Angle calibration method, device, measuring equipment, system and storage medium

Abstract

The present application provides an angle calibration method, device, measuring equipment, system and storage medium, which relate to the field of angle calibration. The present application receives a pulse signal sent by a first contact device, and obtains a first distance from a laser rangefinder; wherein the first contact device is any contact device among a plurality of contact devices, the pulse signal is a signal triggered after the first contact device senses a light signal emitted by the laser rangefinder, and the first distance is the distance from the laser rangefinder to the first contact device; according to the first distance, the actual rotation angle of the laser rangefinder is determined; according to the actual rotation angle and the measured rotation angle, the angle measuring device is calibrated; wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device. Since the present application determines the actual rotation angle of the laser rangefinder based on the first distance, there is no need to use a higher-precision angle measuring instrument for angle calibration, thereby reducing the calibration cost and improving the calibration versatility.

Description

Technical Field

[0001] The present application relates to the field of angle calibration, and specifically to an angle calibration method, device, measuring equipment, system and storage medium. Background Art

[0002] With the development of angle measurement technology, people have higher and higher requirements for the accuracy of angle measurement. In order to ensure the accuracy of angle measurement, it is necessary to calibrate the angle of the angle measuring equipment when it is offline.

[0003] At present, the angle calibration method is to use an angle measuring instrument with higher accuracy to calibrate the angle of the angle measuring device. However, the angle measuring instrument can only calibrate the angles of the same calibration accuracy, and cannot calibrate the angle measuring devices with different accuracy requirements. Therefore, the existing angle calibration method is not only costly, but also not universal. Summary of the invention

[0004] The embodiments of the present application provide an angle calibration method, device, measuring equipment, system and storage medium to reduce the cost of angle calibration and improve the versatility of angle calibration.

[0005] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides an angle calibration method, the method comprising:

[0007] Receive a pulse signal sent by a first contact device among multiple contact devices, and obtain a first distance from a laser rangefinder; wherein the first contact device is any contact device among the multiple contact devices, the pulse signal is a signal triggered after the first contact device senses a light signal emitted by the laser rangefinder, and the first distance is the distance from the laser rangefinder to the first contact device;

[0008] determining an actual rotation angle of the laser rangefinder according to the first distance;

[0009] The angle measuring device is calibrated according to the actual rotation angle and the measured rotation angle; wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device.

[0010] In this method, since the embodiment of the present application determines the actual rotation angle of the laser rangefinder based on the first distance from the first contact device to the laser rangefinder, there is no need to use an angle measuring instrument with higher accuracy than the angle measuring device for measurement. This reduces the cost of angle calibration and improves the versatility of the angle calibration method.

[0011] An optional implementation manner is that determining the actual rotation angle of the laser rangefinder according to the first distance includes:

[0012] Acquire a second distance and a contact distance, wherein the second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device;

[0013] The actual rotation angle is determined according to the first distance, the second distance and the contact point distance.

[0014] Since the embodiment of the present application can accurately determine the actual rotation angle based on the first distance, the second distance and the contact distance, an accurate data basis is provided for subsequent angle calibration, thereby improving the accuracy of the angle calibration.

[0015] An optional implementation manner is that calibrating the angle measuring device according to the actual rotation angle and the measured rotation angle includes:

[0016] determining a difference between the actual rotation angle and the measured rotation angle;

[0017] The angle measuring device is calibrated according to the difference.

[0018] An optional implementation manner is that calibrating the angle measuring device according to the difference includes:

[0019] When it is determined that the number of received pulse signals reaches a set threshold, determining a calibration error of the angle measuring device according to a plurality of the difference values;

[0020] The angle measuring device is calibrated according to the calibration error.

[0021] Since the embodiment of the present application is capable of accurately determining the calibration error of the angle measuring device according to the obtained multiple difference values ​​after receiving the pulse signals sent by the multiple triggering devices.

[0022] An optional implementation manner is that calibrating the angle measuring device according to the calibration error includes:

[0023] In response to the calibration error being greater than the angle measurement accuracy of the angle measurement device, determining a compensation parameter according to the plurality of actual rotation angles and the plurality of measured rotation angles;

[0024] The error compensation of the angle measuring device is performed according to the compensation parameter.

[0025] In a second aspect, an embodiment of the present application provides an angle calibration device, comprising:

[0026] a receiving unit, configured to receive a pulse signal sent by a first contact device among the multiple contact devices, and obtain a first distance from the laser rangefinder; wherein the first contact device is any contact device among the multiple contact devices, the pulse signal is a signal triggered after the first contact device senses a light signal emitted by the laser rangefinder, and the first distance is a distance from the laser rangefinder to the first contact device;

[0027] a determination unit, configured to determine an actual rotation angle of the laser rangefinder according to the first distance;

[0028] A calibration unit is used to calibrate the angle measuring device according to the actual rotation angle and the measured rotation angle; wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device.

[0029] In an optional implementation manner, the determining unit is specifically configured to:

[0030] Acquire a second distance and a contact distance, wherein the second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device;

[0031] The actual rotation angle is determined according to the first distance, the second distance and the contact point distance.

[0032] In an optional implementation manner, the calibration unit is specifically used for:

[0033] determining a difference between the actual rotation angle and the measured rotation angle;

[0034] The angle measuring device is calibrated according to the difference.

[0035] In an optional implementation manner, the calibration unit is specifically used for:

[0036] When it is determined that the number of received pulse signals reaches a set threshold, determining a calibration error of the angle measuring device according to a plurality of the difference values;

[0037] The angle measuring device is calibrated according to the calibration error.

[0038] In an optional implementation manner, the calibration unit is specifically used for:

[0039] In response to the calibration error being greater than the angle measurement accuracy of the angle measurement device, determining a compensation parameter according to the plurality of actual rotation angles and the plurality of measured rotation angles;

[0040] Perform error compensation on the angle measuring device according to the compensation parameter.

[0041] In a third aspect, an embodiment of the present application provides a measuring device, including a memory and a processor. A computer program that can run on the processor is stored on the memory. When the computer program is executed by the processor, the processor implements the angle calibration method of any one of the above first aspects.

[0042] In a fourth aspect, an embodiment of the present application provides an angle calibration system, including a plurality of contact devices, an angle measuring device, a laser rangefinder, and a measuring device; the first contact device is any one of the plurality of contact devices;

[0043] The laser rangefinder is configured to emit an optical signal during rotation;

[0044] The first contact device is configured to receive the optical signal and trigger a pulse signal;

[0045] The angle measuring device is configured to determine the measured rotation angle of the laser rangefinder;

[0046] The measuring device is configured to receive the pulse signal sent by the first contact device and obtain a first distance from the laser rangefinder; the first distance is the distance from the laser rangefinder to the first contact device; according to the first distance, determine the actual rotation angle of the laser rangefinder; according to the actual rotation angle and the measured rotation angle, calibrate the angle measuring device.

[0047] In a fifth aspect, an embodiment of the present application provides a computer storage medium. When a computer program instruction is stored in the computer storage medium and the instruction runs on a computer, the computer executes the angle calibration method of any one of the above first aspects.

[0048] In a sixth aspect, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the angle calibration method of any one of the first aspects is implemented.

[0049] The technical effects brought by any implementation manner of the second aspect to the sixth aspect can be referred to the technical effects brought by the corresponding implementation manner of the first aspect, which will not be elaborated here. Description of the Drawings

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings introduced below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0051] Figure 1 A schematic flow chart of an angle calibration method provided in an embodiment of the present application;

[0052] Figure 2 A schematic diagram of the structure of a contact device provided in an embodiment of the present application;

[0053] Figure 3 An angle calibration system at a viewing angle provided in an embodiment of the present application;

[0054] Figure 4 An angle calibration system under another viewing angle provided in an embodiment of the present application;

[0055] Figure 5 A complete flow chart of an angle calibration method provided in an embodiment of the present application;

[0056] Figure 6 A schematic diagram of an angle calibration system provided in an embodiment of the present application;

[0057] Figure 7 An interactive information diagram of an angle calibration method provided in an embodiment of the present application;

[0058] Figure 8 A structural block diagram of an angle calibration device provided in an embodiment of the present application;

[0059] Fig. 9 A schematic diagram of the structure of a measuring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0061] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0062] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0063] At present, the existing angle calibration method can only calibrate the angle measuring devices with the same calibration accuracy, but cannot calibrate the angle measuring devices with different accuracy requirements and determine the calibration parameters of the angle measuring devices.

[0064] Based on the above problems, Figure 1 As shown, an embodiment of the present application provides an angle calibration method, which is applied to a measuring device and includes the following steps:

[0065] S101: A measuring device receives a pulse signal sent by a first contact device among a plurality of contact devices, and obtains a first distance from a laser rangefinder.

[0066] The first contact device is any one of the multiple contact devices, the first distance is the distance from the first contact device to the laser rangefinder, and the distance between two adjacent contact devices in the multiple contact devices may be a fixed length, for example, a contact device may be set every 5 cm.

[0067] In some embodiments, the first contact device receives a light signal emitted by a laser rangefinder, triggers a pulse signal, and sends the pulse signal to a measuring device.

[0068] In one embodiment, if Figure 2 As shown, the contact device may include a photosensor and a wireless module. The contact device may sense the optical signal sent by the laser rangefinder according to the photosensor and generate a pulse; then, the contact device sends the pulse signal to the measuring device through the wireless module.

[0069] After receiving the pulse signal, the measuring device obtains the first distance from the laser rangefinder.

[0070] S102: The measuring device determines an actual rotation angle of the laser rangefinder according to the first distance.

[0071] During implementation, the measuring device acquires the second distance and the contact point distance, and determines the actual rotation angle according to the first distance, the second distance and the contact point distance.

[0072] The second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device.

[0073] In one embodiment, the measuring device can determine the contact distance by:

[0074] After receiving the pulse signal, the measuring device counts the number of received pulse signals. The measuring device determines the contact distance based on the number of received pulse signals and the fixed length. For example, when the number of received pulse signals is 5 and the fixed length is 5 cm, the contact distance is determined to be (5-1)*5=20 cm.

[0075] In some implementations, after determining the contact point distance, the measuring device determines the actual rotation angle according to the first distance, the second distance, and the contact point distance.

[0076] During implementation, the measuring device may determine the actual rotation angle according to the first distance, the second distance and the contact point distance through trigonometric functions.

[0077] In some embodiments, the measuring device can determine the actual rotation angle by the following formula:

[0078] θ=arcos[(S 1 2 +S 2 2 -L 2 ) / (2*S 1 *S 2 )

[0079] Among them, θ is the actual rotation angle, S 1 is the first distance, S 2 is the second distance, and L is the contact distance.

[0080] like Figure 3 As shown, the embodiment of the present application provides an angle calibration system under viewing angle. The system includes a turntable, a plurality of contact devices, a laser rangefinder and a measuring device. Figure 3 As shown, the plurality of contact devices include contact device 1, contact device 2, ..., contact device N.

[0081] Among them, Figure 3As shown, a plurality of contact devices can be arranged on a non-mirror target according to a fixed length, and the plurality of contact devices can form a straight line. The laser rangefinder and the measuring device can be fixed on a turntable, and the contact devices are within the scanning range of the laser rangefinder.

[0082] In one embodiment, the measuring device can drive the turntable to rotate counterclockwise through a motor. In addition, when the measuring device controls the motor to rotate the turntable, it can control the laser rangefinder to emit a light signal. Figure 3 Displayed in.

[0083] The laser rangefinder emits light signals when rotating, and the laser rangefinder is always in a scanning state during the rotation process.

[0084] In some embodiments, when the light signal passes through the contact device 1, the contact device 1 senses the light signal, triggers a pulse signal, and sends the pulse signal to the measuring device. After receiving the pulse signal, the measuring device obtains the first distance from the laser rangefinder and counts the number of pulse signals received. When the measuring device determines that the number of received pulse signals is 1, it determines that the contact device is an initial contact device and sets the obtained first distance as the second distance.

[0085] For example, after the measuring device receives the pulse signal sent by the contact device 1, the first distance S corresponding to the contact device 1 is obtained. 1 And, the measuring device acquires the second distance S 2 and the contact distance L. When it is determined that the measuring device has not received a pulse signal sent by other contact devices before receiving the pulse signal sent by contact device 1, the measuring device determines that contact device 1 is the initial contact device. Therefore, the measuring device determines the second distance S 2 With S 1 If L is 0, the measuring device determines that the actual rotation angle is 0. In addition, the measuring device can also set the touch device 1 as the initial touch device and set the distance S from the touch device 1 to the laser rangefinder as 1 Set to the second distance.

[0086] For another example, as the laser rangefinder rotates, the contact device 2 senses the light signal and sends a pulse signal to the measuring device. After receiving the pulse signal, the measuring device determines the first distance S between the contact device 2 and the laser rangefinder. 1 , and count the number of received pulse signals as 2. The measuring device obtains the second distance S 2 and contact distance L, where S 2 is the distance from touch device 1 to the laser rangefinder, and L is the distance between touch device 1 and touch device 2, i.e., a fixed length. Then, the measuring device measures the distance according to S 1 , S2 and L, determine the actual rotation angle.

[0087] In some embodiments, after determining the actual rotation angle, the measuring device obtains a measured rotation angle from the angle measuring device, wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device.

[0088] In some embodiments, the angle calibration system further includes an angle measuring device, wherein: Figure 3 The turntable is completely fixed on the rotor of the angle measuring device. When the turntable drives the laser rangefinder to rotate, the angle measuring device determines the measured rotation angle according to the rotation angle of the rotor.

[0089] In some embodiments, Figure 4 As shown, the embodiment of the present application provides an angle calibration system under another viewing angle. Figure 3 The angle calibration system shown is the same and will not be described again here.

[0090] S103: The measuring device calibrates the angle measuring device according to the actual rotation angle and the measured rotation angle.

[0091] In some embodiments, the measuring device determines the difference between the actual rotation angle and the measured rotation angle, and calibrates the angle measuring device according to the difference.

[0092] When the measuring device determines that the number of received pulse signals reaches a set threshold, the measuring device determines a calibration error of the angle measuring device according to a plurality of difference values.

[0093] In some implementations, the threshold value may be set to be less than or equal to the number of the plurality of contact devices. For example, when the number of the contact devices is n, the threshold value may be set to be less than or equal to n.

[0094] In some implementations, the measuring device may use an average value of multiple differences as a calibration error of the angle measuring device, or may determine the calibration error in other ways, which is not limited in the present application.

[0095] After determining the calibration error, the measuring device determines whether the calibration error is greater than the angle measurement accuracy of the angle measurement device. When the calibration error is greater than the angle measurement accuracy, the measuring device determines that the angle measurement accuracy needs to be corrected so that the difference between the actual rotation angle and the measured rotation angle is within the angle measurement accuracy range.

[0096] In some embodiments, the measuring device may determine the compensation parameter based on a plurality of actual rotation angles and a plurality of measured rotation angles.

[0097] In implementation, the measuring device can perform curve fitting on multiple actual rotation angles and multiple measured rotation angles, and determine the parameters of the obtained fitting curve. The measuring device writes the parameters into the angle measuring device as compensation parameters to perform error compensation on the angle measuring device.

[0098] For example, the measuring device may perform curve fitting on the actual rotation angle y and the measured rotation angle x to obtain a fitting curve y=ax, wherein the measuring device uses a as a compensation parameter.

[0099] In some embodiments, after the measuring device writes the compensation parameters into the angle measuring device, when the angle measuring device performs angle measurement, the initial measured rotation angle is compensated according to the compensation parameters and the measured rotation angle is output.

[0100] In the above embodiment, after the measuring device receives the pulse signal sent by the contact device, the actual rotation angle is determined according to the first distance, the second distance and the contact distance, and the process does not require manual intervention, thereby realizing the automatic calibration of the angle measuring device. In addition, the present application can also improve the calibration accuracy by adding the second distance, so as to meet the angle measurement accuracy requirements of angle measuring devices with different accuracies.

[0101] like Figure 5 As shown, the embodiment of the present application provides a complete flow chart of an angle calibration method, which is applied to a measuring device and includes the following steps:

[0102] S501: The measuring device controls the laser rangefinder to emit a light signal during the rotation process.

[0103] S502: The measuring device receives a pulse signal sent by the first contact device, and obtains a first distance from the laser rangefinder.

[0104] The first contact device is any one of the multiple contact devices, the pulse signal is a signal triggered after the first contact device senses the light signal emitted by the laser rangefinder, and the first distance is the distance from the laser rangefinder to the first contact device.

[0105] In some implementations, after receiving the pulse signal, the measuring device may also count the number of received pulse signals.

[0106] S503: The measuring device acquires a second distance and a contact distance, wherein the second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device.

[0107] S504: The measuring device determines the actual rotation angle according to the first distance, the second distance and the contact point distance.

[0108] S505: The measuring device uses the rotation angle of the laser rangefinder obtained from the angle measuring device as the measured rotation angle.

[0109] It should be noted that there is no particular order in which step S505 and step S503 are executed.

[0110] S506: The measuring device determines the difference between the actual rotation angle and the measured rotation angle.

[0111] S507: The measuring device determines whether the number of received pulse signals reaches a set threshold; if so, execute step S508; if not, execute step S502.

[0112] In some implementations, the threshold may be less than or equal to the number of the plurality of contact devices.

[0113] S508: The measuring device determines the calibration error of the angle measuring device according to the multiple difference values.

[0114] S509: When the measuring device determines that the calibration error is greater than the predetermined angle measurement accuracy, a compensation parameter is determined according to the multiple actual rotation angles and the multiple measured rotation angles.

[0115] In some implementations, the measuring device may determine the compensation parameter according to a plurality of actual rotation angles and a plurality of measured rotation angles by means of curve fitting.

[0116] S510: The measuring device performs error compensation on the angle measuring device according to the compensation parameters.

[0117] like Figure 6 As shown, an embodiment of the present application provides an angle calibration system, including a plurality of contact devices 10 , an angle measuring device 20 , a laser rangefinder 30 and a measuring device 40 .

[0118] The laser rangefinder 30 is used to emit light signals during the rotation process.

[0119] One of the multiple contact devices 10 is used to receive the optical signal of the laser rangefinder 30 , generate a pulse signal, and send the pulse signal to the measuring device 40 .

[0120] The angle measuring device 20 is used to determine the measuring rotation angle of the laser rangefinder.

[0121] The measuring device 40 is used to receive the pulse signal sent by the contact device 10, and after receiving the pulse signal, obtain the first distance between the laser rangefinder 30 and the contact device 10 from the laser rangefinder 30; and the measuring device 40 can also determine the actual rotation angle of the laser rangefinder 30 according to the first distance. The measuring device 40 calibrates the angle measuring device 20 according to the actual rotation angle and the measured rotation angle.

[0122] like Figure 7 As shown, an embodiment of the present application provides an interactive flow chart of an angle calibration method, which includes the following steps:

[0123] S701: The measuring device controls the laser rangefinder to emit a light signal during the rotation process. The laser rangefinder emits a light signal. The angle measuring device determines the measured rotation angle of the laser rangefinder.

[0124] S702: After the contact device senses the light signal, it generates a pulse signal.

[0125] S703: The contact device sends a pulse signal to the measuring device.

[0126] S704: After receiving the pulse signal, the measuring device obtains a first distance from the laser rangefinder and obtains a measured rotation angle from the angle measuring device.

[0127] In some implementations, after receiving the pulse signal, the measuring device may also count the number of received pulse signals.

[0128] S705: The measuring device obtains the second distance and the contact point distance.

[0129] S706: The measuring device determines the actual rotation angle according to the first distance, the second distance and the contact point distance.

[0130] S707: The measuring device determines a compensation parameter according to the actual rotation angle and the measured rotation angle.

[0131] The specific execution process in S707 is the same as Figure 5 The execution process of S506-S509 is the same and will not be repeated here.

[0132] S708: The measuring device sends the compensation parameters to the angle measuring device.

[0133] S709: The angle measuring device stores the compensation parameters.

[0134] Based on the same inventive concept, an angle calibration device is also provided in the embodiment of the present application. Since the principle of solving the problem by the device is similar to the angle calibration method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0135] like Figure 8 As shown, an embodiment of the present application provides an angle calibration device, comprising:

[0136] The receiving unit 801 is used to receive a pulse signal sent by a first contact device among multiple contact devices, and obtain a first distance from a laser rangefinder; wherein the first contact device is any contact device among the multiple contact devices, the pulse signal is a signal triggered after the first contact device senses a light signal emitted by the laser rangefinder, and the first distance is the distance from the laser rangefinder to the first contact device;

[0137] A determination unit 802, configured to determine an actual rotation angle of the laser rangefinder according to the first distance;

[0138] The calibration unit 803 is used to calibrate the angle measuring device according to the actual rotation angle and the measured rotation angle; wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device.

[0139] In an optional implementation manner, the determining unit 802 is specifically configured to:

[0140] Acquire a second distance and a contact distance, wherein the second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device;

[0141] The actual rotation angle is determined according to the first distance, the second distance and the contact point distance.

[0142] In an optional implementation manner, the calibration unit 803 is specifically used for:

[0143] determining a difference between the actual rotation angle and the measured rotation angle;

[0144] The angle measuring device is calibrated according to the difference.

[0145] In an optional implementation manner, the calibration unit 803 is specifically used for:

[0146] When it is determined that the number of received pulse signals reaches a set threshold, determining a calibration error of the angle measuring device according to a plurality of the difference values;

[0147] The angle measuring device is calibrated according to the calibration error.

[0148] In an optional implementation manner, the calibration unit 803 is specifically used for:

[0149] In response to the calibration error being greater than the angle measurement accuracy of the angle measurement device, determining a compensation parameter according to the plurality of actual rotation angles and the plurality of measured rotation angles;

[0150] The error compensation of the angle measuring device is performed according to the compensation parameter.

[0151] and Figure 1 The angle calibration method shown is based on the same inventive concept, and the embodiment of the present application also provides a measuring device. Fig. 9 For the sake of convenience, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the method embodiments of the present application. Figure 6 In this embodiment, the structure of the measuring device can be as follows: Fig. 9 As shown, it includes a memory 131 , a communication module 133 and one or more processors 132 .

[0152] The memory 131 is used to store computer programs executed by the processor 132. The memory 131 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and programs required for running the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0153] The processor 132 may include one or more central processing units (CPU) or a digital processing unit, etc. The processor 132 is used to implement the above angle calibration method when calling the computer program stored in the memory 131 .

[0154] The communication module 133 is used to communicate with the contact device, the laser rangefinder and the angle measuring device to obtain pulse signals, distance and rotation angle respectively. The communication module 133 may be a wireless module.

[0155] The specific connection medium between the memory 131, the communication module 133 and the processor 132 is not limited in the embodiment of the present application. Fig. 9 The memory 131 and the processor 132 are connected via a bus 134. Fig. 9 The connections between other components are shown in bold lines, and are not intended to be limiting. The bus 134 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0156] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the angle calibration method in any of the above embodiments.

[0157] According to one aspect of the present application, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the angle calibration method in any of the above embodiments is implemented.

[0158] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0159] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0160] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0161] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0162] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An angle calibration method, It is characterized in that The method comprises: Receive a pulse signal sent by a first contact device among multiple contact devices, and obtain a first distance from a laser rangefinder; wherein the first contact device is any contact device among the multiple contact devices, the pulse signal is a signal triggered after the first contact device senses a light signal emitted by the laser rangefinder, and the first distance is the distance from the laser rangefinder to the first contact device; Acquire a second distance and a contact distance, wherein the second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device; determining an actual rotation angle of the laser rangefinder according to the first distance, the second distance and the contact point distance; The angle measuring device is calibrated according to the actual rotation angle and the measured rotation angle; wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device.

2. The method according to claim 1, It is characterized in that The calibrating the angle measuring device according to the actual rotation angle and the measured rotation angle comprises: determining a difference between the actual rotation angle and the measured rotation angle; The angle measuring device is calibrated according to the difference.

3. The method according to claim 2, It is characterized in that The step of calibrating the angle measuring device according to the difference comprises: When it is determined that the number of received pulse signals reaches a set threshold, determining a calibration error of the angle measuring device according to a plurality of the difference values; The angle measuring device is calibrated according to the calibration error.

4. The method according to claim 3, It is characterized in that The step of calibrating the angle measuring device according to the calibration error comprises: In response to the calibration error being greater than the angle measurement accuracy of the angle measurement device, determining a compensation parameter according to the plurality of actual rotation angles and the plurality of measured rotation angles; The error compensation of the angle measuring device is performed according to the compensation parameter.

5. An angle calibration device, It is characterized in that include: a receiving unit, configured to receive a pulse signal sent by a first contact device among the multiple contact devices, and obtain a first distance from the laser rangefinder; wherein the first contact device is any contact device among the multiple contact devices, the pulse signal is a signal triggered after the first contact device senses a light signal emitted by the laser rangefinder, and the first distance is a distance from the laser rangefinder to the first contact device; a determination unit, configured to obtain a second distance and a contact distance, wherein the second distance is the distance from an initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device; and determine an actual rotation angle of the laser rangefinder according to the first distance, the second distance and the contact distance; A calibration unit is used to calibrate the angle measuring device according to the actual rotation angle and the measured rotation angle; wherein the measured rotation angle is the rotation angle of the laser rangefinder measured by the angle measuring device.

6. A measuring device, It is characterized in that The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the method according to any one of claims 1 to 4 is implemented.

7. An angle calibration system, It is characterized in that It includes a plurality of contact devices, an angle measuring device, a laser rangefinder and a measuring device; the first contact device is any one of the plurality of contact devices; The laser rangefinder is used to emit light signals during the rotation process; The first contact device is used to receive the optical signal and trigger a pulse signal; The angle measuring device is used to determine the measuring rotation angle of the laser rangefinder; The measuring device is used to receive the pulse signal sent by the first contact device and obtain a first distance from the laser rangefinder; the first distance is the distance from the laser rangefinder to the first contact device; obtain a second distance and a contact distance, the second distance is the distance from the initial contact device to the laser rangefinder, the initial contact device is the first contact device scanned by the laser rangefinder, and the contact distance is the distance between the initial contact device and the first contact device; determine the actual rotation angle of the laser rangefinder according to the first distance, the second distance and the contact distance; calibrate the angle measuring device according to the actual rotation angle and the measured rotation angle.

8. A computer-readable storage medium having a computer program stored therein, Features: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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