensor as described in any of the above embodiments.

[0190] The readable storage medium provided in this embodiment of the invention, when its stored program or instructions are executed by a processor, can implement the steps of the calibration method for the line laser ranging sensor as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the calibration method for the line laser ranging sensor as described in any of the above embodiments, which will not be elaborated further here. Specifically, the readable storage medium can include any medium capable of storing or transmitting information. Examples of readable storage media include electronic circuits, semiconductor memory devices, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), flash memory, erasable ROM (EROM), magnetic tape, floppy disk, optical disk, hard disk, fiber optic media, radio frequency (RF) links, optical data storage devices, etc. Code segments can be downloaded via computer networks such as the Internet and intranets.

[0191] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0192] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0193] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0194] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for calibrating a line laser ranging sensor, characterized in that, The method comprises the following steps: determining a first straight line according to a line laser plane and a target plane; determining a second straight line on a camera imaging plane according to the first straight line; calibrating built-in parameters of a line laser ranging sensor according to a relative distance between the target plane and a laser camera and the second straight line; wherein the first straight line and the second straight line correspond to each other; the calibration of the built-in parameters of the line laser ranging sensor according to the relative distance between the target plane and the laser camera and the second straight line specifically comprises: determining a target slope and a target point according to the second straight line; calibrating the built-in parameters according to a corresponding relationship between the target slope and the relative distance and the target point; the built-in parameters comprise a deflection angle of an internal structure of the line laser ranging sensor when the line laser ranging sensor is working; the target slope is a slope of the second straight line; determining the target point according to the second straight line specifically comprises: adjusting a value of the relative distance; determining the target point according to a plurality of second straight lines corresponding to different relative distances.

2. The method of calibrating a line laser ranging sensor according to claim 1, wherein, the determination of the first straight line according to the line laser plane and the target plane specifically comprises: determining the line laser plane and the target plane according to a motion matrix of the line laser ranging sensor; determining the first straight line according to an intersection line of the line laser plane and the target plane.

3. The method of calibrating a line laser ranging sensor according to claim 1, wherein, the determination of the second straight line on the camera imaging plane according to the first straight line specifically comprises: determining a first plane according to the first straight line and a position coordinate of the laser camera; determining the second straight line according to an intersection line of the first plane and the camera imaging plane.

4. The method of calibrating a line laser ranging sensor according to claim 1, wherein, after the adjustment of the value of the relative distance, the calibration method further comprises: determining a plurality of target slopes according to a plurality of second straight lines corresponding to a plurality of relative distances; determining a corresponding relationship between the target slope and the relative distance according to a plurality of relative distances and a plurality of target slopes.

5. The calibration method of a line laser ranging sensor according to any one of claims 1 and 4, characterized in that, the corresponding relationship is that: an inverse of the target slope is in a proportional relationship with the relative distance.

6. A calibration device for a line laser distance measuring sensor, characterized in that The device comprises: a processing unit configured to determine a first straight line according to a line laser plane and a target plane; the processing unit is further configured to determine a second straight line on a camera imaging plane according to the first straight line; the processing unit is further configured to calibrate built-in parameters of a line laser ranging sensor according to a relative distance between the target plane and a laser camera and the second straight line; wherein the first straight line and the second straight line correspond to each other; the calibration of the built-in parameters of the line laser ranging sensor according to the relative distance between the target plane and the laser camera and the second straight line specifically comprises: determining a target slope and a target point according to the second straight line; calibrating the built-in parameters according to a corresponding relationship between the target slope and the relative distance and the target point; the built-in parameters comprise a deflection angle of an internal structure of the line laser ranging sensor when the line laser ranging sensor is working; the target slope is a slope of the second straight line; determining the target point according to the second straight line specifically comprises: adjusting a value of the relative distance; determining the target point according to a plurality of second straight lines corresponding to different relative distances. According to different relative distances corresponding to a plurality of second straight lines, the target point is determined.

7. A line laser distance measuring sensor, characterized in that Comprising: A memory storing programs or instructions; A processor, when executing the programs or instructions, implements the steps of the calibration method of the line laser ranging sensor according to any one of claims 1 to 5.

8. A line laser distance measuring sensor, characterized in that Comprising: The calibration device of the line laser ranging sensor according to claim 6.

9. The line laser ranging sensor of claim 8, wherein, Further comprising: A laser emitting device for emitting line laser to the target plane for laser ranging; A laser imaging device for receiving the line laser reflected by the target plane and imaging on the imaging plane according to the line laser.

10. A cleaning assembly characterized by, Comprising: The line laser ranging sensor according to any one of claims 7 to 9.

11. A cleaning apparatus, characterized by Comprising: The cleaning assembly according to claim 10.

12. The cleaning apparatus of claim 11, wherein, Further comprising: A power supply assembly for supplying power to the cleaning assembly.

13. A readable storage medium, having stored thereon a program or instructions, characterized in that, The programs or instructions are executed by the processor to implement the steps of the calibration method of the line laser ranging sensor according to any one of claims 1 to 5.

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