A Laser Calibration Method and a Laser Rangefinder Based on an ADC Circuit

Abstract

The present invention relates to a laser calibration method and a laser rangefinder based on an ADC circuit, including: controlling a laser emission module to emit a first laser signal to a measurement board; converting a second laser signal reflected by the measurement board into a digital signal by the ADC circuit of the laser reception module; determining a compensation distance corresponding to a first measurement distance between a first reference point and the measurement board based on the digital signal to achieve calibration of the laser rangefinder. At the same time, it is achieved within a distance less than 5m, so it can achieve short-distance calibration in a small indoor space, effectively avoiding the limitation of the calibration site.

Description

Technical Field

[0001] The present invention relates to the field of laser ranging, and particularly to a laser calibration method and a laser rangefinder based on an ADC circuit. Background Art

[0002] When measuring distance by a laser rangefinder, due to many influencing factors, there are certain errors in the laser rangefinder. The influencing factors mainly include two categories. One is the influence of the laser rangefinder itself, and the other is the influence of the external environment. The influence of the laser rangefinder itself mainly includes the influence of the zero position and the pulse width. Therefore, how to eliminate the influence of the zero position on the measured distance and reduce the influence of the pulse width on the judgment of the measured distance has become an important goal for improving the accuracy of the laser rangefinder.

[0003] Moreover, when the laser rangefinder measures the distance of short-distance objects, the received laser pulse signal will be very strong. Therefore, its pulse width will be very wide. And the larger the pulse width, the greater the measurement distance error will be, which results in the inability to complete the zero position calibration within a small distance.

[0004] Currently, for the calibration method of the zero position error, since calibration is required at a relatively long distance, the distance of an object more than 50 m is measured by the rangefinder, and the actual distance between the rangefinder and the measured object is measured by a specific instrument. Then, the measured distance of the rangefinder is subtracted from the actual distance to obtain the measurement error value of the rangefinder. Then, the measured distance of the rangefinder is subtracted from the measurement error value through software to obtain the actual distance, thereby achieving calibration. However, this calibration method requires a large site space. The ranging calibration is more than 50 m. If it is carried out indoors, an open indoor space of more than 50 m is required, and the requirements for the corresponding site are relatively high. If it is carried out outdoors, it is necessary to select an open and good visibility condition.

[0005] Therefore, the existing calibration methods have great limitations for the site. Moreover, due to the influence of the pulse width and other influencing factors at long distances, the calibration accuracy is not high. Summary of the Invention

[0006] (1) Technical Problems to be Solved

[0007] In view of the above-mentioned disadvantages and deficiencies of the prior art, the present invention provides a laser calibration method and a laser rangefinder based on an ADC circuit, which solve the technical problem that the existing calibration methods in the prior art have great limitations for the site.

[0008] (2) Technical Solutions

[0009] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0010] In a first aspect, an embodiment of the present invention provides a laser calibration method applied to an MCU controller in a laser rangefinder. The laser rangefinder includes a laser emission module, a laser reception module, an ADC circuit, and an MCU controller. The laser rangefinder is at a first calibration point of a laser rangefinder calibration platform including a measurement board that is pre-built, and the first actual distance between the first calibration point and the measurement board is less than 5 meters. The laser calibration method includes: controlling the laser emission module to emit a first laser signal to the measurement board; converting, by the ADC circuit of the laser reception module, a second laser signal reflected by the measurement board into a digital signal; and determining, based on the digital signal, a compensation distance corresponding to a first measurement distance between a first reference point and the measurement board, so as to calibrate the laser rangefinder.

[0011] In a possible embodiment, the laser rangefinder further includes an FPGA circuit;

[0012] Wherein, determining the compensation distance corresponding to the first measurement distance based on the digital signal includes: controlling the FPGA circuit to determine a pulse width n of the digital signal; n is a positive integer greater than or equal to 5; taking the pulse width n as an exponential value in a pre-constructed exponential function with a base of 2 to obtain 2 to the power of n; determining the compensation distance corresponding to 2 to the power of n, and taking the compensation distance corresponding to 2 to the power of n as the compensation distance corresponding to the first measurement distance.

[0013] In a possible embodiment, the compensation distance corresponding to 2 to the power of n is n - 4 meters.

[0014] In a possible embodiment, determining the compensation distance corresponding to the first measurement distance based on the digital signal further includes: in the case of moving the laser rangefinder to a second calibration point of the laser rangefinder calibration platform, determining a second measurement distance between the second calibration point and the measurement board based on the compensation distance; wherein, the second calibration point is on a straight line where the measurement board and the first reference point are located, and the second actual distance between the second calibration point and the measurement board is also less than 5 meters; determining whether the second measurement distance is equal to the second actual distance; if the second measurement distance is equal to the second actual distance, taking the compensation distance as the final compensation distance of the laser rangefinder.

[0015] In a possible embodiment, determining the compensation distance corresponding to the first measurement distance based on the digital signal further includes: if the second measurement distance is not equal to the second actual distance, obtaining a moving distance value between a specific position and a second reference point, and adjusting the compensation distance by using the moving distance value, and taking the adjusted compensation distance as the final compensation distance of the laser rangefinder; the characteristic position refers to a position where the laser rangefinder moves from the second reference point on a straight line in a direction close to or away from the measurement board such that the measured value output by the laser rangefinder is equal to the second measurement distance.

[0016] In a possible embodiment, the laser rangefinder further includes a power adjustment device connected to the laser emission module and a waveform recognition device connected to the laser reception module;

[0017] Wherein, controlling the laser emission module to emit a first laser signal to the measurement plate includes: when the pulse width of the digital signal caused by the laser emission module emitting the first laser signal at the initial power is greater than or equal to the preset pulse width, controlling the power adjustment device to continuously reduce the emission power of the laser emission module until it is determined that a sharp wave appears on the waveform recognition device, and then stopping reducing the power of the laser emission module; and restoring the power of the laser emission module to the initial power.

[0018] In a possible embodiment, determining the first measurement distance between the first reference point and the measurement plate based on the digital signal includes: when the power of the laser emission module is restored to the initial power, obtaining the first measurement distance measured at this time.

[0019] In a possible embodiment, determining the compensation distance corresponding to the first measurement distance based on the digital signal includes: when it is determined that a sharp wave appears on the waveform recognition device, obtaining the third measurement distance measured at this time; calculating the first distance difference between the third measurement distance and the first actual distance; calculating the second distance difference among the first measurement distance, the distance difference, and the first actual distance, and using the second distance difference as the compensation distance corresponding to the first measurement distance.

[0020] In a second aspect, an embodiment of the present invention provides a laser rangefinder, including an MCU controller, and a computer program is stored on the MCU controller. When the computer program is run by a processor, it executes the laser calibration method based on the ADC circuit as described in any one of the first aspects.

[0021] In a third aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the method as described in the first aspect or any optional implementation manner of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, they execute the method as described in the first aspect or any optional implementation manner of the first aspect.

[0023] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a computer, it causes the computer to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0024] (III) Beneficial effects

[0025] The beneficial effects of the present invention are:

[0026] The embodiment of the present application provides a laser calibration method and a laser rangefinder based on an ADC circuit, which controls a laser emitting module to emit a first laser signal to a measuring board, and an ADC circuit of a laser receiving module converts a second laser signal reflected by the measuring board into a digital signal, and determines a compensation distance corresponding to a first measurement distance between a first reference point and the measuring board based on the digital signal, so as to realize calibration of the laser rangefinder. At the same time, it is realized within a distance of less than 5m, so it can realize short-distance calibration in a smaller room, thereby effectively avoiding the limitation of the calibration site.

[0027] In order to make the above-mentioned objectives, features and advantages to be achieved by the embodiments of the present application more obvious and understandable, the following specifically cites preferred embodiments and describes them in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A flow chart of a laser calibration method based on an ADC circuit provided in an embodiment of the present application is shown;

[0030] Figure 2 A schematic diagram of a laser rangefinder calibration platform provided in an embodiment of the present application is shown;

[0031] Figure 3 A structural block diagram of a laser rangefinder provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0032] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0033] To solve the problem that the calibration method in the prior art has great limitations on the site, the embodiments of the present application provide a laser calibration method and a laser rangefinder based on an ADC circuit. By controlling the laser emission module to emit a first laser signal to the measurement board, and converting the second laser signal reflected by the measurement board into a digital signal by the ADC circuit of the laser reception module, and determining the compensation distance corresponding to the first measurement distance between the first reference point and the measurement board based on the digital signal, so as to realize the calibration of the laser rangefinder, and be able to simultaneously calibrate the zero position and pulse width compensation of the laser rangefinder within a distance less than 5m, thereby being able to realize short-distance calibration in a small indoor space, effectively avoiding the limitations of the calibration site, and also being able to greatly reduce the calibration error, and there is no need to separately perform compensation calibration, greatly improving the calibration efficiency.

[0034] To better understand the above technical solution, the exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more clearly and thoroughly understood, and the scope of the present invention can be fully conveyed to those skilled in the art.

[0035] Please refer to Figure 1 , Figure 1 which shows a flowchart of a laser calibration method based on an ADC circuit provided by the embodiments of the present application. Specifically, this laser calibration method is applied to the MCU controller in the laser rangefinder. The laser rangefinder includes a laser emission module, a laser reception module, an ADC circuit and an MCU controller, and the laser rangefinder is at the first calibration point of a pre-built laser rangefinder calibration platform including a measurement board, and the first actual distance between the first calibration point and the measurement board is less than 5 meters; this laser calibration method includes:

[0036] Step S110, controlling the laser emission module to emit a first laser signal to the measurement board;

[0037] Step S120, converting the second laser signal reflected by the measurement board into a digital signal by the ADC circuit of the laser reception module;

[0038] Step S130, determining the compensation distance corresponding to the first measurement distance between the first reference point and the measurement board based on the digital signal, so as to realize the calibration of the laser rangefinder.

[0039] Therefore, by means of the above technical solution, the laser calibration method of the embodiments of the present application can realize short-distance calibration in a small indoor space, effectively avoiding the limitations of the calibration site.

[0040] It should be noted here that the laser calibration method of the present application can be implemented through the following two method embodiments. For specific details, please refer to the relevant descriptions below.

[0041] The First Embodiment

[0042] The laser rangefinder of the present application includes a laser emission module TX, a laser reception module RX, an ADC circuit, an FPGA circuit, and an MCU controller. The laser reception module RX converts the received optical signal into an analog signal and transmits it to the ADC circuit. The ADC circuit then converts the analog signal into a digital signal. After the digital signal is processed by the FPGA circuit, the signal characteristics are output to the MCU controller, and then the MCU controller processes it to achieve calibration compensation.

[0043] Based on the above laser rangefinder, the laser calibration method of the present application includes:

[0044] First, as Figure 2 shown, a laser rangefinder calibration platform can be preset, and a first calibration point and a second calibration point can be set at one end of the laser rangefinder calibration platform. At the same time, the first calibration point and the second calibration point are on the same straight line, and a measurement board is set in the extension direction of the straight line where the first calibration point and the second calibration point are located. The first actual distance between the measurement board and the first calibration point is L1, and the second actual distance between the measurement board and the second calibration point is L2. And L1 can be greater than or less than L2, and both L1 and L2 are less than 5 meters.

[0045] Secondly, the laser rangefinder can be placed at the first calibration point, and the MCU controller can control the laser emission module TX to emit a first laser signal to the measurement board. The laser reception module RX can receive the second laser signal reflected by the measurement board, and the ADC circuit can be controlled to convert the second laser signal into a digital signal.

[0046] Moreover, the MCU controller can obtain the time from the emission to the reception of the laser according to the second laser signal, and use the formula speed of light * time / 2 to calculate the first measurement distance D1 of the current laser rangefinder at the first calibration point.

[0047] At the same time, the MCU controller can control the FPGA circuit to determine the pulse width n of the digital signal, and use the pulse width n as the exponential value m in the pre-constructed exponential function 2 m to obtain 2 to the power of n, and determine the compensation distance corresponding to 2 to the power of n, and use the compensation distance corresponding to 2 to the power of n as the compensation distance L corresponding to the first measurement distance D1 补 . Wherein, n is a positive integer greater than or equal to 5.

[0048] It should be understood that the specific process of determining the compensation distance corresponding to 2 to the power of n can be set according to actual requirements, and the embodiments of the present application are not limited thereto.

[0049] Optionally, the compensation distance corresponding to 2 to the power of n is n - 4 meters. For example, when n = 5 meters, the compensation distance is 1 meter; when n = 6 meters, the compensation distance is 2 meters.

[0050] Optionally, in the case of a sequence matrix or a number list table that records the corresponding relationship between 2 to the power of n and its corresponding compensation distance, the compensation distance corresponding to 2 to the power of n can be determined by querying the sequence matrix or the number list table.

[0051] Subsequently, the calibration distance of the laser rangefinder can be calculated according to the first measured distance D1, the compensation distance L 补 and the first actual distance L1. Specifically:

[0052] ΔL = D1 + L 补 - L1;

[0053] Then the calibrated standard test distance L of the laser rangefinder 标 = D1 + L 补 - ΔL, and the specific value of the compensation distance L 补 can be embedded into the MCU controller of the laser rangefinder to achieve calibration compensation of the laser rangefinder.

[0054] In addition, after placing the laser rangefinder after the above calibration compensation on the second calibration point, based on the compensation distance, the second measured distance D2 between the second calibration point and the measurement plate is determined. Subsequently, it can be judged whether the second measured distance D2 is equal to the second actual distance L2.

[0055] If the second measured distance D2 is equal to the second actual distance L2, then the compensation distance L 补 is used as the final compensation distance of the laser rangefinder, thus completing the calibration;

[0056] If the second measured distance D2 is not equal to the second actual distance L2, the laser rangefinder can be moved in the direction of approaching or moving away from the measurement plate on the straight line where the laser rangefinder and the measurement plate are located, so that the current reading of the laser rangefinder is equal to L2. Then the moving distance value d between the final characteristic position of the laser rangefinder and the second reference point can be measured. Then, the compensation distance is adjusted by using the moving distance value, and the adjusted compensation distance can be used as the final compensation distance L' of the laser rangefinder 补 = L 补 ± d, and at this time the final calibration distance ΔL' of the laser rangefinder 补 = ΔL ± d. Therefore, the calibrated standard test distance L' of the laser rangefinder 标= D2 + L 补 -ΔL’ 补 。

[0057] It should be noted here that for this laser rangefinder, the final compensated distance it determines is a fixed value, that is, after calibration, each compensation is fixed.

[0058] Second Embodiment

[0059] The laser rangefinder of the present application includes a laser emission module TX, a laser reception module RX, an ADC circuit and an MCU controller, and a power adjustment device is connected to the laser emission module (or by providing a device at the front end of the laser rangefinder that can reduce the laser emission power), and a waveform recognition device is connected to the laser reception module.

[0060] Furthermore, the present application can implement a laser calibration method by reducing the laser power, and this laser calibration method includes:

[0061] First, a laser rangefinder calibration platform can be preset, and a first calibration point can be set at one end of this laser rangefinder calibration platform. At the same time, a measuring plate is set in the extending direction of the straight line where the first calibration point is located. The first actual distance between this measuring plate and the first calibration point is d0, and d0 is less than 5 meters.

[0062] Second, the laser rangefinder can be placed at the first calibration point and the power supply is turned on. The MCU controller can control the laser emission module TX to send a first laser signal to the measuring plate at the initial power to measure the distance to the measuring plate. After the second laser signal returned by the measuring plate is converted into a digital signal by the ADC circuit of the laser reception module RX, the waveform recognition device acquires the laser pulse signal. For the currently acquired return signal, because the measurement distance is short, its pulse signal width will be very wide. Therefore, at this time, it is necessary to adjust the power of the laser emission module TX of the laser rangefinder.

[0063] And, the MCU controller can control the power adjustment device to continuously reduce the emission power of the laser emission module TX until a sharp wave appears on the display of the waveform recognition device. Record the third measurement distance d1 measured by the current laser rangefinder at this time, and then calculate the first distance difference Δd1 = d1 - d0 of this laser rangefinder.

[0064] And, the MCU controller can restore the power of the laser emission module TX of the laser rangefinder to the initial power, read the first measurement distance to the measuring plate when the laser rangefinder is restored to the initial power as d2, and then according to the previous first distance difference Δd1 and the first actual distance d0, calculate the distance Δd0 that this laser rangefinder needs to compensate = d2 - Δd1 - d0.

[0065] And when in actual measurement, the measured distance d after compensation by the laser rangefinder s = d 测 -Δd1 - Δd0; where d s is the measured distance finally output by the laser rangefinder; d 测 is the distance measured by the laser rangefinder.

[0066] It should be understood that the above laser calibration method based on the ADC circuit is only exemplary. Those skilled in the art can make various deformations according to the above method, and the deformed scheme also belongs to the protection scope of this application.

[0067] Please refer to Figure 3 , Figure 3 , which shows a structural block diagram of a laser rangefinder 300 provided by an embodiment of this application. Specifically, the laser rangefinder 300 includes an MCU controller 310, and the MCU controller 310 is used to execute the above laser calibration method based on the ADC circuit. The specific process can refer to the above relevant description and will not be repeated here.

[0068] Since the device described in the above embodiments of the present invention is the device adopted for implementing the method in the above embodiments of the present invention, based on the method described in the above embodiments of the present invention, those skilled in the art can understand the specific structure and deformation of the device, so it will not be elaborated here. Any device adopted for the method in the above embodiments of the present invention belongs to the protection scope of the present invention.

[0069] This application provides a storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the method described in the embodiment.

[0070] This application also provides a computer program product, when the computer program product runs on a computer, it enables the computer to execute the method described in the method embodiment.

[0071] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions.

[0073] It should be noted that, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of other elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements, and by means of a suitably programmed computer. In a claim listing several means, several of these means can be embodied by one and the same piece of hardware. The use of the terms first, second, third, etc. is for convenience of expression only and does not denote any order. These terms can be understood as part of the name of the element.

[0074] In addition, it should be noted that in the description of this specification, the descriptions of the terms "an embodiment", "some embodiments", "embodiments", "examples", "specific examples" or "some examples", etc., mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0075] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications after learning the basic creative concept. Therefore, the claims should be construed to cover the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0076] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention should also include these modifications and variations.

Claims

1. A laser calibration method based on ADC circuit, characterized in that: The laser calibration method is applied to an MCU controller in a laser rangefinder, the laser rangefinder includes a laser emitting module, a laser receiving module, the ADC circuit and the MCU controller, and the laser rangefinder is located at a first calibration point of a pre-built laser rangefinder calibration platform including a measuring board, and a first actual distance between the first calibration point and the measuring board is less than 5 meters; the laser calibration method includes: Controlling the laser emission module to emit a first laser signal to the measurement board; The ADC circuit of the laser receiving module converts the second laser signal reflected by the measuring board into a digital signal; Based on the digital signal, determining a compensation distance corresponding to a first measurement distance between the first calibration point and the measurement plate to achieve calibration of the laser rangefinder; The laser rangefinder further includes an FPGA circuit; Wherein, determining the compensation distance corresponding to the first measurement distance based on the digital signal includes: Controlling the FPGA circuit to determine the pulse width n of the digital signal; n is a positive integer greater than or equal to 5; Using the pulse width n as an exponent value in a pre-constructed exponential function with a base of 2 to obtain 2 to the power of n; Determine a compensation distance corresponding to the n-th power of 2, and use the compensation distance corresponding to the n-th power of 2 as the compensation distance corresponding to the first measurement distance; The compensation distance corresponding to the nth power of 2 is n-4 meters; The step of determining, based on the digital signal, a compensation distance corresponding to a first measurement distance between the first calibration point and the measurement board to calibrate the laser rangefinder comprises: In the case of a pre-constructed number matrix or number table recording the correspondence between powers of 2 and their corresponding compensation distances, determining the compensation distance corresponding to the power of 2 by querying the number matrix or the number table; According to the first measured distance D1, the compensation distance L 补 And the first actual distance is L1 to calculate the laser rangefinder calibration distance, specifically: ； The standard test distance of the laser rangefinder after calibration is , and the compensation distance L 补 The specific value of is embedded into the MCU controller of the laser rangefinder to achieve calibration compensation of the laser rangefinder; The determining, based on the digital signal, a compensation distance corresponding to a first measurement distance between the first calibration point and the measurement plate further comprises: When the laser rangefinder is moved to a second calibration point on the laser rangefinder calibration platform, a second measurement distance D2 between the second calibration point and the measurement plate is determined based on the compensation distance; Determining whether the second measured distance D2 is equal to the second actual distance L2; If the second measured distance D2 is equal to the second actual distance L2, then the compensation distance L 补 As the final compensation distance of the laser rangefinder, the calibration is completed; If the second measured distance D2 is not equal to the second actual distance L2, the laser rangefinder is moved on the straight line between the laser rangefinder and the measuring plate toward or away from the measuring plate, so that the current reading of the laser rangefinder is equal to L2, and then the moving distance value d between the final characteristic position of the laser rangefinder and the second calibration point is measured, and the compensation distance L is calculated using the moving distance value d. 补 Make adjustments and use the adjusted compensation distance as the final compensation distance of the laser rangefinder , and the final calibration distance of the laser rangefinder at this time , so the standard test distance of the laser rangefinder after calibration .

2. The laser calibration method according to claim 1, characterized in that: The laser rangefinder further comprises a power adjustment device connected to the laser emitting module and a waveform recognition device connected to the laser receiving module; Wherein, controlling the laser emission module to emit a first laser signal to the measurement board includes: In the case where the pulse width of the digital signal caused by the laser emitting module emitting the first laser signal at the initial power is greater than or equal to the preset pulse width, controlling the power regulating device to continuously reduce the emission power of the laser emitting module until it is determined that a sharp wave appears on the display of the waveform recognition device, and then stopping reducing the power of the laser emitting module; and The power of the laser emission module is restored to the initial power.

3. The laser calibration method according to claim 1, characterized in that: Determining a first measurement distance between the first calibration point and the measurement plate based on the digital signal comprises: When the power of the laser emitting module is restored to the initial power, the first measurement distance measured at this time is acquired.

4. The laser calibration method according to claim 3, characterized in that: Determining a compensation distance corresponding to the first measurement distance based on the digital signal includes: When it is determined that a sharp wave appears on the waveform recognition device, a third measurement distance measured at this time is obtained; Calculating a first distance difference between the third measured distance and the first actual distance; A second distance difference of the first measured distance, the distance difference, and the first actual distance is calculated, and the second distance difference is used as a compensation distance corresponding to the first measured distance.

5. A laser rangefinder, characterized in that: The invention comprises an MCU controller, wherein a computer program is stored on the MCU controller, and when the computer program is run by a processor, the laser calibration method based on the ADC circuit as claimed in any one of claims 1 to 4 is executed.

Images