CN214333822U - Device for calibrating laser swinger - Google Patents
Device for calibrating laser swinger Download PDFInfo
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- CN214333822U CN214333822U CN202023332983.9U CN202023332983U CN214333822U CN 214333822 U CN214333822 U CN 214333822U CN 202023332983 U CN202023332983 U CN 202023332983U CN 214333822 U CN214333822 U CN 214333822U
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Abstract
The utility model relates to a device for calibrating laser swinger, the device includes: a base platform configured to support a laser swinger to be mounted thereon at a first position; a target disposed at a second location of the base platform and configured to receive laser light; and the image recognition device is used for acquiring an image projected on the target by the laser, determining the positions of the laser emitted by the laser swinger on the target respectively before and after rotating by a first angle based on an image recognition technology to determine a deviation distance, and determining whether the laser swinger needs to be calibrated based on the deviation data, the distance data determined by the position data of the first position and the second position, and the first angle. The foundation the utility model provides a device for calibrating laser swinger carries out the calibration of laser swinger with the help of image recognition device, and simple structure and calibration accuracy are high.
Description
Technical Field
The utility model relates to a laser survey field more specifically relates to a device for calibrating laser sweeps flat appearance.
Background
Conventional methods for calibrating laser levels typically use fixed distances, such as a fixed distance of 5 meters or 10 meters, and then fix the laser level and the detector at predetermined positions, respectively, to calibrate the laser level at the fixed distances.
In such calibration systems, a specific laser detector is usually used to detect the height of the plane on which the laser beam emitted by the laser swinger is located, and then the need for calibrating the laser level is identified by the difference in height between the positions on the laser detector of the laser beam formed before and after the laser level is rotated by a certain angle. And the height difference must be detected by a laser detector having a laser detection function. Thus, the calibration of the laser level requires the use of laser detectors, which has large limitations in the context and implementation, and does not allow for automated calibration.
SUMMERY OF THE UTILITY MODEL
In view of the profound understanding of the problems in the background art, the inventors of the present invention thought to devise a method for determining the height difference of the laser formed before and after the laser level is rotated by a certain angle on the target by means of image recognition technology, so as to reduce the cost of the system on the one hand, and to improve the calibration accuracy also due to the high accuracy of the image recognition technology on the other hand.
Particularly, the utility model provides a device for calibrating laser swinger, a serial communication port, the device includes: a base platform configured to support a laser swinger to be mounted thereon at a first position; a target disposed at a second location of the base platform and configured to receive laser light; and the image recognition device is configured to acquire an image projected on a target by laser, determine the positions of the laser emitted by the laser swinger on the target respectively before and after rotating by a first angle based on an image recognition technology to determine a deviation distance, and determine whether the laser swinger needs to be calibrated based on the deviation data, distance data determined by the position data of the first position and the second position, and the first angle. The foundation the utility model provides a device for calibrating laser swinger need not have the detector of laser difference in height recognition function just can only carry out the calibration of laser swinger with the help of image recognition device, and simple structure and calibration accuracy are high.
In an embodiment according to the present invention, the image recognition device is disposed at a third position of the target on a side facing the laser swinger. It should also be understood by those skilled in the art that the image recognition device is disposed at a third position on the side of the target facing the laser swinger, so that the image recognition device can more easily recognize the position of the laser on the target, and the recognition accuracy is improved.
In an embodiment according to the present invention, the image recognition device includes a smart phone, a tablet computer and/or a camera. In this way, existing equipment owned by the user of the apparatus for calibrating laser swipes can be reused, further reducing the equipment cost of calibrating laser swipes.
In an embodiment according to the present invention, the base platform further includes: a rotation device configured to rotate the laser swinger by the first angle based on a control command received from the image recognition device. Thereby, the control of the rotation angle of the laser level can be achieved in a more precise manner.
In an embodiment according to the present invention, the first angle is one angle value among 180 degrees, 90 degrees or 270 degrees. It should be understood by those skilled in the art that the three angles are merely exemplary and not restrictive, and that only these angles are convenient for calculating the calibration parameters, and other angles can also achieve the calibration purpose, so that other angles are also included in the scope of other claimed embodiments of the present invention.
In an embodiment according to the present invention, in a case where the image recognition device determines that the laser scanner needs to be calibrated, the image recognition device determines a calibration signal based on the distance data, the deviation distance, and the first angle, and sends the calibration signal to the laser scanner. Preferably, in an embodiment according to the present invention, the device further includes a light path extending device disposed at a fourth position between the laser swinger and the target and configured to receive the laser light emitted from the laser swinger and project the laser light onto the target after being adjusted by the light path extending device. Still preferably, in an embodiment according to the present invention, the optical path lengthening device includes: an objective lens configured to receive laser light emitted by the laser swinger; an objective lens focusing lens configured to perform focusing processing on laser light received by the objective lens; and an eyepiece configured to project the laser light conditioned by the objective focusing lens onto a target. In this way, the laser light can be processed by the objective focusing lens after being received by the objective lens, then projected by the eyepiece and projected onto the target, so that the physical distance between the laser swinger and the target can be amplified in an optical manner through the processing of the objective focusing lens.
Furthermore, it is further preferred that, in an embodiment according to the present invention, the optical path lengthening device further includes a reticle, wherein the reticle is disposed between the objective focusing lens and the eyepiece. Optionally, in an embodiment according to the present invention, the objective lens is an objective lens group including a group of objective lenses. In an embodiment according to the present invention, the optical path lengthening device has an optical path lengthening multiple of a first multiple. Preferably, in an embodiment according to the present invention, the optical path lengthening device is configured as a level, wherein an optical path center of the level is aligned with the laser emitted by the laser swinger.
In an embodiment according to the invention, there is a wired or wireless connection between the image recognition device and the laser scanner, which is configured to transmit a calibration signal from the image recognition device to the laser scanner. Optionally, in an embodiment according to the present invention, the wireless connection includes at least one of an infrared connection, a bluetooth connection, or a WiFi connection. In an embodiment according to the present invention, the target has any one of a horizontal scale, a black block, a black and white grid scale, a cross scale and/or a high and low scale.
In conclusion, according to the utility model discloses a device for calibrating laser swinger can carry out the calibration of laser swinger with the help of image recognition device, and simple structure and calibration accuracy are high.
Drawings
Embodiments are shown and described with reference to the drawings. These drawings are provided to illustrate the basic principles and thus only show the aspects necessary for understanding the basic principles. The figures are not to scale. In the drawings, like reference numerals designate similar features.
Fig. 1 shows a schematic structural view of an apparatus 100 for calibrating a laser scanner according to an embodiment of the present invention;
fig. 2 shows a schematic view of one embodiment of a target 230 that may be used among the devices for calibrating a laser scanner according to the embodiment of fig. 1 of the present invention;
fig. 3 shows a schematic view of one embodiment of a target 330 that may be used in an apparatus for calibrating a laser scanner according to the embodiment of fig. 1 of the present invention;
fig. 4 shows a schematic view of one embodiment of a target 430 that may be used among the devices for calibrating a laser scanner according to the embodiment of fig. 1 of the present invention;
fig. 5 shows a schematic view at zero degrees of a target 530 that may be used in an apparatus for calibrating a laser swinger in accordance with the embodiment of the invention of fig. 1;
fig. 6 shows a schematic view of a target 530 that may be used in an apparatus for calibrating a laser swinger according to the embodiment of the invention of fig. 1 at 180 degrees;
fig. 7 shows a schematic view of an angle of an apparatus 700 for calibrating a laser swinger in accordance with the present invention; and
fig. 8 shows a schematic view of another angle of an apparatus 700 for calibrating a laser scanner according to the present invention.
Other features, characteristics, advantages and benefits of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
Detailed Description
In the following detailed description of the preferred embodiments, reference is made to the accompanying drawings which form a part hereof. The accompanying drawings illustrate, by way of example, specific embodiments in which the invention may be practiced. The illustrated embodiments are not intended to be exhaustive of all embodiments according to the invention. It is to be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.
In order to solve the technical problem that the laser level scanner must be calibrated by using a laser detector to sense the height difference in the prior art, the inventors of the present invention think of designing a method for determining the height difference of the laser formed by rotating the laser level meter by a certain angle on a target by means of an image recognition technology, so that on one hand, the cost of the system can be reduced with a high possibility, and on the other hand, the calibration accuracy can be improved because the accuracy of the image recognition technology is high, wherein the target can be a traditional laser detector or a simple target such as a whiteboard.
Based on the above inventive concept, the inventor of the present invention thought to design a device for calibrating a laser swinger, the device comprising an image recognition device configured to acquire an image of laser light projected onto a target, and to determine positions of the laser light emitted by the laser swinger on the target before and after rotating a first angle based on an image recognition technique, respectively, and then a corresponding processor can determine whether the laser swinger needs to be calibrated based on a deviation distance determined by the image recognition technique, distance data determined from position data of the first position and the second position before and after rotating the first angle, and the first angle.
The apparatus for calibrating a laser scanner according to the present disclosure is further described below in conjunction with the attached figures.
Fig. 1 shows a schematic structural diagram of an apparatus 100 for calibrating a laser scanner according to an embodiment of the present invention. As can be seen from fig. 1, the apparatus 100 for calibrating a laser scanner according to the present invention comprises: a base platform 110, the base platform 110 configured to support a laser swinger 120 to be mounted thereon in a first position (left portion in fig. 1); a target 130, the target 130 being disposed at a second location (right portion in fig. 1) of the base platform 110 and configured to receive laser light emitted by the laser swinger 110; and an image recognition device 140, wherein the image recognition device 140 is configured to acquire an image of the laser light projected on the target 130, and determine the positions of the laser light emitted by the laser swinger 110 on the target 130 before and after rotating by a first angle based on an image recognition technology to determine a deviation distance, and further determine whether the laser swinger 110 needs to be calibrated based on the deviation data, distance data determined by the position data of the first position and the second position, and the first angle. Here, the image recognition device 140 includes a smartphone, a tablet computer, and/or a camera. In this way, existing equipment owned by the user of the apparatus 100 for calibrating the laser swinger 110 can be reused, further reducing the equipment cost of calibrating the laser swinger 110. According to the utility model provides a device 100 for calibrating laser swinger 110 need not have the detector of laser difference of height recognition function just can carry out the calibration of laser swinger with the help of image recognition device, simple structure and calibration accuracy height.
Alternatively, the target 130 used in fig. 1 can be in a variety of forms, such as, for example, what pattern is not available on the target 130, or a variety of patterns, such as, for example, any of a horizontal scale, a black block, a black and white grid scale, a cross scale, and/or a high and low scale on the target 130.
First, a technical solution without any pattern is described below, when there is no pattern on the target 130, the image recognition device 140 may be implemented by a mobile phone, for example, and assuming that the target 130 has a black color block, at this time, the image recognition of the image recognition device 140 uses functions such as threshold, findContours and the like in an openCV framework to obtain position information of the black rectangle on the target on the screen, and the coordinates of the vertex at the upper left corner of the black rectangle are several bits (x, y), and the height is denoted as H; then the height H is sent to a lower computer; and then, under a dark environment, binarizing the frame with the light spot into a gray scale image through functions such as findContours and the like in an openCV frame, and acquiring the position of the light spot of the laser swinger in a screen, wherein the position is marked as (m, n) by taking the coordinate of the center point of the light spot as a reference. The position of the laser emitted by laser level 1 on target 130 can thus be identified. In addition, there is another possibility that there is no black color block on the target 130, and at this time, the distance between the image recognition device 140 and the target 130 is required to be constant, and at this time, the height occupied by the black color block on the screen in the recognition scheme is also a constant value H, and since the constant value H is known, the height H can also be sent to the lower computer at this time; next, in a dark environment, the frame with the light spot is binarized into a gray scale map through functions such as findContours in an openCV frame, the position of the light spot of the laser swinger in the screen is obtained, and the position is marked as (m, n) with the coordinates of the center point of the light spot as the reference, so that the position of the laser emitted by the laser level 1 on the target 130 can be identified in the same way.
Of course, different patterns can be provided on target 130, and various possible pattern forms are described below.
Fig. 2 shows a schematic view of one embodiment of a target 230 that may be used among the devices for calibrating a laser scanner according to the embodiment of fig. 1 of the present invention. As can be seen from fig. 2, a line with a relevant position mark can be provided on the target 230, and at this time, when the laser beam emitted by the laser swinger is close to or coincides with the line, the height of the laser beam emitted by the laser level is recorded as a numerical value recorded in the mark associated with the line, then the laser swinger is rotated by a certain angle, and the numerical value recorded in the mark associated with a possible other line after the rotation by the certain angle is determined by the same method again. For example. Before rotation, the line marked with "+ 3" may be associated, and after rotation by a certain angle, the line marked with "-3" may be associated, and then the height difference before and after rotation by the certain angle is +3- (-3) which is 6. It can then be determined whether calibration of the laser level is required based on the height difference, the angle of rotation and the distance between the laser scanner and the target, and specific calibration parameter values calculated when calibration is required.
Fig. 3 shows a schematic diagram illustrating one embodiment of a target 330 that may be used among the devices for calibrating a laser scanner according to the embodiment of fig. 1 of the present invention. As can be seen from fig. 3, the target 330 can be provided with black and white cells having the relevant position marks, and at this time, when the laser beam emitted by the laser swinger is close to or coincides with one of the black and white cells, the height of the laser beam emitted by the laser level is recorded as a numerical value described in the mark associated with the black and white cell, and then the laser swinger is rotated by a certain angle, and the numerical value described in the mark associated with a possible another black and white cell after the rotation by the certain angle is determined again by the same method. For example. Before rotation, the line marked with "+ 6" may be associated, and after rotation by a certain angle, the line marked with "+ 3" may be associated, and then the height difference before and after rotation by the certain angle is +6- (+3) which is 3. It can then be determined whether calibration of the laser level is required based on the height difference, the angle of rotation and the distance between the laser scanner and the target, and specific calibration parameter values calculated when calibration is required.
Fig. 4 shows a schematic view of one embodiment of a target 430 that may be used among the devices for calibrating a laser scanner according to the embodiment of fig. 1 of the present invention. As can be seen from fig. 4, a cross scale can be arranged on the target 430, and at this time, when the laser emitted by the laser swinger is closer to or coincides with the scale, the height of the laser emitted by the laser level is recorded as the scale, then the laser swinger is rotated by a certain angle, and the scale which is rotated by the certain angle and possibly another scale are determined by the same method again. For example. Before rotation, the first scale may be associated with a first scale, after rotation by a certain angle, the second scale may be associated with a second scale, and the height difference between before and after rotation by the certain angle is the difference between the first scale and the second scale. It can then be determined whether calibration of the laser level is required based on the height difference, the angle of rotation and the distance between the laser scanner and the target, and specific calibration parameter values calculated when calibration is required.
Fig. 5 shows a schematic view of a target 530 at zero degrees that may be used among the apparatus for calibrating a laser swinger according to the embodiment of the present invention of fig. 1, and fig. 6 shows a schematic view of a target 530 at 180 degrees that may be used among the apparatus for calibrating a laser swinger according to the embodiment of the present invention of fig. 1. Fig. 5 and 6 are different from fig. 2 in that not only are horizontal scales having a large interval, but also each horizontal scale is divided into three steps, thereby further thinning the scales, thereby enabling higher accuracy. Specifically, as can be seen from fig. 5 and 6, a line with a relevant position mark can be provided on the target 530, and when the laser beam emitted by the laser level is close to or coincides with the line, the height of the laser beam emitted by the laser level is recorded as a numerical value recorded in the mark associated with the line, the laser level is then rotated by a certain angle, for example, 180 degrees, and the numerical value recorded in the mark associated with a possible other line after the rotation by the certain angle is determined again by the same method. For example. Before rotation, the line marked with "+ 4" may be associated, and after rotation by a certain angle, the line marked with "+ 1" may be associated, and then the height difference before and after rotation by the certain angle is +4- (+1) which is 3. It can then be determined whether calibration of the laser level is required based on the height difference, the angle of rotation and the distance between the laser scanner and the target, and specific calibration parameter values calculated when calibration is required.
Furthermore, the inventors of the present invention have considered the technical problem that the device for calibrating a laser swinger is subject to space limitations, and have conceived to design a device that optically amplifies the physical distance between the laser level and the target by means of optics, so that it is possible to do the amplification of the physical distance in a limited space, thereby improving the accuracy of calibration.
In particular, as shown in fig. 7 and 8, fig. 7 shows a schematic view of one angle of the device 700 for calibrating a laser swinger according to the present invention, while fig. 8 shows a schematic view of another angle of the device 700 for calibrating a laser swinger according to the present invention. As can be seen in fig. 7 and 8, the present invention proposes an apparatus 700 for calibrating a laser swinger, comprising a base platform 710, said base platform 710 being configured for supporting a laser swinger 720 to be mounted thereon in a first position; additionally, the apparatus 700 includes a target 730, the target 730 being disposed at a second location of the base platform 710 and configured to receive laser light; the apparatus 700 further comprises an image recognition device 740, wherein the image recognition device 740 is configured to acquire an image of the laser light projected on the target 730, and determine the positions of the laser light emitted by the laser swinger 720 on the target 730 before and after rotating by a first angle based on an image recognition technology to determine a deviation distance, and further determine whether the laser swinger 720 needs to be calibrated based on the deviation data, distance data determined by the position data of the first position and the second position, and the first angle. In the exemplary embodiment shown in fig. 7 and 8, the image recognition device 740 is arranged at a third position on the side of the target 730 facing the laser scanner 720. It should also be understood by those skilled in the art that the image recognition device 740 is disposed at a third position on the side of the target 730 facing the laser swinger 720, so that the image recognition device 740 can more easily recognize the position of the laser on the target 730, thereby improving the recognition accuracy. The base platform 710 can further comprise a rotation device (not shown in the figures, which may for example be directly below the laser swinger 720) configured to rotate the laser swinger 720 by the first angle based on control commands received from the image recognition device 740. Thereby enabling control of the rotation angle of the laser level 720 in a more precise manner. In an embodiment according to the present invention, the first angle is one angle value among 180 degrees, 90 degrees or 270 degrees. It should be understood by those skilled in the art that the three angles are merely exemplary and not restrictive, and that only these angles are convenient for calculating the calibration parameters, and other angles can also achieve the calibration purpose, so that the technical solutions of other angles are included in the technical solutions claimed in the independent claims of the present invention. Optionally, in an embodiment according to the present invention, in a case where the image recognition device determines that the laser scanner needs to be calibrated, the image recognition device determines a calibration signal based on the distance data, the deviation distance, and the first angle, and sends the calibration signal to the laser scanner.
In addition, the apparatus 700 further includes a light path extending device 750, wherein the light path extending device 750 is disposed at a fourth position between the laser swinger 720 and the target 730 and is configured to receive the laser light emitted by the laser swinger 720 and project the laser light onto the target 730 after being adjusted by the light path extending device 750. More preferably, in an embodiment according to the present invention, the optical path lengthening device 750 includes: an objective lens configured to receive laser light emitted by the laser swinger; an objective lens focusing lens configured to perform focusing processing on laser light received by the objective lens; and an eyepiece configured to project the laser light conditioned by the objective focusing lens onto a target. In this way, the laser light can be processed by the objective focusing lens after being received by the objective lens, then projected by the eyepiece and projected onto the target, so that the physical distance between the laser swinger and the target can be amplified in an optical manner through the processing of the objective focusing lens.
Furthermore, it is further preferred that, in an embodiment according to the present invention, the optical path lengthening device 750 further includes a cross reticle, wherein the cross reticle is disposed between the objective focusing lens and the eyepiece for performing the auxiliary alignment of the laser. Optionally, in an embodiment according to the present invention, the objective lens is an objective lens group including a group of objective lenses. In an embodiment according to the present invention, the optical path lengthening device has an optical path lengthening multiple of a first multiple. Preferably, in an embodiment according to the present invention, the first multiple is 32 times, and may also be 26 times, and a suitable multiple may be selected according to actual needs. Preferably, in an embodiment according to the present invention, the optical path lengthening device is configured as a level, wherein an optical path center of the level is aligned with the laser emitted by the laser swinger.
In an embodiment according to the present invention, there is a wired or wireless connection between the image recognition device 740 and the laser swinger 720, the wired or wireless connection being configured to transmit a calibration signal from the image recognition device 740 to the laser swinger 720. Optionally, in an embodiment according to the present invention, the wireless connection includes at least one of an infrared connection, a bluetooth connection, or a WiFi connection.
In conclusion, the basis the utility model provides a device for calibrating laser swinger does not need laser detector to survey discernment laser position change, can select suitable target object to regard as the mark target according to the application scene, just can carry out the calibration of laser swinger with the help of image recognition device, and the range of application is wide, and simple structure and calibration accuracy are high.
While various exemplary embodiments of the invention have been described, it will be apparent to those skilled in the art that various changes and modifications can be made which will achieve one or more of the advantages of the invention without departing from the spirit and scope of the invention. Other components performing the same function may be substituted as appropriate by those skilled in the art. It should be understood that features explained herein with reference to a particular figure may be combined with features of other figures, even in those cases where this is not explicitly mentioned. Furthermore, the methods of the present invention can be implemented in either all software implementations using appropriate processor instructions or in hybrid implementations using a combination of hardware logic and software logic to achieve the same result. Such modifications to the solution according to the invention are intended to be covered by the appended claims.
Claims (15)
1. An apparatus for calibrating a laser scanner, the apparatus comprising:
a base platform configured to support a laser swinger to be mounted thereon at a first position;
a target disposed at a second location of the base platform and configured to receive laser light; and
an image recognition device configured to acquire an image of laser light projected on a target and determine positions of laser light emitted by the laser swinger on the target before and after rotation by a first angle based on an image recognition technique to determine a deviation distance, and determine whether calibration of the laser swinger is required based on the deviation distance, distance data determined from position data of the first and second positions, and the first angle.
2. The device of claim 1, wherein the image recognition device is disposed at a third location on a side of the target facing the laser swinger.
3. The apparatus of claim 1, wherein the image recognition device comprises a smartphone, a tablet computer, and/or a camera.
4. The apparatus of claim 1, wherein the base platform further comprises:
a rotation device configured to rotate the laser swinger by the first angle based on a control command received from the image recognition device.
5. The device of any one of claims 1 to 4, wherein the first angle is one of 180 degrees, 90 degrees, or 270 degrees in value.
6. The apparatus of claim 1, wherein in the event that the image recognition device determines that the laser swinger needs to be calibrated, the image recognition device determines a calibration signal based on the distance data, the offset distance, and the first angle, and sends the calibration signal to the laser swinger.
7. The device of claim 1, further comprising a beam path extender disposed at a fourth location between the laser swinger and the target and configured to receive and condition the laser light emitted by the laser swinger for projection onto the target.
8. The apparatus of claim 7, wherein the optical path lengthening means comprises:
an objective lens configured to receive laser light emitted by the laser swinger;
an objective lens focusing lens configured to perform focusing processing on laser light received by the objective lens; and
an eyepiece configured to project laser light conditioned by the objective focusing lens onto a target.
9. The apparatus of claim 8, wherein the optical path lengthening device further comprises a reticle, wherein the reticle is disposed between the objective focusing lens and the eyepiece.
10. The apparatus according to claim 8 or 9, wherein the objective lens is an objective lens group comprising a group of objective lenses.
11. The apparatus of claim 7, wherein the optical path lengthening device has an optical path lengthening multiple of a first multiple.
12. The apparatus of claim 7, wherein the optical path lengthening device is configured as a level, wherein an optical path center of the level is aligned with the laser light emitted by the laser swinger.
13. The device of claim 1, wherein there is a wired or wireless connection between the image recognition device and the laser scanner configured to transmit a calibration signal from the image recognition device to the laser scanner.
14. The apparatus of claim 13, wherein the wireless connection comprises at least one of an infrared connection, a bluetooth connection, or a WiFi connection.
15. The device of claim 1, wherein the target has any one of a horizontal scale, a black block, a black and white grid scale, a cross scale and/or a high and low scale.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183754A (en) * | 2022-08-23 | 2022-10-14 | 广东博智林机器人有限公司 | Laser calibration method, device and system for engineering height measurement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183754A (en) * | 2022-08-23 | 2022-10-14 | 广东博智林机器人有限公司 | Laser calibration method, device and system for engineering height measurement |
| CN115183754B (en) * | 2022-08-23 | 2023-11-10 | 广东博智林机器人有限公司 | Laser calibration method, device and system for engineering height measurement |
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| GR01 | Patent grant |