Calibration device for laser range finder and calibration method thereof

Abstract

The invention provides a calibration device for a laser range finder and a calibration method thereof. The calibration device comprises a driving unit used for connecting an object to be calibrated; the acquisition unit is used for acquiring a light spot image formed by the laser emitting element and / or an element image of the laser receiving element; and the processing unit is in communication connection with the acquisition unit and the driving unit, and is used for controlling the driving unit to drive the laser emitting element to move according to the light spot image, and / or controlling the driving unit to drive the laser receiving element to move according to the element image, so that the driving unit adjusts the position of the laser emitting element and / or the laser receiving element. Compared with the prior art, the position calibration of the laser emitting element and / or the laser receiving element can be completed, and the problem that the calculation result is inaccurate due to the fact that the position of the laser emitting element and / or the laser receiving element is inaccurate and the difference between the laser spot received by the laser receiving element and the ideal spot is large can be solved.

Description

Technical Field

[0001] This application relates to the field of rangefinder technology, specifically to a calibration device and calibration method for a laser rangefinder. Background Technology

[0002] Laser rangefinders are widely used in outdoor locations such as golf courses and hunting grounds. In practical applications, a laser rangefinder first emits a laser beam towards the target through a laser emitting element. The target reflects the laser beam, and the reflected laser beam is received by a laser receiving element. The distance to the target is then calculated and displayed on the laser rangefinder's screen for the user to view.

[0003] In practical applications, the position of the laser emitting element and / or the laser receiving element is often inaccurate, resulting in a large difference between the laser spot received by the laser receiving element and the ideal spot, thus leading to inaccurate calculation results. Summary of the Invention

[0004] This application mainly provides a calibration device and calibration method for a laser rangefinder, which can avoid the problem that inaccurate positioning of the laser emitting element and / or the laser receiving element leads to a large difference between the laser spot received by the laser receiving element and the ideal spot, resulting in inaccurate calculation results.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a calibration device for a laser rangefinder, the calibration device comprising: a driving unit for connecting to an object to be calibrated, the object to be calibrated including a laser emitting element and / or a laser receiving element; an acquisition unit for acquiring a spot image formed by the laser emitting element and / or an element image of the laser receiving element; and a processing unit communicatively connected to the acquisition unit and the driving unit respectively, the processing unit being used to control the driving unit to drive the laser emitting element to move according to the spot image, and / or to control the driving unit to drive the laser receiving element to move according to the element image.

[0006] In one specific embodiment, the object to be calibrated includes the laser emitting element, and the calibration device further includes a test module. The test module is disposed on the emission path of the laser emitting element so that the test module receives the laser emitted by the laser emitting element and forms a light spot on the test module. The acquisition unit is used to acquire the light spot image on the test module.

[0007] In one specific embodiment, the test module includes an optical path component and a test piece. The optical path component is disposed on the emission path of the laser emitting element so that the optical path component receives the laser and converts the laser to a preset optical path for emission. The test piece is disposed on the preset optical path so that the converted laser forms the light spot on the test piece. The acquisition unit is used to acquire the light spot image of the light spot on the test piece.

[0008] In one specific embodiment, the optical path assembly includes a reflector and a prism group. The reflector is disposed on the emission path of the laser emitting element to receive and reflect the laser, and the prism group is disposed on the reflection path of the reflector to receive the reflected laser and convert the reflected laser to a preset optical path for emission.

[0009] In one specific embodiment, the test module further includes a housing, the housing having an accommodating space and a light inlet communicating with the accommodating space, the reflector being disposed on the side of the housing away from the accommodating space, so that the reflector reflects the laser from the light inlet to the accommodating space, and the prism assembly being disposed within the accommodating space.

[0010] In one specific embodiment, the housing further forms a light-emitting port communicating with the accommodating space. The light-emitting port is disposed on the preset optical path. The test piece is disposed between the prism group and the light-emitting port. The acquisition unit is disposed on the side of the housing facing the light-emitting port in the light-emitting direction.

[0011] In one specific embodiment, the emission path of the laser emitting element is parallel to the preset optical path.

[0012] In one specific embodiment, the driving unit includes a first driving mechanism for driving the laser emitting element and / or the laser receiving element to move in a first direction to adjust the spot size in the spot image and / or the element size in the element image; and / or the driving unit includes a second driving mechanism for driving the laser emitting element and / or the laser receiving element to move in a second direction to adjust the spot position in the spot image and / or the element position in the element image.

[0013] In one specific embodiment, the driving unit includes a second driving mechanism, the second direction includes a first sub-direction and a second sub-direction, the second driving mechanism includes a first sub-mechanism and a second sub-mechanism, the first sub-mechanism is used to drive the laser emitting element and / or the laser receiving element to move in the first sub-direction, the second sub-mechanism is used to drive the laser emitting element and / or the laser receiving element to move in the second sub-direction, and the first sub-direction and the second sub-direction are perpendicular to each other.

[0014] In one specific embodiment, the calibration device further includes an illumination source, and the acquisition unit is disposed on the illumination path of the illumination source.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a calibration method according to the calibration device, the calibration method comprising: controlling the acquisition unit to acquire a spot image formed by the laser emitting element and / or an element image of the laser receiving element; determining whether the spot in the spot image matches a preset spot and / or determining whether the element in the element image matches a preset element; if they do not match, controlling the driving unit to drive the laser emitting element to move, and / or controlling the driving unit to drive the laser receiving element to move.

[0016] In one specific embodiment, the step of determining whether the light spot in the light spot image matches a preset light spot and / or determining whether the element in the element image matches a preset element includes: determining whether the size of the light spot in the light spot image matches a preset size of the light spot and / or determining whether the size of the element in the element image matches a preset size of the element; the step of controlling the driving unit to drive the laser emitting element to move and / or controlling the driving unit to drive the laser receiving element to move includes: if they do not match, controlling the driving unit to drive the laser emitting element and / or the laser receiving element to move in a first direction to adjust the size of the light spot in the light spot image and / or the size of the element in the element image.

[0017] In one specific embodiment, the step of determining whether the light spot in the light spot image matches a preset light spot and / or determining whether the element in the element image matches a preset element includes: determining whether the position of the light spot in the light spot image matches a preset position of the light spot and / or determining whether the position of the element in the element image matches a preset position of the element; if they do not match, the step of controlling the driving unit to drive the laser emitting element to move and / or controlling the driving unit to drive the laser receiving element to move includes: if they do not match, controlling the driving unit to drive the laser emitting element and / or the laser receiving element to move in a second direction to adjust the position of the light spot in the light spot image and / or the position of the element in the element image.

[0018] The beneficial effects of this application are as follows: Unlike existing technologies, the calibration device provided in this application includes: a driving unit for connecting to the object to be calibrated, the object including a laser emitting element and / or a laser receiving element; an acquisition unit for acquiring a spot image formed by the laser emitting element and / or an element image of the laser receiving element; and a processing unit communicatively connected to both the acquisition unit and the driving unit. The processing unit controls the driving unit to drive the laser emitting element to move based on the spot image, and / or controls the driving unit to drive the laser receiving element to move based on the element image, so that the driving unit adjusts the position of the laser emitting element and / or the laser receiving element, completing the position calibration of the laser emitting element and / or the laser receiving element. Compared with existing technologies, this avoids the problem of inaccurate positions of the laser emitting element and / or the laser receiving element, which leads to a large difference between the laser spot received by the laser receiving element and the ideal spot, resulting in inaccurate calculation results. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a cross-sectional schematic diagram of an embodiment of the laser rangefinder provided in this application;

[0021] Figure 2 This is a three-dimensional structural schematic diagram of the calibration device for a laser rangefinder provided in this application;

[0022] Figure 3 yes Figure 2 A schematic diagram illustrating the principle of a calibration device for calibrating laser emitting elements;

[0023] Figure 4 yes Figure 3 A schematic diagram of an embodiment of a light spot image acquired by the acquisition unit;

[0024] Figure 5 yes Figure 3 A schematic diagram of another embodiment of the light spot image acquired by the acquisition unit;

[0025] Figure 6 yes Figure 2 A schematic diagram illustrating the principle of the calibration device for calibrating the laser receiving element;

[0026] Figure 7 yes Figure 6 A schematic diagram of an embodiment of the component images acquired by the acquisition unit;

[0027] Figure 8 yes Figure 6 A schematic diagram of another embodiment of the component image acquired by the acquisition unit;

[0028] Figure 9 yes Figure 2 A schematic diagram of the three-dimensional structure of the test module;

[0029] Figure 10 yes Figure 9 A schematic diagram of the cross-section of the test module in the FF direction;

[0030] Figure 11 This is a schematic flowchart illustrating an implementation method of a calibration device provided in this application. Detailed Implementation

[0031] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0032] The terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. A process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0033] In this document, the term "implementation" means that a specific feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.

[0034] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a cross-sectional schematic diagram of an embodiment of the laser rangefinder 10 provided in this application. Figure 2 This is a three-dimensional structural diagram of the calibration device 20 for the laser rangefinder 10 provided in this application. The calibration device 20 in this embodiment includes a driving unit 21, a data acquisition unit 22, and a processing unit 23.

[0035] Among them, the laser rangefinder 10 is an instrument that uses laser light to accurately measure the distance to a target. In practical applications, the laser emitting element 11 of the laser rangefinder 10 is used in, for example... Figure 1 As shown, A emits a laser upwards towards the target being tested. The target reflects the laser, and the reflected laser travels along the path shown. Figure 1 The light path B shown is received by the laser receiving element 12, which then calculates the distance to the target and displays the calculated distance on the display screen 13 of the laser rangefinder 10 for the user to view.

[0036] Please refer to the following: Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , Figure 3 yes Figure 2 A schematic diagram illustrating the principle of the calibration device 20 calibrating the laser emitting element 11. Figure 4 yes Figure 3 A schematic diagram of an embodiment of the light spot image 201 acquired by the acquisition unit 22. Figure 5 yes Figure 3 A schematic diagram of another embodiment of the light spot image 201 acquired by the acquisition unit 22. Figure 6 yes Figure 2 A schematic diagram illustrating the principle of the calibration device 20 calibrating the laser receiving element 12. Figure 7 yes Figure 6 A schematic diagram of an embodiment of the component image 202 acquired by the acquisition unit 22. Figure 8 yes Figure 6 A schematic diagram of another embodiment of the component image 202 acquired by the acquisition unit 22.

[0037] The drive unit 21 is used to connect to the object to be calibrated, which includes a laser emitting element 11 and / or a laser receiving element 12.

[0038] Specifically, the driving unit 21 includes a first driving mechanism 211, which drives the laser emitting element 11 and / or the laser receiving element 12 to move in the first direction Z to adjust the spot size in the spot image 201 and / or the element size in the element image 202; and / or the driving unit 21 includes a second driving mechanism 212, which drives the laser emitting element 11 and / or the laser receiving element 12 to move in the second direction to adjust the spot position in the spot image 201 and / or the element position in the element image 202. In this embodiment, the driving unit 21 includes both the first driving mechanism 211 and the second driving mechanism 212 as an example. The first direction Z and the second direction are perpendicular to each other.

[0039] Optionally, the second direction includes a first sub-direction X and a second sub-direction Y that are perpendicular to each other. The second driving mechanism 212 includes a first sub-mechanism 2121 and a second sub-mechanism 2122. The first sub-mechanism 2121 is used to drive the laser emitting element 11 and / or the laser receiving element 12 to move in the first sub-direction X, and the second sub-mechanism 2122 is used to drive the laser emitting element 11 and / or the laser receiving element 12 to move in the second sub-direction Y.

[0040] Furthermore, the acquisition unit 22 is used to acquire the light spot image 201 formed by the laser emitting element 11 and / or the element image 202 of the laser receiving element 12. The processing unit 23 is communicatively connected to the acquisition unit 22 and the driving unit 21 respectively. The processing unit 23 is used to control the driving unit 21 to drive the laser emitting element 11 to move according to the light spot image 201, and / or control the driving unit 21 to drive the laser receiving element 12 to move according to the element image 202, so that the driving unit 21 adjusts the position of the laser emitting element 11 and / or the laser receiving element 12, and completes the position calibration of the laser emitting element 11 and / or the laser receiving element 12. Compared with the prior art, it can avoid the problem that the laser spot received by the laser receiving element is inaccurate due to the position of the laser emitting element and / or the laser receiving element being inaccurate, resulting in a large difference between the laser spot and the ideal spot, thus leading to inaccurate calculation results.

[0041] For example, such as Figure 3 , Figure 4 and Figure 5 As shown, when the object to be calibrated includes the laser emitting element 11, after the acquisition unit 22 acquires the light spot image 201 formed by the laser emitting element 11, in a specific application scenario, such as... Figure 4 In the left view, the size of the light spot in image 201 does not match the preset size of the light spot. Figure 4 The shaded area in the image represents the light spot, meaning the light spot size is either larger or smaller than the preset light spot size. Figure 4 Taking a spot size larger than a preset spot size as an example, this indicates that the laser emitting element 11 is not on the focal plane M. The processing unit 23 calculates the displacement required for the laser emitting element 11 to move to the focal plane M based on the relationship between the preset spot size and the defocusing amount of the laser emitting element 11. Then, it controls the driving unit 21, in this embodiment, specifically the first driving mechanism 211, to drive the laser emitting element 11 to move in the first direction Z, so that the laser emitting element 11 moves to the focal plane M. At this time, the acquisition unit 22 acquires the spot image 201 again, thus achieving the desired result. Figure 4 As shown in the right-hand view, the size of the light spot in image 201 matches the preset size, thus obtaining an ideal light spot; in another specific application scenario, such as Figure 5 In the left view, the position of the light spot in the light spot image 201 does not match the preset position, that is, the center of the light spot in the light spot image 201 does not coincide with the center of the preset position. The processing unit 23 calculates the offset between the center of the light spot in the light spot image 201 and the center of the preset position, and then controls the driving unit 21, that is, controls the second driving mechanism 212 to drive the laser emitting element 11 to move in the second direction, thereby adjusting the optical axis position of the laser emitting element 11. Figure 5As shown in the right-hand view, the position of the light spot in the light spot image 201 matches the preset position of the light spot, thereby obtaining an ideal light spot. It can be understood that when the processing unit 23 controls the second driving mechanism 212 to drive the laser emitting element 11 to move in the second direction, it can control the second driving mechanism 212 to drive the laser emitting element 11 to move in the first sub-direction X and the second sub-direction Y respectively, or it can only control the second driving mechanism 212 to drive the laser emitting element 11 to move in the first sub-direction X or the second sub-direction Y. The specific control method depends on the actual situation.

[0042] Understandably, in practical applications, when the size of the light spot in the light spot image 201 does not match the preset size of the light spot, and the position of the light spot in the light spot image 201 does not match the preset position of the light spot, then the processing unit 23 controls the second driving mechanism 212 to drive the laser emitting element 11 to move in the first direction Z, and also controls the second driving mechanism 212 to drive the laser emitting element 11 to move in the second direction.

[0043] For example, such as Figure 6 , Figure 7 and Figure 8 As shown, when the object to be calibrated includes the laser receiving element 12, after the acquisition unit 22 acquires the element image 202 of the laser receiving element 12, in a specific application scenario, such as... Figure 7 In the left view, the component size of component image 202 does not match the preset component size. Figure 7 The shaded area in the image represents the component, indicating whether the component size is larger or smaller than the preset component size. Figure 7 Taking a component size larger than a preset component size as an example, the processing unit 23 controls the driving unit 21, which in this embodiment controls the first driving mechanism 211 to drive the laser receiving component 12 to move in the first direction Z. At this time, the acquisition unit 22 acquires the component image 202 again, and thus... Figure 7 As shown in the right-hand view, the component size of component image 202 matches the preset component size, thus obtaining an ideal light spot; in another specific application scenario, such as Figure 8 In the left-side view, the component position of component image 202 does not match the preset component position, that is, the center of component image 202 does not coincide with the center of the preset component position. Processing unit 23 calculates the offset between the center of component image 202 and the center of the preset component position, and then controls driving unit 21, that is, controls second driving mechanism 212 to drive laser receiving element 12 to move in the second direction, so as... Figure 8As shown in the right-hand view, the component position of component image 202 matches the preset component position, thereby obtaining an ideal light spot. It can be understood that when the processing unit 23 controls the second driving mechanism 212 to drive the laser receiving element 12 to move in the second direction, it can control the second driving mechanism 212 to drive the laser receiving element 12 to move in the first sub-direction X and the second sub-direction Y respectively, or it can only control the second driving mechanism 212 to drive the laser receiving element 12 to move in the first sub-direction X or the second sub-direction Y. The specific control method depends on the actual situation.

[0044] Understandably, in practical applications, when the component size of the component image 202 does not match the preset component size, and the component position of the component image 202 does not match the preset component position, then the processing unit 23 controls the second driving mechanism 212 to drive the laser receiving element 12 to move in the first direction Z, and also controls the second driving mechanism 212 to drive the laser receiving element 12 to move in the second direction.

[0045] Optionally, in the process of adjusting the spot size in the spot image 201 and / or the element size in the element image 202, the spot position in the spot image 201 and / or the element position in the element image 202, coarse adjustment can be performed first, followed by fine adjustment, to improve the accuracy of adjustment.

[0046] Optionally, in practical applications, the acquisition unit 22 described above can be an infrared detector.

[0047] Please refer to the following: Figure 3 , Figure 9 and Figure 10 , Figure 9 yes Figure 2 A three-dimensional structural diagram of the test module 24. Figure 10 yes Figure 9 A schematic cross-sectional view of the test module 24 in the FF direction is shown. When the calibration object includes the laser emitting element 11, the calibration device 20 in this embodiment also includes the test module 24. The test module 24 is disposed on the emission path of the laser emitting element 11 so that the test module 24 receives the laser emitted by the laser emitting element 11 and forms a light spot in the test module 24. The acquisition unit 22 is used to acquire the light spot image 201 of the light spot on the test module 24.

[0048] The test module 24 includes an optical path component 241 and a test piece 242. The optical path component 241 is disposed on the emission path of the laser emitting element 11 so that the optical path component 241 receives the laser and converts the laser to a preset optical path for emission. The test piece 242 is disposed on the preset optical path so that the converted laser forms a light spot on the test piece 242. The acquisition unit 22 is used to acquire the light spot image on the test piece 242.

[0049] In practical applications, the test piece 241 can be a differentiation display board, which enables the light spot image acquired by the acquisition unit 22 to have, for example, a differentiating display board. Figure 4 The cross-shaped markings shown improve the visibility of light spots.

[0050] Optionally, the optical path assembly 241 includes a reflector 2411 and a prism group 2412. The reflector 2411 is disposed on the emission path of the laser emitting element 11 to receive and reflect the laser. The prism group 2412 is disposed on the reflection path of the reflector 2411 to receive the reflected laser and convert the reflected laser to a preset optical path for emission. With this arrangement, the reflection and conversion of the laser by the optical path assembly 241 can simulate the optical path of the laser path system in the laser rangefinder 10 to receive the laser reflected by the target being measured, thereby improving the calibration accuracy.

[0051] In this embodiment, the emission path of the laser emitting element 11 is parallel to the preset optical path.

[0052] Furthermore, the test module 24 also includes a housing 243, which forms an accommodating space 203 and an inlet 204 communicating with the accommodating space 203. A reflector 2411 is disposed on the side of the housing 243 away from the accommodating space 203, so that the reflector 2411 reflects the laser from the inlet 204 to the accommodating space 203. A prism assembly 2412 is disposed in the accommodating space 203 to receive the laser reflected from the inlet 204.

[0053] The housing 243 also has a light outlet 205 that communicates with the accommodating space 203. The light outlet 205 is set on a preset optical path. The test piece 242 is set between the prism group 2412 and the light outlet 205. The acquisition unit 23 is set on the side of the housing 243 facing the light outlet 205.

[0054] Further reading Figure 2 , Figure 3 and Figure 6 The calibration device 20 in this embodiment also includes an illumination source 25, and the acquisition unit 22 is disposed on the illumination path of the illumination source 25 so that the light spot image and / or component image acquired by the acquisition unit 22 is clearer and the recognition of the light spot image and / or component image is improved.

[0055] Please see Figure 11 , Figure 11 This is a flowchart illustrating an embodiment of the calibration method of the calibration device 20 according to the above-described embodiments, provided in this application. The calibration method in this embodiment includes:

[0056] S310: Control the acquisition unit to acquire the spot image formed by the laser emitting element and / or the element image of the laser receiving element;

[0057] S320: Determine whether the light spot in the light spot image matches a preset light spot and / or determine whether the component in the component image matches a preset component;

[0058] In one specific embodiment, step 320 determines whether the size of the light spot in the light spot image matches the preset size of the light spot and / or determines whether the size of the component in the component image matches the preset size of the component. The specific principle can be found in the description of the above-mentioned calibration device 20 embodiment, and will not be repeated here.

[0059] In another specific embodiment, step 320 determines whether the position of the light spot in the light spot image matches the preset position of the light spot and / or determines whether the position of the component in the component image matches the preset position of the component. The specific principle can be found in the description of the above-mentioned calibration device 20 embodiment, and will not be repeated here.

[0060] S330: If mismatched, control the drive unit to drive the laser emitting element to move, and / or control the drive unit to drive the laser receiving element to move.

[0061] In one specific embodiment, when the spot size in the spot image does not match the preset spot size and / or the element size in the element image does not match the preset element size, step S330 controls the driving unit to drive the laser emitting element and / or the laser receiving element to move in the first direction to adjust the spot size in the spot image and / or the element size in the element image. The specific principle can be referred to the description in the above-described embodiment of calibration device 20, and will not be repeated here.

[0062] In another specific embodiment, when the position of the spot in the spot image does not match the preset position of the spot and / or the position of the element in the element image does not match the preset position of the element, step S330 controls the driving unit to drive the laser emitting element and / or the laser receiving element to move in the second direction to adjust the position of the spot in the spot image and / or the position of the element in the element image. The specific principle can be referred to the description in the above-mentioned embodiment of calibration device 20, and will not be repeated here.

[0063] Unlike existing technologies, the calibration device provided in this application includes: a driving unit for connecting to an object to be calibrated, the object including a laser emitting element and / or a laser receiving element; an acquisition unit for acquiring a spot image formed by the laser emitting element and / or an element image of the laser receiving element; and a processing unit communicatively connected to the acquisition unit and the driving unit, wherein the processing unit controls the driving unit to drive the laser emitting element to move according to the spot image, and / or controls the driving unit to drive the laser receiving element to move according to the element image, so that the driving unit adjusts the position of the laser emitting element and / or the laser receiving element to complete the position calibration of the laser emitting element and / or the laser receiving element. Compared with existing technologies, this avoids the problem that inaccurate positions of the laser emitting element and / or the laser receiving element lead to a large difference between the laser spot received by the laser receiving element and the ideal spot, resulting in inaccurate calculation results.

[0064] The above description is only a partial embodiment of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A calibration device for a laser rangefinder, characterized in that The calibration device comprises: a driving unit configured to connect to a to-be-calibrated object, the to-be-calibrated object comprising a laser emitting element and / or a laser receiving element; a collecting unit configured to collect a spot image formed by the laser emitting element and / or an element image of the laser receiving element; a processing unit communicatively connected to the collecting unit and the driving unit, respectively, the processing unit configured to control the driving unit to drive the laser emitting element to move according to the spot image and / or to drive the laser receiving element to move according to the element image.

2. The calibration device of claim 1, wherein, The to-be-calibrated object comprises the laser emitting element, and the calibration device further comprises a test module, the test module being arranged on a transmission path of the laser emitting element, so that the test module receives laser light emitted by the laser emitting element and forms a spot on the test module, and the collecting unit is configured to collect a spot image of the spot on the test module.

3. The calibration device of claim 2, wherein, The test module comprises an optical path assembly and a test piece, the optical path assembly is arranged on the transmission path of the laser emitting element, so that the optical path assembly receives the laser light and converts the laser light to a preset optical path to emit, and the test piece is arranged on the preset optical path, so that the converted laser light forms the spot on the test piece, and the collecting unit is configured to collect a spot image of the spot on the test piece.

4. The calibration device of claim 3, wherein, The optical path assembly comprises a reflecting element and a prism group, the reflecting element is arranged on the transmission path of the laser emitting element to receive and reflect the laser light, and the prism group is arranged on a reflection path of the reflecting element to receive the reflected laser light and convert the reflected laser light to a preset optical path to emit.

5. The calibration device of claim 4, wherein, The test module further comprises a housing, the housing is formed with a containing space and a light inlet communicating with the containing space, the reflecting element is arranged on a side of the housing away from the containing space, so that the reflecting element reflects the laser light from the light inlet to the containing space, and the prism group is arranged in the containing space.

6. The calibration device of claim 5, wherein, The housing is further formed with a light outlet communicating with the containing space, the light outlet is arranged on the preset optical path, the test piece is arranged between the prism group and the light outlet, and the collecting unit is arranged on a side of the housing facing a light emitting direction of the light outlet.

7. The calibration device of claim 4, wherein, The transmission path of the laser emitting element and the preset optical path are parallel to each other.

8. The calibration device according to claim 1, wherein the driving unit comprises a first driving mechanism configured to drive the laser emitting element and / or the laser receiving element to move in a first direction to adjust a spot size in the spot image and / or an element size in the element image; and / or the driving unit comprises a second driving mechanism configured to drive the laser emitting element and / or the laser receiving element to move in a second direction to adjust a spot position in the spot image and / or an element position in the element image. ​ 9. The calibration device of claim 1, wherein, The driving unit comprises a second driving mechanism, the second direction comprises a first sub-direction and a second sub-direction, the second driving mechanism comprises a first sub-mechanism and a second sub-mechanism, the first sub-mechanism is used for driving the laser emitting element and / or the laser receiving element to move in the first sub-direction, and the second sub-mechanism is used for driving the laser emitting element and / or the laser receiving element to move in the second sub-direction, the first sub-direction and the second sub-direction are perpendicular to each other.

10. The calibration device according to any one of claims 1 to 9, characterized in that The calibration device further comprises an illumination light source, and the acquisition unit is arranged on an illumination path of the illumination light source.

11. A calibration method of the calibration apparatus according to any one of claims 1 to 10, characterized by, The calibration method comprises: controlling the acquisition unit to acquire a light spot image formed by the laser emitting element and / or an element image of the laser receiving element; judging whether the light spot in the light spot image matches a preset light spot and / or whether the element in the element image matches a preset element; if not, controlling the driving unit to drive the laser emitting element to move and / or controlling the driving unit to drive the laser receiving element to move.

12. The calibration method according to claim 11, wherein the step of judging whether the light spot in the light spot image matches the preset light spot and / or whether the element in the element image matches the preset element comprises: judging whether the size of the light spot in the light spot image matches a preset light spot size and / or whether the size of the element in the element image matches a preset element size; the step of if not, controlling the driving unit to drive the laser emitting element to move and / or controlling the driving unit to drive the laser receiving element to move comprises: if not, controlling the driving unit to drive the laser emitting element and / or the laser receiving element to move in a first direction to adjust the size of the light spot in the light spot image and / or the size of the element in the element image.

13. The calibration method according to claim 11, wherein the step of judging whether the light spot in the light spot image matches the preset light spot and / or whether the element in the element image matches the preset element comprises: judging whether the position of the light spot in the light spot image matches a preset light spot position and / or whether the position of the element in the element image matches a preset element position; the step of if not, controlling the driving unit to drive the laser emitting element to move and / or controlling the driving unit to drive the laser receiving element to move comprises: if not, controlling the driving unit to drive the laser emitting element and / or the laser receiving element to move in a second direction to adjust the position of the light spot in the light spot image and / or the position of the element in the element image.

Images