376 results about "Light scan" patented technology

The invention discloses a computer vision structure deformation monitoring system combined with laser scanning. The system comprises a laser scanning module, a computer vision module, an image processing module, a data fusion module, a data analysis and processing module, a communication module and a power supply module. The laser scanning module adopts a pulse type laser scanner to scan the surface of the rock-soil structure; the computer vision module adopts a wide-angle lens to obtain a two-dimensional image sequence of the rock-soil structure; the image processing module processes the two-dimensional image sequence to obtain two-dimensional displacement information of the feature points; the data fusion module fuses the point cloud data and the image feature point displacement information; and the data analysis and processing module analyzes the fused model, models historical deformation data, and predicts a future deformation trend. The system has the advantages of high precision, real-time performance, intelligence and strong anti-interference capability, can effectively guarantee the safe and stable operation of the power tunnel, and is of great significance to the construction, operation and maintenance of geotechnical engineering of the power tunnel.

The invention discloses a multi-element historic building maintenance and restoration method based on three-dimensional laser scanning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, obtaining the three-dimensional point cloud data of a historic building foundation through a ground laser scanner, the basic three-dimensional point cloud data comprises geometric information of a building facade, a ground structure and a near-ground decoration component; s02, an unmanned aerial vehicle carries a multi-line laser scanning device to scan the top and the high-altitude structure of the building, supplementary point cloud data is generated, and the millimeter-level precision three-dimensional coordinates of the pitched roof, the tower eave and the cornice bracket are covered with the supplementary point cloud data; and S03, synchronously acquiring surface texture data of the historic building by adopting multispectral imaging equipment. According to the method, the millimeter-level precision of three-dimensional reconstruction of the historic building is realized through multi-source data fusion and a hierarchical optimization algorithm, and the maintenance decision efficiency is improved by combining automatic disease recognition and a multi-modal analysis technology.

The invention discloses a shield muck volume estimation method and system based on image processing, and particularly relates to the technical field of tunnel engineering monitoring, and the method comprises the steps: obtaining muck RGB and depth images through an image collection device, generating high-precision three-dimensional point cloud data through the combination of laser scanning and a multispectral technology, and calculating the muck volume through a slicing method. And fusing the mass flow and water content data of the belt weigher, dynamically generating a calibration factor, and correcting a volume estimation result in real time. The system comprises an image acquisition module, a point cloud processing module, a volume calculation module and a dynamic calibration module, has the characteristics of automation, high precision, real-time feedback and the like, effectively solves the problems of large error and slow response of a traditional manual metering and single weighing mode, and is suitable for continuous and accurate monitoring of the volume of muck in the shield construction process.

The invention discloses a laser scanning detection method for gear tooth form errors of gear motors, and belongs to the technical field of industrial optical detection. The method comprises the following steps of: firstly, comprehensively acquiring high-density three-dimensional point cloud data of a pinwheel tooth profile by combining laser scanning and precise rotating motion; secondly, preprocessing the original point cloud, and performing high-precision automatic registration on the actually measured point cloud and the standard three-dimensional CAD theoretical model by using algorithms such as an iterative nearest point; and finally, generating a visual tooth profile error map by calculating the normal deviation between the measured data and the theoretical model point by point, and quantitatively evaluating error parameters. According to the scheme, high-efficiency, high-precision and all-shape nondestructive testing of the gear tooth error is realized, physical contact damage is avoided, and the quality control level and the production efficiency of the core part of the speed reducer are remarkably improved.

The invention discloses a rigid-flex circuit board slotting process based on a laser depth control technology. The rigid-flex circuit board slotting process comprises the steps that the surface of a rigid layer of a rigid-flex circuit board is pretreated, and a laser sensitive layer is sprayed; cNC depth-controlled milling is adopted to form a grooved rough blank structure on the surface of the pretreated rigid layer; positioning laser is used for scanning, a three-dimensional model is established through collected reflected signals, then layered depth-controlled ablation is conducted, second-power laser is sequentially adopted for fine cutting, third-power laser is sequentially adopted for depth calibration, and a groove body structure is formed; cleaning an interface, scanning a groove bottom area and synchronously introducing low-temperature gas; performing morphology repairing treatment, and generating a periodic micro-nano structure on the groove wall by adopting short pulse laser to form a stress concentration resistant surface; depositing an insulating medium layer, and forming a continuous packaging protection layer on the groove wall and the bottom through a vacuum coating process; the high-precision depth-controlled slotting of the rigid-flex circuit board is realized, and meanwhile, the ultra-low thermal damage and anti-fatigue structure and long-acting environmental stability are realized.

The invention provides a prefabricated bridge pier column installation quality automatic evaluation method based on a three-dimensional laser point cloud. The prefabricated bridge pier column installation quality automatic evaluation method is used for measuring the perpendicularity of a high pier and the distance between pier columns. The method comprises the following steps: an unmanned aerial vehicle laser scanning system collects pier point cloud data according to an optimized flight path, and pre-processes the pier point cloud data to improve data quality; quickly segmenting the point cloud by using an improved adaptive octree and a machine learning algorithm, and extracting a pier point cloud; and based on the finely segmented point cloud, calculating the included angle between the center axis of the bridge pier and the plane normal of the capping beam and the coordinate of the center point of the top surface of the bridge pier to realize accurate evaluation of the perpendicularity of the bridge pier and the distance between adjacent bridge piers. The optimization of the flight path of the unmanned aerial vehicle is combined with the point cloud data preprocessing, so that the data quality can be effectively improved, and the data volume is reduced. Meanwhile, point cloud segmentation is performed by fusing an improved adaptive octree and a machine learning algorithm, so that piers, capping beams and backgrounds can be accurately distinguished, and geometric features of pier studs are completely extracted.

The invention discloses an image measurement method for precise size measurement. The method comprises the following steps: step 1, selecting a laser scanner and an optical image measurement instrument to form a measurement array according to geometrical characteristics of a workpiece; 2, calibrating and verifying the measurement array, obtaining a basic error curve of the equipment through a standard gauge block, and collecting real-time environmental parameters after verification is passed; 3, calculating an environment interference coefficient Kenv, and starting measurement at the moment; 4, monitoring equipment acceleration sensor data in real time, and generating an equipment stability index Si; 5, when Si is larger than S < safety >, measurement is executed, and a result is output; and step 6, carrying out consistency analysis on multi-device results, if the results are consistent, outputting a final value, otherwise, triggering dynamic re-calibration. According to the invention, multi-dimensional cooperative control can be realized, the precision bottleneck of traditional image measurement in a dynamic environment is broken through, and the method is suitable for precision manufacturing scenes with high requirements on measurement stability and reliability.

The invention relates to the technical field of laser image detection, and particularly discloses a belt tearing laser scanning detection device and a belt longitudinal tearing laser detection method. The belt tearing laser scanning detection device comprises an ellipsoidal carrier roller, laser equipment and visual equipment, the outer surface of the ellipsoidal carrier roller is an arc-shaped surface, a belt is tensioned and wound around the arc-shaped surface, and the laser equipment is fixedly arranged in the mode that laser faces the ellipsoidal carrier roller and can irradiate the belt. The visual equipment is fixedly arranged in the mode that the visual field faces the ellipsoid carrier roller and the belt is in the visual field, the structural arrangement can reconstruct the carrying working state of the belt, the tearing characteristic of the belt in the carrying state is highlighted, and the belt longitudinal tearing laser detection method is more suitable for long-distance conveying belt longitudinal tearing detection; and the method has higher detection accuracy.

The invention discloses a size measuring device for glass reinforced plastic pipe processing, relates to the technical field of glass reinforced plastic pipe size measurement, and solves the problems that the existing device can only measure the size and the supporting force is difficult to control by a mechanical centering method.The device comprises a measuring device base, an annular laser scanner is arranged on the top of the measuring device base, and a scanner centering assembly is arranged on the side of the measuring device base; a supporting and centering assembly is arranged in the pipeline in a sleeved mode and drives a conical pushing and extruding block through a servo motor, a threaded rod and the like, so that four sets of positioning and supporting rods synchronously abut against the inner wall of the pipeline to achieve centering, force is uniform, and deformation and slipping are prevented; the external trumpet-shaped alignment sleeve is matched with the rotating alignment ring to drive the laser scanning ring to be automatically aligned, defects of a visual alignment method are avoided, in addition, the supporting alignment assembly drives the pipeline to rotate, axial defects can be captured by laser, defect recognition is achieved, the precision is improved through double alignment, the size measurement and defect detection functions are achieved, and the application range of equipment is widened.

The invention relates to the field of robot navigation, and discloses a logistics robot navigation method based on vision and laser fusion navigation, which is used for solving the problem of echo energy attenuation or signal loss during robot navigation, and comprises the following steps: acquiring information reliability parameters of each space sub-region in a current laser scanning period; a reflection attenuation index is obtained through evaluation according to the information reliability parameter, whether signal attenuation occurs in the space sub-region or not is judged, if it is judged that signal attenuation occurs in a certain space sub-region, the space sub-region is marked as a low-confidence region, the initial depth information is corrected according to the corresponding reflection attenuation index, and actual depth information is obtained; the corrected environment model is obtained according to the actual environment depth information, the geometric structure of the corrected environment model is optimized and adjusted according to the reflection attenuation index change rate and the depth correction residual error of each space subarea, and the navigation precision and the operation safety of the robot in the storage environment are effectively improved.

The invention relates to the technical field of vegetation root system nondestructive testing, in particular to a multispectral vegetation root system identification system and method based on a differentiable physical engine, and the system comprises a multispectral LiDAR module which is used for transmitting near-infrared laser and short-wave infrared laser, scanning a target area, obtaining dual-wavelength reflectivity data, and determining the vegetation root system according to the dual-wavelength reflectivity data; generating a reflectivity ratio matrix by adopting a reflectivity ratio classification model; the differentiable physical engine is used for quantizing the dynamic relationship between the vegetation root growth rate and the soil resistance by adopting a coupling model according to the reflectivity ratio matrix, generating a physical model and updating the physical model at a preset time interval; and the data processing and three-dimensional modeling module is used for generating a three-dimensional root system model and a health assessment result according to the reflectivity ratio matrix and the physical model, and outputting the three-dimensional root system model and the health assessment result. According to the scheme, soil penetration and root system and foreign matter distinguishing can be carried out, the vegetation native environment is not damaged, dynamic monitoring analysis is carried out, and the accuracy of recognition analysis is improved.

The invention belongs to the technical field of optical measurement, and particularly relates to intelligent laser scanning equipment for building structure surveying and mapping, which comprises a bracket, a platform is fixed at the upper end of the bracket, an annular guide rail is fixed on the outer wall of the platform, and an electric sliding block is sleeved on the annular guide rail; the lower side wall of the electric sliding block is connected with a laser scanner through a swing assembly, a notch is formed in a shell of the laser scanner, a heat dissipation assembly is installed in the notch, and the heat dissipation assembly comprises a box body. According to the laser scanner, cleaning of the annular guide rail is achieved through rotation of the rotating rod, meanwhile, water can intermittently flow out to adsorb heat on the heat conduction pipe, the heat conduction pipe can continuously adsorb heat in the laser scanner, rapid cooling of the laser scanner is completed, and meanwhile the water can be automatically cooled after flowing along the first slope; after the water body is gathered, the rotation of the scraper blade can be completed to complete the automatic cleaning of the filter screen I, so that the air flow can smoothly enter the air inlet pipe to cool the heat conduction pipe.

The invention relates to the technical field of PCB drilling positioning, and particularly provides a PCB drilling positioning method and system.The method comprises the steps that structured light pattern images corresponding to different reference mark points are obtained, and the structured light pattern images comprise preset structured light patterns with projection areas covering the reference mark points; for each reference mark point, actual Z-axis height information is obtained according to the structured light pattern image, and then the focusing depth of the laser scanning system is adjusted according to the actual Z-axis height information; for each reference mark point, acquiring original two-dimensional coordinate information of the reference mark point by using a laser scanning system, and then correcting the original two-dimensional coordinate information according to the actual Z-axis height information and preset optical geometric parameters of the laser scanning system to obtain corrected two-dimensional coordinate information; correcting a preset drilling target point position according to all the corrected two-dimensional coordinate information to obtain a final drilling position of the drilling target point; according to the method, the problems of defocusing and projection errors caused by unevenness of the PCB can be effectively solved.

The invention provides a high-precision urban live-action three-dimensional model generation method and system and a storage medium. The method comprises the following steps: arranging photo control points in a target area and performing measurement; acquiring inclined image data of the target area by using the unmanned aerial vehicle; acquiring original point cloud data of the target area by using a laser scanner; performing aerial triangulation calculation on the inclined image data in combination with ground control point data to obtain aerial triangulation encrypted data; registering the original point cloud data in combination with the ground control point data, and then preprocessing the original point cloud data to obtain laser point cloud data; carrying out fusion reconstruction on the aerial triangulation encryption data and the laser point cloud data to generate an initial three-dimensional model; performing fine processing on the initial three-dimensional model to generate a high-precision three-dimensional model; according to the method, water surface cavities can be automatically repaired and efficient and intelligent color homogenization can be realized when the live-action three-dimensional model is constructed, so that the geometric accuracy and visual quality of the model are effectively improved, and engineering-level application requirements are met.

The invention relates to a robot grinding and polishing self-adaptive compensation method based on multi-line laser, and relates to the field of robot positioning precision. According to the technical scheme, online high-resolution measurement of the workpiece is achieved through the multi-line laser scanning sensor, hand-eye parameters are dynamically updated in combination with multi-view calibration and data fusion, the tail end pose of the robot is corrected in real time through the mixed error model fusing MDH kinematics and machine learning, and the grinding and polishing precision and consistency are guaranteed. Wherein the MDH model is responsible for coarse positioning to guarantee interpretability of a kinematic structure, the machine learning model captures nonlinear dynamic errors such as thermal expansion and abrasion, and the MDH model and the machine learning model are combined to achieve self-adaptive real-time compensation of a complex error source. The error compensation precision is improved from the millimeter level to the submillimeter level, the cost of the line laser measurement system is only tens of thousands of yuan, the size is small, installation is easy, and compared with a laser tracker, the cost and the installation difficulty are greatly reduced.

The invention discloses an automatic calculation and compensation method and system for dynamic strike delay of a laser weeding robot, and belongs to the technical field of agricultural intelligent equipment.The method is achieved through the following steps that in the static calibration stage, a laser galvanometer, a camera and collaborative parameters of the laser galvanometer and the camera of a robot system are corrected; laser scanning nonlinear errors, camera imaging distortion errors and pose and mapping errors between a galvanometer coordinate system and a camera coordinate system are eliminated; in the dynamic testing stage, the robot advances at a constant speed, laser striking is conducted on the wood chips with preset marks, and the position deviation between an actual striking point and a theoretical target point is obtained through the image recognition technology; reversely deducing system delay time based on the deviation and the speed of the robot, and iteratively updating compensation parameters; finally, after the iterative optimization strike deviation is smaller than the set precision, the compensation parameters are solidified to a control system; the method is suitable for a laser weeding robot and other dynamic visual striking systems.

The invention discloses a sapphire window-based nuclear magnetic resonance device and a coal seam free gas volume correction method, the sapphire window-based nuclear magnetic resonance device comprises a computer, a gas cylinder assembly, a nuclear magnetic bearing platform, a coal sample holder, a stable displacement pump and a laser emitter, the gas cylinder assembly is connected with a left end inlet of the coal sample holder, and the coal sample holder is arranged on the nuclear magnetic bearing platform; a sapphire window is arranged on the coal sample holder, laser emitted by the laser emitter faces the sapphire window to observe a cylindrical coal sample in the coal sample holder, an outlet at the right end of the coal sample holder is connected with a test pipeline, and the coal sample holder is connected with a confining pressure control pipeline. Advanced technologies such as nuclear magnetic resonance and laser scanning are applied to the free gas content simulation experiment of the coal bed gas reservoir, and the tested data are more accurate. The device can also be used for permeability testing, methane adsorption experiments, displacement experiments and the like, test results are used for evaluating distribution characteristics of free gas in geological media such as coal seams and shale, and theoretical data support is provided for energy development in China.

The invention discloses a coaxial laser confocal processing and measurement integrated system and an in-situ morphology measurement method thereof, and belongs to the technical field of ultrafast laser precision processing and in-situ measurement. The system comprises a laser confocal morphology measurement module, an ultrafast laser scanning processing module, a CCD (Charge Coupled Device) microscopic imaging module, a beam splitter prism, a low-pass dichroscope, a long-working-distance achromatic laser processing objective lens and a combined three-axis precision displacement table, the laser confocal morphology measurement module generates a measurement light beam to realize morphology measurement of a sample; the ultrafast laser scanning processing module generates a processing light beam to scan and process the surface of the sample; the CCD microscopic imaging module generates an illumination light beam to realize illumination of a processing position and acquisition of image information of a sample surface; a measurement light beam, a processing light beam and an illumination light beam form coaxial light beams through a low-pass dichroscope, the coaxial light beams are focused at the same position of the surface of a sample through a long-working-distance achromatic laser processing objective lens, and the coaxial in-situ measurement condition is achieved.

The invention relates to the technical field of laser scanner parameter calibration, in particular to a multi-line laser scanner internal parameter modeling and internal and external parameter joint calibration method in an unmanned aerial vehicle laser scanning system. In combination with systematic errors existing in the scanning process of each wire beam of the laser scanner, six calibration parameters are used for conducting error modeling on the horizontal angle of each wire beam of the laser scanner, so that the horizontal angle of each wire beam is corrected, and coordinates of corrected scanning points in a laser scanner coordinate system are obtained; then, internal and external parameters of the laser scanner are jointly calibrated, six calibration parameters of the horizontal angle of each wire harness of the laser scanner and three placement angle parameters of the laser scanner are jointly calibrated, and optimal internal and external parameters are solved; the method can effectively improve the precision and consistency of the point cloud.

The invention provides a laser drilling method. The laser drilling method comprises the following steps: S1, positioning a workpiece and determining a target aperture; s2, the rotating speed of the workpiece and the airflow direction of protective gas are determined; s3, determining laser power, laser frequency laser, scanning speed, laser beam focus movement diameter and zooming increment; s4, determining a laser incident angle; s5, the determined machining parameters are used for drilling; according to the laser drilling method provided by the invention, the drilling efficiency can be improved, the drilling quality can be improved, the taper can be greatly reduced, and the preparation of holes with various tapers can be realized through pose adjustment.

The invention discloses a binocular vision depth estimation method and system based on knowledge embedding, and the method comprises the steps: collecting data through employing a binocular camera and rotating laser scanning, carrying out the preprocessing of the data, constructing a data set, and dividing the data set into a training set and a test set. Secondly, constructing a binocular vision depth estimation model based on a convolutional neural network, and constructing a physical knowledge embedding loss function according to the relationship between the real parallax and the predicted parallax; and then training the binocular vision depth estimation model based on physical knowledge embedding by using the training data set. And finally, using the trained binocular vision depth model to predict the stereo image of the test set to obtain a disparity map which is consistent with the original image in size and conforms to the physical characteristics of the scene, and completing depth estimation. According to the method, the disparity map conforming to the physical characteristics of the scene can be obtained, and the precision of disparity estimation and the generalization performance of the model are improved.

The invention relates to the technical field of tunnel monitoring, in particular to a construction tunnel laser scanning point cloud attitude correction method based on multi-feature fusion, and the method comprises the steps: S1, synchronously extracting a ground baseline feature, a haunch symmetry axis feature and a vault circle center feature from a tunnel section laser scanning point cloud; s2, constructing confidence quantitative models for the three types of features respectively; s3, calculating the weight of each feature through a normalized exponential function based on the confidence of the three types of geometric features obtained in the step S2; setting a confidence threshold value, and forcibly returning to zero weight to shield failure features when the confidence threshold value is lower than the threshold value; when all the weights return to zero, activating a degradation protection mechanism to give equal weights; and finally, weighting and fusing the horizontal rotation angles of the three types of features according to weights, and outputting a correction angle. According to the method, the problem of systematic deviation caused by interference of a single reference is solved, and the correction precision and robustness in a complex construction environment are remarkably improved.

The invention discloses a miniature optical scanning device and an electromagnetic driving optical scanning device, the optical scanning device comprises a reflecting mirror, an elastic sheet, a gasket and a permanent magnet, the reflecting mirror is a sheet-shaped element used for reflecting light or changing the light beam propagation direction; the gasket is fixed on the back surface of the reflecting mirror; the elastic sheet comprises a fixed part, an elastic working part and a connecting part, and the connecting part is fixed on the gasket; the fixing part of the elastic sheet is used for being fixedly connected with an external carrier; the elastic working part comprises an elastic structure which can be bent and deformed or bent and deformed, and the reflecting mirror can be driven to rotate back and forth or vibrate around a rotating shaft through bending deformation or bending deformation of the elastic working part; the permanent magnet is fixed on the back surface of the reflecting mirror and is nested in the connecting part of the elastic sheet and the gasket; the internal stress can be effectively reduced, the scanning angle is increased, the service life problem of a product is solved, and the product cost is reduced.

Disclosed in the present invention is a method for forming a precise through-hole at high speed by using an infrared laser, wherein the method irradiates in turn single modulated Bessel beam onto a workpiece in a scanning fashion by means of a mirror structure with at least one driving unit coupled to form a laser scanning processing pattern that changes the characteristics of the workpiece by precisely micromachining the workpiece into various shapes or sizes at high speed, and then wet-etching the workpiece, such that the method not only enables laser-machining the workpiece at high speed by significantly reducing laser-machining time compared to conventional methods, but also improves productivity by reducing etching time.

The present invention discloses a dimension measuring device for glass fiber reinforced plastic pipe processing, which relates to the technical field of dimension measurement of glass fiber reinforced plastic pipes, and solves the problem that existing equipment can only measure dimensions and mechanical centering methods are difficult to control supporting strength. The equipment includes a measuring device base, a ring-shaped laser scanner is provided on the top, a scanner centering component is provided on the side, and a support centering component is provided inside. The support centering component drives a conical push extrusion block through a servo motor, a threaded rod, etc., so that four groups of positioning support rods are synchronously pressed against the inner wall of the pipe to achieve centering, and the force is uniform to prevent deformation and slipping; the external trumpet-shaped alignment sleeve cooperates with the rotating alignment ring to drive the laser scanning ring to automatically center, avoiding defects of the visual centering method. In addition, the support centering component drives the pipe to rotate, so that axial defects can be captured by laser, thereby realizing defect identification. The double centering of the present invention improves accuracy, has both dimension measurement and defect detection functions, and broadens the use of the equipment.

The invention relates to a stable foundation flatness laser measuring instrument and a method thereof, and belongs to the field of engineering measurement and foundation detection.The method comprises the steps that S1, a disturbance isolation base, a self-stabilizing suspension measuring head and a sensing assembly are arranged; s2, starting an air source connected to the disturbance isolation base, and attenuating and limiting the physical shake of the self-stabilizing suspension measuring head within a low-frequency range; s3, starting work of the sensing assembly, rotating the laser scanner to obtain original polar coordinate data of the surface of the foundation, and capturing attitude data of the self-stabilizing suspension measuring head by the high-frequency inertial measurement unit; and S4, stopping acquisition, constructing an absolute coordinate system taking a gravity vector as an axis based on attitude data, calculating an instantaneous deflection relationship of a scanning plane of the rotary laser scanner, performing elevation reduction on original polar coordinate data, and fitting a least square plane to evaluate the flatness of the foundation. According to the invention, an original observation platform with extremely high stability is provided for the laser scanner and the inertial measurement unit, and the signal-to-noise ratio of measured data is ensured from the physical level.

Stack fault inspection apparatus and method are disclosed. The apparatus includes a sample stage fixing the silicon carbide substrate and allow the incident light to scan the substrate surface; an incident light source configured to irradiate a vertical illumination light of a wavelength corresponding to an energy greater than a band gap energy of the substrate to at least a portion of a surface of the substrate in a direction substantially perpendicular to the surface of the substrate; a photomultiplier tube (PMT) configured to obtain a photoluminescence mapping image having a wavelength corresponding to the band gap energy of the substrate from the surface of the substrate; and a controller configured to process the mapping image and identify stacking faults.

Techniques are described for enhanced eye tracking for display systems, such as augmented or virtual reality display systems. The display systems may include a light source configured to output light, a moveable diffractive grating configured to reflect light from the light source, the reflected light forming a scan pattern on the eye of the user, and light detectors to detect light reflected from the eye. The orientation of the diffractive grating can be moved such that the light reflected from the diffractive grating is scanned across the eye according to the scan pattern. Light intensity pattern(s) are obtained via the light detectors, with a light intensity pattern representing a light detector signal obtained by detecting light reflected by the eye as the light is scanned across the eye. One or more physiological characteristics and / or a rotation speed of the eye are determined based on detected light intensity pattern(s).

Disclosed is a multi-range detection lidar sensor capable of detecting a plurality of detection regions using one lidar sensor. The multi-range detection lidar sensor includes a laser projector for projecting laser, a laser scanner for refracting the laser projected by the laser projector in any one angle range of a first vertical angle range and a second vertical angle range and scanning the laser, a receiver for receiving the laser projected by the laser projector and reflected by a target, and a controller for controlling the laser projector, the receiver, and the scanner.

The invention relates to the technical field of laser scanners, in particular to a tracking type laser scanner precision calibration method, which comprises the following steps: selecting a standard block gauge with a corresponding thickness from a standard block gauge set, and constructing a gap simulation test piece or a step difference simulation test piece through lapping; acquiring a reference value of the simulation test piece by using high-precision metering equipment, driving a to-be-calibrated tracking type laser scanner to scan the simulation test piece at a plurality of measurement positions for multiple times, and recording original measurement data; based on the reference value and the original measurement data, a measurement error and a repeatability error are calculated, and the measurement precision of the tracking type laser scanner is evaluated; and if the measurement precision does not meet the preset standard, establishing a segmented error model through multi-distance data acquisition, calibrating compensation parameters and dynamically correcting a measurement value in real time. The precision of gap and order difference measurement of the tracking type laser scanner can be improved, the cost is low, and the operation is convenient.