Adjustable movable laser ranging device for road and bridge construction

Abstract

The application discloses a kind of adjustable activity type laser ranging device of road bridge construction, it is related to laser ranging technical field, including laser ranging device main body, temperature and humidity sensor is installed in the inside of laser ranging device main body, emitter, receiver, infrared sensor and visible light sensor are respectively installed on laser ranging device main body, adjusting assembly is connected with the below of laser ranging device main body, laser emission and receiving module, signal processing module, sensor acquisition module, data processing module, storage module and display module are connected with the inside of laser ranging device main body, data processing module determines preliminary reflectivity estimation value, environmental correction coefficient, corrected reflectivity and actual measurement distance, the present application realizes to the reflectivity is intelligently compensated, and wherein comprehensive consideration is measured distance, target material and the factor of measurement environment, improve the measurement precision of laser ranging, in addition, the measurement flexibility of laser ranging is expanded by adjusting assembly.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of laser ranging, in particular to an adjustable movable laser ranging device for road and bridge construction. BACKGROUND

[0002] In road and bridge construction, the height, length and slope of the road and bridge are often measured to ensure the engineering quality, and a laser ranging device is a commonly used measuring tool for accurately measuring the distance of a target by using laser.

[0003] At present, due to the different reflection characteristics of different materials and the changes of different environmental factors, the propagation and reflection of laser are affected, and the existing laser ranging device does not consider the influence of the target material and the measurement environment on the reflectivity, resulting in low measurement accuracy and affecting the measurement result.

[0004] In addition, the existing device cannot intelligently compensate for the reflectivity, and thus cannot adapt to different measurement scenes. Specifically, when the measurement distance changes, the strength of the echo signal changes, and if no corresponding compensation is performed, the measurement result will be inaccurate; for example, when measuring at a long distance, the echo signal is weak, and the peak strength may not be accurately measured, which affects the estimation of the reflectivity and the measurement of the distance. SUMMARY

[0005] The purpose of the present application is to provide an adjustable movable laser ranging device for road and bridge construction, which solves the problems raised in the background.

[0006] To achieve the above purpose, the present application provides the following technical scheme, which comprises a laser ranging device main body, a temperature and humidity sensor is installed inside the laser ranging device main body, a transmitter, a receiver, an infrared sensor and a visible light sensor are installed on the laser ranging device main body respectively, and an adjusting assembly is connected below the laser ranging device main body.

[0007] The inside of the laser ranging device main body is connected with a laser emission and receiving module, a signal processing module, a sensor acquisition module, a data processing module, a storage module and a display module.

[0008] The specific implementation steps are as follows:

[0009] S1, the laser emission and receiving module receives the original distance measured by the transmitter and the receiver and the echo signal reflected back;

[0010] S2, the signal processing module determines the peak strength of the echo signal after amplifying and filtering the echo signal, and transmits it to the data processing module and the storage module;

[0011] S3, the sensor acquisition module receives the internal temperature, the internal humidity, the visible light band reflection intensity and the infrared band reflection intensity sensed and detected by the temperature and humidity sensor, the visible light sensor and the infrared sensor respectively, and transmits to the data processing module and the storage module;

[0012] S4, the data processing module extracts the reference ranging related data group from the storage module;

[0013] S4.1, the reference ranging related data group and the echo signal peak intensity are weighted to determine a preliminary reflectivity estimate value;

[0014] S4.2.1, the internal temperature and the internal humidity are input into the functional relationship between the environmental parameters and the reflectivity correction coefficient to determine the environmental correction coefficient;

[0015] S4.2.2, the reference ranging related data group, the visible light band reflection intensity and the infrared band reflection intensity are weighted, and the result is corrected by the environmental correction coefficient to determine the corrected reflectivity;

[0016] S4.3, based on the original distance, the reference ranging related data group and the corrected reflectivity, the actual measurement distance after reflectivity compensation is determined;

[0017] S5, the display module receives and displays the actual measurement distance.

[0018] Optionally, the reference ranging related data group includes a reference peak intensity, a first reference reflection intensity, a second reference reflection intensity, a material characteristic coefficient, a peak maximum intensity, a first reflection maximum intensity and a second reflection maximum intensity;

[0019] The reference peak intensity and the peak maximum intensity are obtained by the signal processing module;

[0020] The first reference reflection intensity and the first reflection maximum intensity are obtained by the visible light sensor;

[0021] The second reference reflection intensity and the second reflection maximum intensity are obtained by the infrared sensor;

[0022] The material characteristic coefficient is obtained by the data processing module.

[0023] Optionally, the specific determination process of the preliminary reflectivity estimate value based on S4.1 is as follows:

[0024] Based on the proportional relationship between the echo signal peak intensity and the peak maximum intensity, the normalized echo signal peak intensity is determined;

[0025] determining a normalized reference peak intensity based on a proportional relationship between the reference peak intensity and the peak maximum intensity;

[0026] determining a first relative size feature reflecting a current echo signal peak intensity within a detection capability range of the device based on a proportional relationship between the normalized echo signal peak intensity and the normalized reference peak intensity;

[0027] determining the preliminary reflectivity estimation value by weighting the influence result of the material characteristic coefficient on the first relative size feature.

[0028] Optionally, based on the specific determination process S4.1, the specific acquisition of the material characteristic coefficient is as follows:

[0029] In the case of known normalized echo signal peak intensity and normalized reference peak intensity, since the material characteristic coefficient is unknown, an initial material characteristic coefficient = 1 can be set first;

[0030] The ranging materials in the current road and bridge construction are measured and calculated multiple times to obtain multiple preliminary reflectivity estimation values;

[0031] The multiple preliminary reflectivity estimation values are compared and analyzed with the design expected reflectivity to establish a regression model therebetween;

[0032] According to the regression model, the multiple preliminary reflectivity estimation values obtained by multiple measurements are combined, and a least square method or other optimization algorithm is used to solve the material characteristic coefficient corresponding to each material, so as to determine the material characteristic coefficient.

[0033] Optionally, based on S4.2.2, the specific determination process of the corrected reflectivity is as follows:

[0034] determining a normalized visible light band reflection intensity based on a proportional relationship between the visible light band reflection intensity and the first reflection maximum intensity;

[0035] determining a normalized first reference reflection intensity based on a proportional relationship between the first reference reflection intensity and the first reflection maximum intensity;

[0036] determining a normalized infrared band reflection intensity based on a proportional relationship between the infrared band reflection intensity and the second reflection maximum intensity;

[0037] determining a normalized second reference reflection intensity based on a proportional relationship between the second reference reflection intensity and the second reflection maximum intensity;

[0038] The first relative change rate under the visible light band is determined after the difference between the normalized visible light band reflection intensity and the normalized first reference reflection intensity is subtracted and divided by the result of the normalized first reference reflection intensity;

[0039] The second relative change rate under the infrared band is determined after the difference between the normalized infrared band reflection intensity and the normalized second reference reflection intensity is subtracted and divided by the result of the normalized second reference reflection intensity;

[0040] The first relative change rate and the second relative change rate are respectively weighted and added to determine a multi-band influence coefficient;

[0041] The environmental correction coefficient is used to correct the multi-band influence result to determine a comprehensive influence coefficient;

[0042] The comprehensive influence coefficient is used to comprehensively correct the preliminary reflectivity estimation value to determine the corrected reflectivity.

[0043] Optionally, the specific determination process of the environmental correction coefficient based on S4.2.1 is as follows:

[0044] The temperature and humidity sensor acquires the internal temperature and the internal humidity;

[0045] The internal temperature and the internal humidity are transmitted to the data processing module through the sensor acquisition module;

[0046] The data processing module internally establishes a functional relationship between the environmental parameters and the reflectivity correction coefficient, and uses a linear regression model to input and calculate the internal temperature and the internal humidity, and finally determines the environmental correction coefficient;

[0047] The calculation formula of the linear regression model for determining the environmental correction coefficient is as follows:

[0048] h=a+a1×T+a2×H;

[0049] Wherein:

[0050] h is the environmental correction coefficient, T is the internal temperature, H is the internal humidity, a, a1 and a2 are all fitting coefficients.

[0051] Optionally, the specific determination process of the actual measurement distance based on S4.3 is as follows:

[0052] The original distance is determined based on the calculation formula of the ranging principle: distance=(light speed×time difference) / 2;

[0053] The difference between the modified reflectivity and the design expected reflectivity is weighted by dividing the design expected reflectivity to determine a reflection change coefficient;

[0054] The actual measured distance is determined by adding the influence of the reflection change rate to the original distance.

[0055] Optionally, the adjusting assembly comprises an upper flange connecting column, a lower flange connecting column, a base frame, a fixing sleeve, a motor, a driving gear, and a driven gear.

[0056] Optionally, the upper flange connecting column is fixedly installed on the lower surface of the laser ranging device main body, and the upper flange connecting column and the lower flange connecting column are in a flange connection relationship.

[0057] The driven gear is sleeved on the outer surface of the lower flange connecting column, the fixing sleeve is fixedly sleeved on the outer surface of the base frame, and the motor is fixedly installed in the interior of the base frame.

[0058] The output end of the motor is fixedly connected with the driving gear, the driving gear and the driven gear are in a meshing connection relationship, and the bottom end of the lower flange connecting column is inserted into the interior of the base frame for limiting rotation.

[0059] Compared with the prior art, the present application has the following beneficial effects:

[0060] The present application first comprehensively considers the echo signal peak intensity, the reference peak intensity, the material characteristic coefficient and the weight coefficient, and can preliminarily estimate the reflectivity of the target material, wherein the material characteristic coefficient is introduced to consider the influence of the target material on the reflectivity.

[0061] Secondly, the present application comprehensively considers the data of the visible light and infrared wave bands, corrects the reflectivity, and calculates the environmental correction coefficient according to the internal temperature and internal humidity measured by the temperature and humidity sensor and the pre-established function relationship, and introduces the environmental correction coefficient for calculation, thereby considering the influence of the measurement environment on the reflectivity, and further improving the accuracy of the reflectivity correction through the multispectral fusion of the data of the visible light and infrared wave bands, so that the measurement result of the laser ranging is more in line with the actual situation.

[0062] Finally, when the original distance is compensated by the corrected reflectivity, the difference between the corrected reflectivity and the design expected reflectivity is considered, the corrected reflectivity is accurately estimated and corrected, the influence of the reflectivity on the distance measurement can be more accurately compensated, and the precision of the laser ranging is improved. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 It is the overall structure front view of the present adjustable active laser ranging device.

[0064] Figure 2 The overall structure side view of the adjustable active laser ranging device of the present application;

[0065] Figure 3 The adjustable active laser ranging device of the present application Figure 2 The enlarged schematic view of the structure at A in the present application;

[0066] Figure 4 The flow step schematic diagram of laser ranging for the adjustable active laser ranging device of the present application.

[0067] In the figure: 1-laser ranging device main body, 2-emitter, 3-receiver, 4-visible light sensor, 5-infrared sensor, 6-upper flange connecting column, 7-lower flange connecting column, 8-driven gear, 9-base frame, 10-fixing sleeve, 11-motor, 12-driving gear. DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0069] Regarding the adjustable active laser ranging device of the present application, it is different from the existing laser ranging device, and the existing laser ranging device has the problem of limited measurement accuracy. The algorithm unit of the present application improves the measurement accuracy of laser ranging after considering the measurement distance, target material and measurement environment factors.

[0070] Embodiment one, please refer to Figures 1 to 4 The present embodiment provides an adjustable active laser ranging device for road and bridge construction, which comprises a laser ranging device main body 1. A temperature and humidity sensor is installed inside the laser ranging device main body 1. An emitter 2, a receiver 3, an infrared sensor 5 and a visible light sensor 4 are installed on the laser ranging device main body 1 respectively. An adjusting assembly is connected below the laser ranging device main body 1.

[0071] A laser emission and reception module, a signal processing module, a sensor acquisition module, a data processing module, a storage module and a display module are connected inside the laser ranging device main body 1.

[0072] The specific implementation steps are as follows:

[0073] S1, the laser emission and reception module receives the original distance measured by the emitter 2 and the receiver 3 and the echo signal reflected back;

[0074] S2, the signal processing module amplifies and filters the echo signal, determines the peak intensity of the echo signal, and transmits it to the data processing module and the storage module;

[0075] S3, the sensor acquisition module receives the internal temperature, internal humidity, visible light band reflection intensity and infrared band reflection intensity sensed and detected by the temperature and humidity sensor, the visible light sensor 4 and the infrared sensor 5 respectively, and transmits them to the data processing module and the storage module;

[0076] S4, the data processing module extracts the reference ranging related data group from the storage module;

[0077] S4.1, the reference ranging related data group and the echo signal peak intensity are weighted to determine the preliminary reflectivity estimate;

[0078] S4.2.1, the internal temperature and internal humidity are input into the functional relationship between the environmental parameters and the reflectivity correction coefficient to determine the environmental correction coefficient;

[0079] S4.2.2, the reference ranging related data group, the visible light band reflection intensity and the infrared band reflection intensity are weighted, and the result is corrected by the environmental correction coefficient to determine the corrected reflectivity;

[0080] S4.3, based on the original distance, the reference ranging related data group and the corrected reflectivity, the actual measurement distance after reflectivity compensation is determined;

[0081] S5, the display module receives and displays the actual measurement distance.

[0082] The reference ranging related data group includes reference peak intensity, first reference reflection intensity, second reference reflection intensity, material characteristic coefficient, peak maximum intensity, first reflection maximum intensity, and second reflection maximum intensity;

[0083] The reference peak intensity and the peak maximum intensity are obtained by the signal processing module;

[0084] The first reference reflection intensity and the first reflection maximum intensity are obtained by the visible light sensor 4;

[0085] The second reference reflection intensity and the second reflection maximum intensity are obtained by the infrared sensor 5;

[0086] The material characteristic coefficient is obtained by the data processing module.

[0087] In this embodiment, first, the echo signal and the reference signal obtained by the laser emission and reception module are combined with the analysis of the target material characteristics by the signal processing module, and the data processing module preliminarily estimates the preliminary reflectivity;

[0088] The multispectral data of the sensor acquisition module and the internal temperature and internal humidity of the temperature and humidity sensor are used to correct the reflectivity by the data processing module, and the corrected reflectivity is determined, so that the calculation of the reflectivity is more in line with the actual measurement environment.

[0089] The original distance is compensated based on the corrected reflectivity, and the ranging accuracy is improved.

[0090] The three calculation results work together with the display unit and the storage module of the laser ranging device main body 1 to improve the measurement accuracy, adaptability and reliability of the adjustable active laser ranging device in road and bridge construction, and effectively meet the laser ranging needs in different materials and complex environments.

[0091] Please refer to Figure 4 , the specific determination process of the preliminary reflectivity estimate value based on S4.1 is as follows:

[0092] Based on the proportional relationship between the peak value intensity of the echo signal and the maximum peak value intensity, the normalized peak value intensity of the echo signal is determined;

[0093] Based on the proportional relationship between the reference peak value intensity and the maximum peak value intensity, the normalized reference peak value intensity is determined;

[0094] Based on the proportional relationship between the normalized peak value intensity of the echo signal and the normalized reference peak value intensity, the first relative size feature reflecting the current peak value intensity of the echo signal within the detection capability range of the device is determined;

[0095] After weighting the influence of the material characteristic coefficient on the first relative size feature, the preliminary reflectivity estimate value is determined.

[0096] In this embodiment: first, the calculation formula of the preliminary reflectivity estimate value is as follows:

[0097] ;

[0098] FQ nor =FQ / FQ max ;

[0099] FQ 0,nor =FQ0 / FQ max ;

[0100] Wherein:

[0101] F1 is the preliminary reflectivity estimate value;

[0102] FQ nor is the normalized peak value intensity of the echo signal, FQ 0,nor is the normalized reference peak value intensity, cs is the material characteristic coefficient, and w1 is the weight coefficient;

[0103] The weight coefficient w1 is in the range of 0-1.

[0104] FQ is the directly measured peak intensity of the echo signal, FQ0 is the directly measured reference peak intensity, FQ max is the directly measured peak maximum intensity.

[0105] The calculation result of the first relative size characteristic.

[0106] In addition, based on the specific determination process of S4.1, the specific acquisition of the material characteristic coefficient is as follows:

[0107] In the case where the normalized echo signal peak intensity and the normalized reference peak intensity are known, since the material characteristic coefficient is unknown, an initial material characteristic coefficient = 1 can be set first.

[0108] The ranging materials in the current road and bridge construction are measured and calculated multiple times to obtain multiple preliminary reflectivity estimation values.

[0109] The multiple preliminary reflectivity estimation values are compared and analyzed with the designed expected reflectivity to establish a regression model therebetween.

[0110] According to the regression model, the multiple preliminary reflectivity estimation values measured multiple times are combined, and a least square method or other optimization algorithm is used to solve the material characteristic coefficient corresponding to each material to determine the material characteristic coefficient.

[0111] Please refer to Figure 4 , and the specific determination process of the corrected reflectivity based on S4.2.2 is as follows:

[0112] Based on the proportional relationship between the visible light band reflectance and the first reflection maximum intensity, the normalized visible light band reflectance is determined.

[0113] Based on the proportional relationship between the first reference reflection intensity and the first reflection maximum intensity, the normalized first reference reflection intensity is determined.

[0114] Based on the proportional relationship between the infrared band reflectance and the second reflection maximum intensity, the normalized infrared band reflectance is determined.

[0115] Based on the proportional relationship between the second reference reflection intensity and the second reflection maximum intensity, the normalized second reference reflection intensity is determined.

[0116] The normalized visible light band reflectance is subtracted from the normalized first reference reflection intensity, and the result is normalized to determine the first relative change rate under the visible light band.

[0117] The normalized infrared band reflection intensity is subtracted from the normalized second reference reflection intensity, and the result is divided by the normalized second reference reflection intensity to normalize, and a second relative change rate of the infrared band is determined;

[0118] The first relative change rate and the second relative change rate are respectively weighted and added to determine a multi-band influence coefficient;

[0119] An environmental correction coefficient is used to correct the multi-band influence result to determine a comprehensive influence coefficient;

[0120] The comprehensive influence coefficient is used to comprehensively correct the preliminary reflectance estimation value to determine a corrected reflectance.

[0121] In the embodiment, the calculation formula of the corrected reflectance is as follows:

[0122] ;

[0123] KQ nor =KQ / KQ max ;

[0124] KQ 0,nor =KQ0 / KQ max ;

[0125] HQ nor =HQ / HQ max ;

[0126] HQ 0,nor =HQ0 / HQ max ;

[0127] Wherein:

[0128] F2 is the corrected reflectance;

[0129] KQ nor is the normalized visible light band reflection intensity, KQ 0,nor is the normalized first reference reflection intensity, HQ nor is the normalized infrared band reflection intensity, HQ 0,nor is the normalized second reference reflection intensity, w2 and w3 are weight coefficients, and h is an environmental correction coefficient;

[0130] The weight coefficients w2 and w3 have a value range of 0-1;

[0131] KQ is a directly measured visible light band reflection intensity, KQ max is a directly measured first reflection maximum intensity, KQ0 is a directly measured first reference reflection intensity, HQ is a directly measured infrared band reflection intensity, and HQ maxThe second reflection maximum intensity is directly measured, and HQ0 is the second reference reflection intensity directly measured;

[0132] The first relative change rate is the result of the calculation;

[0133] The second relative change rate is the result of the calculation;

[0134] The multi-band influence coefficient is the result of the calculation;

[0135] The comprehensive influence coefficient is the result of the calculation.

[0136] Further, the specific determination process of the environmental correction coefficient based on S4.2.1 is as follows:

[0137] The temperature and humidity sensor obtains the internal temperature and internal humidity;

[0138] The internal temperature and internal humidity are transmitted to the data processing module through the sensor acquisition module;

[0139] The data processing module internally establishes a functional relationship between the environmental parameters and the reflectivity correction coefficient, and uses a linear regression model to input and calculate the internal temperature and internal humidity, and finally determines the environmental correction coefficient;

[0140] The calculation formula of the linear regression model for determining the environmental correction coefficient is as follows:

[0141] h=a+a1×T+a2×H;

[0142] Wherein:

[0143] h is the environmental correction coefficient, T is the internal temperature, H is the internal humidity, a, a1 and a2 are all fitting coefficients.

[0144] In addition, because the internal environment of the laser ranging device main body 1 can more accurately reflect the overall environmental temperature and humidity of the device, and can avoid the direct influence of external environmental factors on the sensor, the temperature and humidity sensor is installed inside the laser ranging device main body 1 close to the circuit board or the heat dissipation area, so as to monitor the change of the temperature and humidity inside the device in real time.

[0145] Please refer to Figure 4 The specific determination process of the actual measured distance based on S4.3 is as follows:

[0146] The calculation formula based on the ranging principle: distance=(speed of light×time difference) / 2, to determine the original distance;

[0147] The difference between the modified reflectivity and the design expected reflectivity is divided by the design expected reflectivity, and then weighted to determine a reflection change coefficient;

[0148] The actual measured distance is determined by adding the influence of the reflection change rate to the original distance.

[0149] In this embodiment, the calculation formula of the actual measured distance is as follows:

[0150] ;

[0151] Wherein:

[0152] J is the actual measured distance;

[0153] J0 is the original distance, w4 is the weight coefficient, F02 is the design expected reflectivity;

[0154] The value range of the weight coefficient w4 is 0-1;

[0155] The result of the reflection change coefficient.

[0156] The actual measured distance J is transmitted to the display module for display, which is convenient for the operator to view, and in addition, the warning unit inside the display module can also perform laser ranging warning on the actual measured distance J.

[0157] Embodiment two, please refer to Figures 1 to 3 The adjusting assembly comprises an upper flange connecting column 6, a lower flange connecting column 7, a base frame 9, a fixing sleeve 10, a motor 11, a driving gear 12, and a driven gear 8.

[0158] The upper flange connecting column 6 is fixedly installed on the lower surface of the laser ranging device main body 1, and the upper flange connecting column 6 and the lower flange connecting column 7 are in a flange connection relationship;

[0159] The driven gear 8 is sleeved on the outer surface of the lower flange connecting column 7, the fixing sleeve 10 is fixedly sleeved on the outer surface of the base frame 9, and the motor 11 is fixedly installed in the interior of the base frame 9;

[0160] The output end of the motor 11 is fixedly connected with the driving gear 12, the driving gear 12 and the driven gear 8 are in meshing connection relationship, and the bottom end of the lower flange connecting column 7 is inserted into the interior of the base frame 9 for limiting rotation.

[0161] In this embodiment, when laser ranging is performed, the operator needs to fixedly place the base frame 9 at the operating position;

[0162] Then, according to the ranging direction, the button of the adjusting assembly is pressed, the output end of the motor 11 drives the driving gear 12 to rotate, the driving gear 12 drives the driven gear 8 to rotate, and the driven gear 8 drives the lower flange connecting column 7 to rotate in the base frame 9;

[0163] Due to the flange connection relationship between the upper flange connecting column 6 and the lower flange connecting column 7, the lower flange connecting column 7 also drives the upper flange connecting column 6 to rotate until the laser ranging device main body 1 reaches the ranging direction;

[0164] Then, the ranging button is started, the laser ranging device main body 1 is started, the laser ranging device main body 1 controls the transmitter 2 to emit laser, and the receiver 3 receives the laser, and then transmits the signal to the laser emission and receiving module, the signal processing module processes the signal to obtain the echo signal peak strength FQ, at the same time, the laser ranging device main body 1 controls the temperature and humidity sensor, the infrared sensor 5 and the visible light sensor 4 to carry out sensing detection, and transmits to the sensor acquisition module, the data processing module and the storage module;

[0165] Finally, the data processing module calculates and determines the actual measurement distance J.

[0166] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An adjustable movable laser rangefinder for road and bridge construction, characterized in that, The device includes a laser rangefinder body (1), a temperature and humidity sensor is installed inside the laser rangefinder body (1), and a transmitter (2), a receiver (3), an infrared sensor (5) and a visible light sensor (4) are installed on the laser rangefinder body respectively. The main body (1) of the laser ranging device has internal connections of a laser emission and reception module, a signal processing module, a sensor acquisition module, a data processing module and a storage module; The specific implementation steps are as follows: S1, the laser transmitting and receiving module receives the original distance measured by the transmitter (2) and the receiver (3) and the reflected echo signal; S2. After amplifying and filtering the echo signal, the signal processing module determines the peak intensity of the echo signal. S3, the sensor acquisition module is used to receive internal temperature, internal humidity, visible light band reflection intensity and infrared band reflection intensity; S4. The data processing module extracts the reference ranging related data set from the storage module; S4.1 After weighting the reference ranging correlation data set and the peak intensity of the echo signal, a preliminary reflectivity estimate is determined; S4.2.1 Input the internal temperature and internal humidity into the functional relationship between environmental parameters and reflectivity correction coefficient to determine the environmental correction coefficient; S4.2.2 After weighting the reference ranging data set, the reflectance intensity in the visible light band and the reflectance intensity in the infrared band, the result is corrected for environmental factors using an environmental correction coefficient to determine the corrected reflectance. S4.3 Based on the original distance, the reference ranging data set, and the corrected reflectivity, determine the actual measured distance after reflectivity compensation.

2. The adjustable movable laser rangefinder for road and bridge construction according to claim 1, characterized in that, The reference ranging related data set includes reference peak intensity, first reference reflection intensity, second reference reflection intensity, material characteristic coefficient, peak maximum intensity, first reflection maximum intensity, and second reflection maximum intensity; The reference peak intensity and the maximum peak intensity are obtained by the signal processing module; The first reference reflection intensity and the first maximum reflection intensity are obtained by the visible light sensor (4); The second reference reflection intensity and the second maximum reflection intensity are obtained by the infrared sensor (5); The material characteristic coefficients are obtained by the data processing module.

3. The adjustable movable laser rangefinder for road and bridge construction according to claim 2, characterized in that: The specific process for determining the preliminary reflectivity estimate based on S4.1 is as follows: The normalized peak intensity of the echo signal is determined based on the ratio between the peak intensity of the echo signal and the maximum peak intensity. The normalized reference peak intensity is determined based on the ratio between the reference peak intensity and the maximum peak intensity. Based on the ratio between the normalized echo signal peak intensity and the normalized reference peak intensity, a first relative magnitude feature is determined; The preliminary reflectance estimate is determined by weighting the results of the influence of the material characteristic coefficients on the first relative size feature.

4. The adjustable movable laser rangefinder for road and bridge construction according to claim 3, characterized in that: Based on the specific determination process in S4.1, the material characteristic coefficients are obtained as follows: Given the normalized peak intensity of the echo signal and the normalized reference peak intensity, since the material characteristic coefficient is unknown, the initial material characteristic coefficient can be set to 1. Multiple measurements and calculations were performed on the distance measuring materials used in current road and bridge construction to obtain several preliminary reflectivity estimates. Multiple preliminary reflectance estimates were compared and analyzed with the design expected reflectance, and a regression model between the two was established. Based on the regression model, combined with multiple preliminary reflectance estimates from various measurements, and using optimization algorithms such as the least squares method, the material characteristic coefficients for each material are solved, and the material characteristic coefficients are determined.

5. The adjustable movable laser rangefinder for road and bridge construction according to claim 4, characterized in that: The specific process for determining the corrected reflectivity based on S4.2.2 is as follows: Based on the ratio between the visible light band reflection intensity and the first maximum reflection intensity, the normalized visible light band reflection intensity is determined. Based on the ratio between the first reference reflection intensity and the first maximum reflection intensity, the normalized first reference reflection intensity is determined. Based on the ratio between the infrared band reflection intensity and the second maximum reflection intensity, the normalized infrared band reflection intensity is determined. The normalized second reference reflection intensity is determined based on the ratio between the second reference reflection intensity and the second maximum reflection intensity. The difference between the normalized visible light band reflection intensity and the normalized first reference reflection intensity, and then the result of dividing by the normalized first reference reflection intensity, is normalized to determine the first relative rate of change in the visible light band. The difference between the normalized infrared band reflection intensity and the normalized second reference reflection intensity, and then the result of dividing by the normalized second reference reflection intensity, is normalized to determine the second relative rate of change of the infrared band. The first relative rate of change and the second relative rate of change are weighted separately and then summed to determine the multi-band influence coefficient; The environmental correction coefficient is used to correct for environmental factors in the multi-band impact results, and then the comprehensive impact coefficient is determined. The comprehensive influence coefficient is used to comprehensively correct the preliminary reflectance estimate, and then the corrected reflectance is determined.

6. The adjustable movable laser rangefinder for road and bridge construction according to claim 4, characterized in that: The specific process for determining the environmental correction coefficient based on S4.2.1 is as follows: The temperature and humidity sensor acquires the internal temperature and the internal humidity. The internal temperature and internal humidity are transmitted to the data processing module via the sensor acquisition module. The data processing module establishes a functional relationship between environmental parameters and reflectivity correction coefficients, and uses a linear regression model to input the internal temperature and internal humidity for calculation, and finally determines the environmental correction coefficients. The formula for calculating the linear regression model used to determine the environmental correction coefficient is as follows: h = a + a1 × T + a2 × H; in: h is the environmental correction factor, T is the internal temperature, H is the internal humidity, and a, a1, and a2 are all fitting coefficients.

7. The adjustable movable laser rangefinder for road and bridge construction according to claim 6, characterized in that: The specific process for determining the actual measured distance based on S4.3 is as follows: The calculation formula based on the distance measurement principle is: distance = (speed of light × time difference) / 2, which determines the original distance; The difference between the corrected reflectance and the design expected reflectance is divided by the design expected reflectance and then weighted to determine the reflectance variation coefficient. The actual measured distance is determined by adding the effect of the reflection rate to the original distance.

8. The adjustable movable laser rangefinder for road and bridge construction according to claim 1, characterized in that: An adjustment assembly is connected to the lower part of the main body (1) of the laser ranging device: The adjustment assembly includes an upper flange connecting column (6), a lower flange connecting column (7), a base frame (9), a fixing sleeve (10), a motor (11), a driving gear (12), and a driven gear (8).

9. An adjustable movable laser rangefinder for road and bridge construction according to claim 8, characterized in that: The upper flange connecting column (6) is fixedly installed on the lower surface of the laser ranging device body (1), and the upper flange connecting column (6) and the lower flange connecting column (7) are in a flange connection relationship. The driven gear (8) is sleeved on the outer surface of the lower flange connecting column (7), the fixed sleeve (10) is fixedly sleeved on the outer surface of the base frame (9), and the motor (11) is fixedly installed inside the base frame (9). The output end of the motor (11) is fixedly connected to the drive gear (12), and the drive gear (12) and the driven gear (8) are meshed. The bottom end of the lower flange connecting column (7) is inserted into the base frame (9) for limited rotation.

10. An adjustable movable laser rangefinder for road and bridge construction according to claim 1, characterized in that: The laser ranging device body (1) is also connected to a display module, which is used to receive and display the actual measured distance.

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