CN211601925U - Angular deviation measuring system - Google Patents
Angular deviation measuring system Download PDFInfo
- Publication number
- CN211601925U CN211601925U CN202020170694.4U CN202020170694U CN211601925U CN 211601925 U CN211601925 U CN 211601925U CN 202020170694 U CN202020170694 U CN 202020170694U CN 211601925 U CN211601925 U CN 211601925U
- Authority
- CN
- China
- Prior art keywords
- information
- measurement
- attitude
- target object
- angular deviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
An angular deviation measurement system (10) for measuring angular deviation information of a target object on a vehicle relative to the vehicle, comprising: a first measurement device (100), a second measurement device (200), and a computing device (300) communicatively coupled to the first measurement device (100) and the second measurement device (200). Wherein the first measurement device (100) is configured to measure vehicle attitude measurement information relating to an attitude of the vehicle; a second measurement device (200) for measuring target object attitude measurement information relating to an attitude of the target object; a computing device (300) is configured to determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information.
Description
Technical Field
The present application relates to the field of measurement technologies for detecting a carrier, and in particular, to an angular deviation measurement system for measuring angular deviation information of a target object on a carrier relative to the carrier.
Background
Currently, existing vehicles (e.g., aircraft) require commissioning prior to use or periodic inspection during use. During the commissioning and inspection, it is detected whether the axis of a given target object disposed on the vehicle is parallel to the vehicle crankshaft axis, or whether the angle between the axis of the given target object and the vehicle crankshaft axis corresponds to a predetermined angle. For example, whether the axis of the engine shaft disposed on the wing of the vehicle is parallel to the crankshaft of the vehicle or whether it is at a predetermined angle.
In this case, it is necessary to measure information on the angular deviation of the axis of the target object with respect to the axis of the machine shaft of the vehicle (i.e. the angle between the axis of the target object and the axis of the machine shaft). Currently, the measurement work usually requires manual measurement. However, the manual measurement mode requires multiple persons to complete the measurement, so that the method has the disadvantages of long time consumption, complex procedure (for example, multiple persons are required to complete the measurement in a cooperative manner), low working efficiency, inconvenient use, unsuitability for field work and the like.
Therefore, in order to improve the efficiency of the measurement work, it is necessary to quickly acquire the attitude information of the carrier and the attitude information of the target object, and to collect and calculate the acquired information. However, the existing system cannot quickly acquire the attitude information of the vehicle and the attitude information of the target object, and can collect and calculate the acquired information.
SUMMERY OF THE UTILITY MODEL
The present disclosure provides an angular deviation measurement system to at least solve the technical problem that the existing system in the prior art cannot rapidly acquire the attitude information of a carrier and the attitude information of a target object, and collects and calculates the acquired information.
According to an aspect of the present application, there is provided an angular deviation measurement system for measuring angular deviation information of a target object on a vehicle relative to a second measurement device vehicle, comprising: the system includes a first measurement device, a second measurement device, and a computing device communicatively connected to the first measurement device and the second measurement device. Wherein the first measurement device is configured to measure vehicle attitude measurement information relating to an attitude of the vehicle; the second measuring equipment is used for measuring target object attitude measurement information related to the attitude of the target object; and a computing device for determining first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information.
Optionally, the first measuring device is a geodetic measuring device.
Optionally, the second measurement device comprises: the optical collimating device is used for measuring second angle deviation information between the optical collimating device and a measuring surface arranged on the target object, wherein the axis of the optical collimating device is parallel to the axis of the target object under the condition that the optical collimating device is aligned with the measuring surface; and the attitude measuring device is connected with the optical collimating device and is used for measuring the attitude measuring information of the optical collimating device related to the attitude of the optical collimating device.
Optionally, the optical collimating means comprises: a light source; an image acquisition unit; a first reticle disposed in front of the light source; the second reticle is arranged in front of the image acquisition unit; and an optical system for projecting the light source light emitted by the light source and passing through the first reticle onto the measurement plane, and projecting the light source light reflected back from the measurement plane to the image pickup unit via the second reticle.
Optionally, the attitude measurement device comprises: the gyroscope and the accelerometer are arranged in the box body.
Optionally, the gyroscopes include a first gyroscope, a second gyroscope, and a third gyroscope arranged perpendicular to each other, and the accelerometers include a first accelerometer, a second accelerometer, and a third accelerometer arranged perpendicular to each other.
Optionally, the attitude measurement device further includes a signal acquisition circuit disposed in the box, and the signal acquisition circuit is connected to the gyroscope and the accelerometer and is configured to acquire attitude measurement information of the optical collimator from the gyroscope and the accelerometer.
Optionally, a signal output interface is arranged on the box body, the signal output interface is connected with the signal acquisition circuit, and the computing device is connected with the signal output interface.
Optionally, the outer surface of the box body is also provided with a handheld part.
Optionally, the attitude measurement device further comprises a power supply circuit for supplying power to the gyroscope, the accelerometer and the signal acquisition circuit.
Optionally, the optical collimating apparatus further comprises a signal output interface for transmitting the second angular deviation information to a computing device, and the computing device is connected with the signal output interface.
According to the aspect of the present embodiment, the first measurement device in the angular deviation measurement apparatus is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device is operable to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device may then determine angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Therefore, the calibration of the target object on the carrier is completed according to the angle deviation information measured by the angle deviation measuring system. And the whole process can be realized by only one person respectively operating the first measuring equipment and the second measuring equipment. And then the problem that the attitude information of the carrier and the attitude information of the target object cannot be rapidly acquired, and the acquired information is collected and calculated in the prior art is solved.
The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic diagram of an angular deviation measurement system according to an embodiment of the present application;
FIG. 2 is a schematic diagram for calculating angular deviation information of a first axis and a second axis according to an embodiment of the present application;
fig. 3A is a schematic illustration of a vehicle being maneuvered using a first measurement device according to an embodiment of the present application;
fig. 3B is a schematic illustration of a horizontal reference point of a carrier according to embodiments of the present application;
FIG. 3C is a schematic view of a heading point of a vehicle according to the first aspect of the embodiments of the present application;
FIG. 4 is a schematic view of a centering rod according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a second axis of a target object measured by an optical collimating apparatus of a second measuring device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of Euler angles between a carrier coordinate system and a geographic coordinate system of an optical collimating apparatus according to an embodiment of the present application;
FIG. 7 is a schematic cross-sectional inside view of an optical collimating apparatus according to an embodiment of the present application;
FIG. 8 is a schematic diagram of an optical system of an optical collimating apparatus according to an embodiment of the present application;
FIG. 9A is a schematic view of a detection image formed by co-projecting a first reticle and a second reticle onto an imaging plane according to an embodiment of the present application, wherein the axis of the optical alignment device according to FIG. 9A is not aligned with the second axis of the target object;
FIG. 9B is yet another schematic view of a detection image formed by the co-projection of a first reticle and a second reticle onto an imaging plane according to an embodiment of the present application, wherein the axis of the optical alignment device according to FIG. 9B is not aligned with the second axis of the target object;
FIG. 10A is a schematic diagram of a detection image formed by the first reticle and the second reticle collectively projected on an imaging plane according to an embodiment of the present application, wherein the pitch angle of the second axis of the target object with respect to the optical collimator shown in FIG. 10A is not zero;
FIG. 10B is a further schematic diagram of a detection image formed by the co-projection of the first reticle and the second reticle onto the imaging plane according to an embodiment of the present application, wherein the azimuth angle of the second axis of the target object with respect to the optical collimating device according to FIG. 10B is not zero;
FIG. 11 is a schematic cross-sectional interior view of a second measurement device according to an embodiment of the present application; and
FIG. 12 is a schematic bottom view of a second measurement device according to an embodiment of the present application.
Detailed Description
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing the embodiments of the disclosure herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Geographic coordinate system (t system for short): origin at the centre of gravity, x, of the object to be measuredtThe axis pointing east, ytAxis north, ztThe axis points along the vertical to the sky, commonly referred to as the northeast coordinate system. There are also different methods for taking geographical coordinate systems, such as northwest, northeast, etc. The different orientation of the coordinate system only affects the different signs of the projection components of a certain vector in the coordinate system, and does not affect the explanation of the basic principle of the navigation of the tested object and the accuracy of the calculation result of the navigation parameters.
Vector coordinate system (b series for short): the carrier coordinate system is fixed on the measured object and its origin is at the gravity center, x, of the measured objectbWith axis pointing forward of the longitudinal axis of the object to be measured, ybThe axis pointing to the right of the object to be measured, zbAxis vertical OxbybThe plane is upward.
Fig. 1 is a schematic diagram of an angular deviation measurement system according to an embodiment of the present application, and referring to fig. 1, the angular deviation measurement system 10 is used for measuring angular deviation information of a target object on a vehicle relative to the vehicle, and includes a first measurement device 100, a second measurement device 200, and a calculation device 300.
The first measurement apparatus 100 is for measuring vehicle attitude measurement information relating to the attitude of the vehicle; the second measurement device 200 is used for measuring target object attitude measurement information related to the attitude of the target object; the computing device 300 is configured to determine first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information.
Specifically, referring to fig. 1, the first measurement apparatus 100 in the angular deviation measurement system 10 may be used to measure vehicle attitude measurement information related to the vehicle. And the second measurement device 200 is used to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device 300 may then determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Which may be a computing device such as a computer processor or the like.
As described in the background, existing measurement work typically requires manual measurement by hand. However, the manual measurement mode requires multiple persons to complete the measurement, so that the method has the disadvantages of long time consumption, complex procedure (for example, multiple persons are required to complete the measurement in a cooperative manner), low working efficiency, inconvenient use, unsuitability for field work and the like.
In view of this, according to the technical solution of the present embodiment, the first measurement apparatus 100 in the angular deviation measurement system is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device 200 is used to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device 300 may then determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Therefore, according to the first angle deviation information measured by the angle deviation measuring system, the calibration of the target object on the carrier is completed.
And the whole process of the angular deviation measurement can be completed by only one person operating the first measuring device 100 and the second measuring device 200 respectively. And then the problem that the attitude information of the carrier and the attitude information of the target object cannot be rapidly acquired, and the acquired information is collected and calculated in the prior art is solved.
Further, referring to fig. 2, the computing apparatus 300 may determine first angle deviation information of the target object with respect to the vehicle, for example, from the vehicle attitude measurement information and the target object attitude measurement information, for example, the computing apparatus 300 may first determine vehicle attitude information of the vehicle from the vehicle attitude measurement information. The computing device 300 may then determine target object pose information for the target object based on the target object pose measurement information. Finally, the computing device 300 may determine first angular deviation information of the target object relative to the first axis from the vehicle pose information and the target object pose information. Therefore, the angular deviation information of the target object of the carrier relative to the carrier is obtained, and the calibration of the target object on the carrier is further completed.
Specifically, referring to fig. 2, for example, a first axis of the vehicle and a second axis of the target object may be regarded as two out-of-plane spatial lines of space. In the northeast coordinate system, the three-dimensional orthogonal planes (the roll plane, the pitch plane and the azimuth plane) are projected to obtain the roll difference angle, the pitch difference angle and the azimuth difference angle between the two space out-of-plane straight lines, and specific solid geometry knowledge is not repeated here.
Thus, in this way, it is possible to determine target object angle deviation information with respect to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information of the first and second measurement apparatuses 100 and 200. Specifically, further specific details regarding the vehicle attitude measurement information and the target object attitude measurement information will be described later. Further, although in the present embodiment, the concept of the first axis of the carrier and the second axis of the target object is introduced, this is merely to facilitate understanding of the technical solution of the present embodiment by those skilled in the art. It is within the scope of the present disclosure as long as the angular deviation between the target object and the vehicle can be determined using the information measured by the measuring device in the system described in the present embodiment.
Optionally, the first measuring device 100 is a geodetic measuring device. The vehicle attitude measurement information relating to the attitude of the vehicle can thus be acquired geodetically with the first measurement apparatus 100.
For example, the vehicle attitude measurement information includes a first set of coordinate information, where the first set of coordinate information includes coordinate information of a plurality of reference points provided on the outer surface of the vehicle.
In particular, referring to fig. 3A, in the case where a user needs to make attitude measurements of a vehicle (e.g., an aircraft), the user may determine a plurality of reference points on the outer surface of the vehicle. Where the frame structure, e.g. the carrier, is rigid and does not deform easily, it is possible to select a reference point on the rigid frame structure, thereby ensuring that the position of the reference point with respect to the machine axis does not change. Referring to fig. 3B and 3C, five reference points such as a horizontal reference point a, a horizontal reference point B, a horizontal reference point C, a heading reference point a ', and a heading reference point B' may be provided on the body of the vehicle, for example. Wherein the horizontal reference point C and the horizontal reference point B are symmetrical about the crankshaft. Since these five reference points are provided on the frame structure of the vehicle, the relative positions of these five reference points do not change regardless of the change in the attitude of the vehicle, and the positional relationship with the machine shaft is also fixed. Therefore, in the case of performing attitude measurement on the vehicle, the above five reference points can be selected as the reference points of the vehicle. Further, the horizontal reference point a, the horizontal reference point B, and the horizontal reference point C among the five reference points are distributed on the same horizontal plane in a state where the carrier is flat. The heading reference point A 'and the heading reference point B' are traditional heading reference points (located on the lower surface of the carrier body). By the relationship that the five reference points are located at fixed positions of a machine body coordinate system, if the coordinates of the five reference points are known, the positions of the machine shaft and the machine shaft surface of the carrier under the coordinate system can be calculated through the relationship between the coordinate information of the reference points and the machine shaft surface, and the attitude parameters of the machine body under the coordinate system can be obtained.
Further, referring to fig. 3A, the user may perform measurements related to a plurality of reference points using the geodetic apparatus and determine coordinate information of the plurality of reference points from the measurement results of the geodetic apparatus. Wherein the geodetic apparatus may be, but is not limited to, a total station, wherein the total station may be used, for example, to measure coordinate information of the target object.
Further, the computing device may determine attitude information of the vehicle from coordinate information of the plurality of reference points. The attitude information of the vehicle may include, for example, a roll angle, a pitch angle, an azimuth angle, and the like of the vehicle in space.
Thus, the user can measure the coordinate information of the reference point on the carrier using the geodetic surveying device and then calculate the attitude information of the carrier from the coordinate information of the reference point, achieving the effect of accurately measuring the attitude of the carrier in a short time. And the geodetic surveying equipment is convenient to carry, and can finish the measurement work of the carrier attitude in the field. Further, the technical problems that in the state that the carrier is not used, the method for measuring the attitude of the carrier needs to be completed by multiple persons in a cooperation mode, so that the method is long in time consumption, complex in procedure (for example, the method needs to be completed by multiple persons in a cooperation mode), low in working efficiency, inconvenient to use, not suitable for field work and the like are solved.
Further, as shown with reference to fig. 3B, the plurality of fiducial points includes a first portion of fiducial points. Where the first part of the reference points may be three points in a plane parallel to the carrier, such as points A, B and C in figure 3B. And the computing device determines attitude information of the vehicle from the plurality of pieces of coordinate information. Plane information of a reference plane associated with the carrier may be determined, for example, from coordinate information of the first part of the reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state. The computing device then determines the pitch angle and roll angle of the vehicle from the plane information. Wherein the plane information may comprise an equation of a reference plane.
Further, let horizontal reference point A (x)ap,yap,zap) Horizontal reference point B (x)bp,ybp,zbp) Horizontal reference point C (x)cp,ycp,zcp)、Course reference point A' (x)ah,yah,zah) Heading reference point B' (x)bh,ybh,zbh)。
Then the plane equation is solved: according to the structure of the carrier, the horizontal reference point A, the horizontal reference point B and the horizontal reference point C are always on a plane, the plane is parallel to the plane of the carrier body through a coordinate model, the plane of the carrier body can represent the pitching and rolling postures of the carrier body, the plane of the carrier body is calculated, and a plane equation is obtained:
horizontal vector
Horizontal vector
Normal vector of the plane
Plane vector cross product calculation:
is provided with
Wherein a isx、ay、az、bx、byAnd bzAre constant coefficients.
The normal vector of the plane is obtained by cross multiplication of the vectors, and is set as
Therefore, the attitude information of the body plane can be obtained by using the normal vector, and the attitude information of the carrier can be obtained by using the attitude information of the body plane.
In addition, the plane equation of the reference plane can also be calculated iteratively:
the general expression of the plane equation is:
Ax+By+Cz+1＝0，(C≠0)
recording:
then: a is0x+a1y+a2
And (3) plane equation fitting:
for a series of n points (n ≧ 3):
(xi,yi,zi),i＝0,1,…,n-1
point of interest (x)i,yi,zi) The above plane equation is calculated by fitting i to 0,1, …, n-1, such that:
and minimum.
To minimize S, one should satisfy:
namely:
the method comprises the following steps of (1) preparing,
or the like, or, alternatively,
solving the linear equation set to obtain: a is0,a1,a2
Namely: z ═a0x+a1y+a2
Similarly, when the plane equation is set to Ax + By + C ═ Z, an iterative solution of the equation can be obtained. The attitude information of the vehicle can thus also be determined using this equation.
In addition, referring to fig. 3B and 3C, the plurality of reference points further includes a second part of reference points (e.g., a heading reference point a 'and a heading reference point B' shown in fig. 3C) located outside the reference plane. And the attitude information of the vehicle is determined based on the plurality of pieces of coordinate information, and the attitude information of the vehicle may be determined based on, for example, the plane information and the coordinate information of the second partial reference points.
In particular, the normal vector to be calculated according to the above
The plane equation of the plane can be obtained by substituting the coordinates of the horizontal measuring point B:
xn·x+yn·y+znz + D ═ 0 where D ═ xn·xbp+yn·ybp+zn·zbp)
The horizontal reference points B and C are symmetrical about the axis of the vehicle, depending on the mechanical characteristics, and perpendicular to the centre of the earth
In combination, roll angle information for the vehicle can be calculated:
roll angle
The pitch angle information and the azimuth angle information of the vehicle are calculated by two points under the abdomen.
Projecting the heading reference point under the belly to the plane where the horizontal reference point is located, and calculating the attitude of the pitch angle and the azimuth angle by using the projected heading vector.
Let the projection coordinate of the heading reference point A' be A (x)a,ya,za) The projection coordinate of the heading reference point B' is B (x)b,yb,zb)。
Point-to-plane projection coordinate calculation:
by
Therefore, the following steps are carried out:
due to A (x)a,ya,za) For a point on a plane, satisfy the plane equation xn·xa+yn·ya+zn·zaWhen + D is equal to 0, the equation is substituted
The value of (b) is brought back to obtain the projection coordinate A (x)a,ya,za) And B (x)b,yb,zb) The value of (c).
Projection vector
By using the angle with respect to the centre of the earth
Can calculate the pitch angle theta by using the relation perpendicular to the center of the earth
Can calculate the azimuth angle in the total station coordinate system.
Further, when calculating the azimuth ψ, it is necessary to place the projection vector and the total station on the same plane, i.e. to set the height difference of the projection vector to zero. Namely, it is
Wherein the azimuth angle is an included angle between a crankshaft and a coordinate system of the total station (in the case that the geodetic surveying equipment is the total station) in the N direction, and the included angle between the N direction and the geomagnetic north is established according to the total station when the coordinate system is established on the basis
Thereby calculating the included angle between the crankshaft and the north direction of the geomagnetism. And then the attitude information of the vehicle of the roll angle, the pitch angle and the azimuth angle of the vehicle can be calculated through the solving process.
Further, as shown with reference to fig. 4, the attitude measurement method of the carrier may further include providing a plurality of centering bars on the carrier, the centering bars corresponding to positions of the plurality of reference points, respectively. Since the geodetic apparatus is placed on one side of the vehicle, reference points not visible to the geodetic apparatus (for example, reference points located on the other side of the vehicle and on the belly of the vehicle) can be led out with the centering rod. And the user performs the operation of measurement related to the plurality of reference points using the geodetic apparatus, it is possible to measure coordinate information of measurement points on the plurality of centering bars (measurement points corresponding to the reference points drawn out using the centering bars) using the geodetic apparatus. Therefore, a user can lead out a measuring point corresponding to the reference point which can not be observed by the geodetic measuring equipment downwards through the centering rod, then the coordinate information of the measuring point is measured through the geodetic measuring equipment, and further the measurement of the attitude information of the carrier is completed. In addition, the head of the centering rod is provided with an alignment component, so that the height of the centering rod can be accurately positioned, the lower part of the centering rod is provided with an accurate dimension reticle, the total station can be ensured to measure measuring points which have accurate corresponding relation with a machine shaft, the leading-out rod is naturally static in a plumb state during use, the state of the centering rod at each measuring point is ensured to be consistent, and the measured data can be ensured to accurately reflect the posture of the carrier. In order to adapt to datum points at different positions, two kinds of centering rods, namely a long centering rod and a short centering rod, are designed, as shown in fig. 4. The long rod 2 can be supported on the ground, and the short rod 1 needs to be held by hands to support a measuring point.
Optionally, the second measurement apparatus 200 comprises an optical collimating device 210 and an attitude measurement device 220. The optical collimator 210 is configured to measure second angular deviation information from a measurement plane S1 disposed on the target object. An attitude measurement device 220 is connected to the optical alignment device 210 for measuring optical alignment device attitude measurement information related to the attitude of the optical alignment device 210. Wherein the target object attitude measurement information includes the second angular deviation information and the optical collimator attitude measurement information, and the operation of determining target object attitude information from the target object attitude measurement information includes: and determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimating device.
Specifically, referring to fig. 5, the optical collimator 210 may be directed toward the measurement plane S1 set on the target object, so as to acquire second angular deviation information between the axis of the optical collimator 210 and the normal line of the measurement plane S1. Wherein the second angular deviation information is indicative of an angular deviation between the axis of the optical collimating device 210 and a second axis of the target object. For example, on the coordinate axis (for example x) of the measurement plane S1 and the carrier coordinate system of the target objectb2Axis) is vertical, the normal line of the measurement plane S1 is parallel to the second axis of the target object. The angular deviation can reflect the carrier coordinate system Ox of the target objectb2yb2zb2With the carrier coordinate system Ox of the optical collimator 10b1yb1zb1The angular deviation therebetween may also reflect second angular deviation information of the second axis of the target object relative to the axis of the optical collimator 210. For example, the second axis of the target object is offset in azimuth and offset in pitch with respect to the axis of the optical collimator 210.
Further, referring to fig. 6, the attitude measurement device 220 is used to measure optical collimator attitude measurement information related to the attitude of the optical collimator 210. The computing apparatus 300 may thus determine target object pose information, for example, based on the second angular deviation information and the optical collimator pose measurement information.
In particular, for example (but not limited to), computing apparatus 300 may determine optical collimator pose information for optical collimator 210 from the optical collimator pose measurement information. For example, referring to fig. 6, the attitude information of the optical collimator 210 may be, for example, a carrier coordinate system Ox of the optical collimator 210b1yb1zb1Relative to the geographical coordinate system Ox of the optical collimating means 210t1yt1zt1Euler angle (α)1，β1，θ1) Which is used to indicate the azimuth, pitch, and roll of the optical collimating device 210 with respect to a geographic coordinate system.
The computing device 300 can thus be based on the carrier coordinate system Ox of the target objectb2yb2zb2With the carrier coordinate system Ox of the optical collimator 210b1yb1zb1And optical collimator attitude measurement information related to the attitude of the optical collimator 210, determines the geographic coordinate system Ox of the target object relative to the optical collimatort1yt1zt1I.e. target object pose information of the target object.
For example, it can be based on the carrier coordinate system Ox of the optical collimator 210b1yb1zb1Relative to a geographical coordinate system Oxt1yt1zt1Azimuth and pitch angle of and a carrier coordinate system Ox of the target objectb2yb2zb2With the carrier of the optical collimating means 10Mark system Oxb1yb1zb1Determining the geographic coordinate system Ox of the target object with respect to the optical collimator 210t1yt1zt1Azimuth angle and pitch angle. Moreover, since the distance between the vehicle and the optical collimating device 210 to the target object is relatively short, the angular deviation between the geographic coordinates of the vehicle and the target object is negligible. The first angle deviation can thus be determined using the finally determined target object attitude information and the vehicle attitude information.
In this way, the attitude information relating to the axis of the target object can thus be determined without contact with the target object, thereby improving the efficiency of detection.
Optionally, the optical collimating means 210 comprises: a light source 211; an image acquisition unit 212; a first reticle 213 disposed in front of the light source; a second dividing plate 214 disposed in front of the image capturing unit 212; and an optical system disposed between the first reticle 213 and the second reticle 214. Wherein the optical system is used to project the light source light emitted by the light source 211 and passing through the first reticle 213 onto the measurement plane S1, and to project the light source light reflected back from the measurement plane S1 onto the image acquisition unit 212 via the second reticle 214. And, the second angular deviation information includes a detection image collected by the image collecting unit 212, wherein the detection image includes a first image of the first reticle 213 and a second image of the second reticle 214.
In particular, fig. 7 schematically shows a schematic cross-sectional view of an optical collimating device. Referring to fig. 7, the optical collimating device 210 includes: a light source 211, an image acquisition unit 212, a first reticle 213 disposed in front of the light source, a second reticle 214 disposed in front of the image acquisition unit 212, and an optical system disposed between the first reticle 213 and the second reticle 214. Fig. 8 schematically shows a structure of the optical system. Referring to fig. 8, the optical system includes an objective lens 215, a prism 216, and an eyepiece lens 217, wherein a first reticle 213 and a second reticle 214 are located on a focal plane of the objective lens system and the eyepiece lens system through a spectroscopic conjugate of the prism 216.
Further, referring to fig. 7 and 8, according to the principle of optical path reversible imaging, the light source light emitted by the light source 211 passes through the first reticle 213 and then passes through the objective lens 215 to be parallel light and then is irradiated to the measurement surface S1 disposed on the target object. Then, the image is reflected by the measurement surface S1, passes through the objective lens 215 and the eyepiece 217 again, and is imaged at the image surface position of the objective lens 215. Since the second reticle 214 is located at the image plane position of the objective lens 215, the optical system projects the light source light reflected back from the target object as parallel light to the image pickup unit 212 via the second reticle 214. So that the image pickup unit 212 disposed on the imaging plane can pick up a detection image including a first image of the first scribe line of the first reticle 213 and a second image of the second scribe line of the second reticle 214, as shown in fig. 9A and 9B.
Specifically, when the second axis of the target object is not parallel to the axis of the optical collimator 210, that is, the pitch difference angle and the azimuth difference angle between the two spatially coplanar straight lines are not zero, as shown in fig. 9A and 9B, the images formed by the first reticle 213 and the second reticle 214 projected together on the imaging plane are as shown in fig. 9A or 9B. The centers of the crosses of the first image of the first reticle 213 and the second image of the second reticle 214 are separated by a distance, and are not in a coincident position, meaning that the axis of the optical alignment device 210 is not parallel, i.e. there is an angular deviation, with the second axis of the target object.
The light source can be a 1550nm optical fiber light source (SFS) which is based on Amplified Spontaneous Emission (ASE) of an erbium-doped optical fiber, and the optical fiber light source has the advantages of good temperature stability, large output power, long service life and low polarization correlation. Further, the image capturing unit 212 is, for example, but not limited to, a triggered CCD camera.
Optionally, the operation of determining the attitude information of the target object of the second axis according to the second angle deviation information and the attitude measurement information of the optical collimator includes: determining the azimuth angle deviation and the pitch angle deviation of the second axis and the optical collimating device according to the positions of the first image and the second image; determining the attitude information of the optical collimating device 210 of the optical collimating device according to the attitude measurement information of the optical collimating device, wherein the attitude information of the optical collimating device comprises an azimuth angle and a pitch angle of the optical collimating device 210; and determining the attitude information of the target object according to the attitude information of the optical collimating device, the azimuth angle deviation and the pitch angle deviation.
Referring specifically to fig. 10A and 10B, when the axis of the optical collimating device 210 is not parallel to the second axis of the target object, the cross of the first image and the cross of the second image may not coincide. Where there is a pitch angle deviation between the axis of the optical collimator 210 and the second axis of the target object, there is a positional deviation between the first image and the second image in the vertical direction as in fig. 10A. When there is an azimuthal deviation of the axis of the optical collimating device 210 from the second axis of the target object, there is a positional deviation of the first image and the second image in the horizontal direction as in fig. 10B.
Referring also to fig. 9A and 9B, when there is an azimuth and a pitch angle deviation of the axis of the optical collimating device 210 from the second axis of the target object, there is a positional deviation of the first image and the second image in both the horizontal direction and the vertical direction. Therefore, the azimuth angle deviation and the pitch angle deviation of the second axis of the target object with respect to the optical collimating device 210 can be determined according to the positions of the first image and the second image.
Specifically, the posture information of the target object is determined from the first picture and the second picture projected on the image pickup unit 212. Wherein the second image is used as a reference image, and the relative displacement (Δ x, Δ y) of the first image relative to the second image can be obtained. And the azimuthal angle deviation k of the second axis of the target object with respect to the optical collimating device 210 can be found by the following formulaiAnd a pitch angle deviation phii。
ki＝Δx/Sx
φi＝Δy/Sy
Wherein SxIs a scale factor in the horizontal direction, SyIs a scale factor in the vertical direction. And wherein SxAnd SyIn pixels/arcsec (imaging height per arcsec resolution/CCD size),these two parameters can be calibrated in advance.
Furthermore, as before, the optical collimator attitude information of the optical collimator 210, i.e., the azimuth, pitch, and roll of the optical collimator 210, may be determined from the optical collimator attitude measurement information.
thereby utilizing the azimuth angle α of the optical collimating device 2101and a pitch angle beta1And the above azimuth angle deviation kiAnd a pitch angle deviation phiiin particular, the azimuth angle α of the optical collimating device 210 may be utilized1And azimuth angle deviation kito determine the azimuth angle of the target object, and the pitch β using the optical collimating device 2101and pitch angle deviation beta1And summing to determine the pitch angle of the target object.
Therefore, in this way, the technical solution of the embodiment can calculate the angle deviation between the optical collimator 210 and the target object by using optical projection imaging and image processing techniques, so as to not only ensure the accuracy of detection, but also calculate the target object posture information of the target object in real time.
Further optionally, the attitude measurement device 220 includes: including gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222 c. The optical collimator attitude measurement information includes information measured by gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222 c. The operation of determining optical collimator pose information for optical collimator 210 based on the optical collimator pose measurement information includes: optical collimator attitude information is determined using a strapdown inertial navigation algorithm based on information measured by the gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222 c.
Specifically, fig. 11 and 12 exemplarily show a schematic internal cross-sectional view of the attitude measurement device 220. Referring to fig. 11 and 12, the attitude measurement device 220 includes a first gyroscope 221a, a second gyroscope 221b, and a third gyroscope 221c that are disposed perpendicular to each other. And attitude measurement device 220 further includes a first accelerometer 222a, a second accelerometer 222b, and a third accelerometer 222 c. The angular motion information of the optical collimating device 210 is measured by the gyroscopes 221a, 221b, 221c, and the linear velocity information of the optical collimating device 210 is measured by the accelerometers 222a, 222b, 222c, so that the orientation relationship of the carrier coordinate system of the optical collimating device 210 with respect to the geographic coordinate system, that is, the attitude information of the optical collimating device 210, can be calculated according to the strapdown inertial navigation algorithm. For specific details of the strapdown inertial navigation algorithm, reference may be made to related prior art, and detailed description is not repeated in this specification.
In addition, although in the present embodiment, the strapdown inertial navigation algorithm is described as an example. However, the optical collimator attitude measurement information is not limited thereto, and for example, the optical collimator attitude measurement information may be information on the azimuth angle, the pitch angle, and the roll angle of the optical collimator 210 measured by the attitude measurement device 220. Thus, the attitude measurement information of the optical collimator can be directly used to determine the target object line attitude information of the target object without calculating the attitude information of the optical collimator.
Further, since the accuracy of the gyroscopes 221a, 221b, 221c directly affects the accuracy of the measured first attitude information of the optical collimator 210, and ultimately the accuracy of the determined attitude of the measured object. In order to ensure the precision, a high-precision fiber-optic gyroscope can be adopted. Or a gyroscope with the accuracy of 1% is selected, and the accuracy gyroscope can ensure that the course keeps 0.01 degree per hour and meets the requirement of measurement accuracy.
Further, accelerometers 222a, 222b, 222c may be implemented as quartz flexure accelerometers, which are mechanically pendulum force balanced servo accelerometers. When the pendulum is sensed to input acceleration, it will generate an inertial moment about the flexible pivot, under which moment the pendulum makes an angular movement about the flexible pivot, generating an angular displacement. The differential capacitance sensor converts the displacement into capacitance variation and transmits the capacitance variation to the analog amplifier, and the analog amplifier converts the capacitance variation into a current signal and transmits the current signal to the torquer to generate a restoring torque. When the restoring moment is balanced with the moment of inertia of the pendulum, the current value to the torquer can be used to measure the magnitude of the input acceleration.
Optionally, the attitude measurement apparatus 220 further includes a signal acquisition circuit 224 disposed in the box 223, and the signal acquisition circuit 224 is connected to the gyroscopes 221a, 221b, 221c and the accelerometers 222a, 222b, 222c, and is configured to acquire the optical alignment apparatus attitude measurement information from the gyroscopes 221a, 221b, 221c and the accelerometers 222a, 222b, 222 c.
Specifically, referring to fig. 11 and 2, the attitude measurement device 220 further includes a signal acquisition circuit 224 connected to the gyroscopes 221a, 221b, 221c and the accelerometers 222a, 222b, 222 c. The signal acquisition circuit 224 is mainly configured to acquire gyro signals and acceleration signals of the gyroscopes 221a, 221b, and 221c and the accelerometers 222a, 222b, and 222c, and then process the gyro signals and the acceleration signals and send the processed gyro signals and acceleration signals to the subsequent computing device 300. So that the computing device 300 may perform attitude calculation on the received gyro signal and acceleration signal to determine the attitude of the optical collimator 210. Thereby determining the pose with the target object detected by the optical collimation device 210.
Optionally, a signal output interface 225 is disposed on the box 223, the signal output interface 225 is connected to the signal acquisition circuit 224, and the computing device 300 is connected to the signal output interface 225.
Specifically, the box 223 is provided with a signal output interface 225, and the signal output interface 225 may be connected to the signal acquisition circuit 224 through a wiring backplane (not shown in the figure), for example. Therefore, after the signal acquisition circuit 224 acquires the gyro signal and the acceleration signal, the signal can be transferred to the signal output interface 225 through the wiring bottom plate, and finally the gyro signal and the acceleration signal are transmitted to the subsequent computing device 300 through the signal output interface 225.
Optionally, the outer surface of the box 223 is further provided with a hand-held part 226. Specifically, the outer surfaces of the two symmetrical sides of the case 223 are respectively provided with a holding part 226, and a user can flexibly move the second measuring device 200 by holding the holding part 226, so that the second measuring device can be applied to various measuring occasions
Optionally, the attitude measurement apparatus 220 further comprises a power circuit 227, and the power circuit 227 is used for supplying power to the gyroscopes 221a, 221b, 221c, the accelerometers 222a, 222b, 222c, and the signal acquisition circuit 224.
Specifically, referring to fig. 11 and 12, the attitude measurement apparatus 220 further includes a power supply circuit 227 for supplying power to the gyroscopes 221a, 221b, 221c, the accelerometers 222a, 222b, 222c, and the signal acquisition circuit 224. In addition, the power supply circuit 227 may be customized as desired, with electromagnetic compatibility design considerations being made for the power supply circuit 227 in addition to supplying power to the gyroscopes 221a, 221b, 221c, accelerometers 222a, 222b, 222c, and signal acquisition circuit 224.
Optionally, the optical collimating device 210 further comprises a signal output interface for transmitting the second angular deviation information to the computing apparatus 300, and the computing apparatus 300 is connected with the signal output interface.
Further, referring to fig. 1, the angular deviation measurement system 10 further includes a display device 400 for displaying the vehicle attitude information value of the vehicle, the target object attitude information value of the target object, and the first angular deviation information. Thereby continuously calibrating the position of the target object according to the second angle deviation information displayed by the display device 400.
As described above, according to the aspect of the present embodiment, the first measurement device in the angular deviation measurement apparatus is configured to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device is operable to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device may then determine angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Therefore, the calibration of the target object on the carrier is completed according to the angle deviation information measured by the angle deviation measuring system.
Therefore, the whole process can be realized only by respectively operating the first measuring equipment and the second measuring equipment by one person. And then the problem that the attitude information of the carrier and the attitude information of the target object cannot be rapidly acquired, and the acquired information is collected and calculated in the prior art is solved.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An angular deviation measurement system for measuring angular deviation information of a target object on a vehicle relative to the vehicle, comprising: a first measurement device (100), a second measurement device (200) and a computing device (300) communicatively connected to the first measurement device (100) and the second measurement device (200), wherein
The first measurement device (100) is used for measuring vehicle attitude measurement information;
the second measuring device (200) is used for measuring target object attitude measurement information; and
the computing device (300) is configured to determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information.
2. The angular deviation measurement system according to claim 1, wherein the first measurement device (100) is a geodetic device.
3. The angular deviation measurement system according to claim 1, wherein the second measurement device (200) comprises:
an optical collimating device (210) for measuring second angular deviation information from a measuring plane (S1) disposed at the target object, wherein an axis of the optical collimating device (210) is parallel to an axis of the target object with the optical collimating device (210) aligned with the measuring plane (S1); and
and the attitude measuring device (220) is connected with the optical collimating device (210) and is used for measuring the attitude measuring information of the optical collimating device.
4. The angular deviation measurement system of claim 3, wherein the optical collimating means (210) comprises: a light source (211); an image acquisition unit (212); a first reticle (213) disposed in front of the light source; a second reticle (214) disposed in front of the image acquisition unit (212); and an optical system, wherein
The optical system is used for projecting light source light emitted by the light source (211) and passing through the first reticle (213) onto the measurement plane (S1), and projecting the light source light reflected back from the measurement plane (S1) via the second reticle (214) to the image acquisition unit (212).
5. The angular deviation measurement system according to claim 4, wherein the attitude measurement device (220) comprises: the gyroscope includes a case (223), and gyroscopes (221a, 221b, 221c) and accelerometers (222a, 222b, 222c) provided in the case (223).
6. The angular deviation measurement system of claim 5, wherein the gyroscopes (221a, 221b, 221c) comprise a first gyroscope (221a), a second gyroscope (221b) and a third gyroscope (221c) arranged perpendicular to each other, the accelerometers (222a, 222b, 222c) comprise a first accelerometer (222a), a second accelerometer (222b) and a third accelerometer (222c) arranged perpendicular to each other, and/or
The outer surface of the box body (223) is also provided with a handheld part (226).
7. The angular deviation measurement system according to claim 5,
the attitude measurement device (220) further comprises a signal acquisition circuit (224) arranged in the box body (223), wherein the signal acquisition circuit (224) is connected with the gyroscopes (221a, 221b, 221c) and the accelerometers (222a, 222b, 222c) and is used for acquiring the attitude measurement information of the optical alignment device from the gyroscopes (221a, 221b, 221c) and the accelerometers (222a, 222b, 222 c).
8. The angular deviation measurement system according to claim 7, characterized in that a signal output interface (225) is provided on the box (223), the signal output interface (225) is connected with the signal acquisition circuit (224), and the computing device (300) is connected with the signal output interface (225).
9. The angular deviation measurement system of claim 7, wherein the attitude measurement device (220) further comprises a power supply circuit (227), the power supply circuit (227) being configured to power the gyroscopes (221a, 221b, 221c), the accelerometers (222a, 222b, 222c), and the signal acquisition circuit (224).
10. The angular deviation measurement system according to claim 3, characterized in that the optical collimating means (210) further comprises a signal output interface for transmitting the second angular deviation information to the computing device (300), and the computing device (300) is connected to the signal output interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020170694.4U CN211601925U (en) | 2020-02-14 | 2020-02-14 | Angular deviation measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020170694.4U CN211601925U (en) | 2020-02-14 | 2020-02-14 | Angular deviation measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211601925U true CN211601925U (en) | 2020-09-29 |
Family
ID=72580634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020170694.4U Active CN211601925U (en) | 2020-02-14 | 2020-02-14 | Angular deviation measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211601925U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414355A (en) * | 2020-10-27 | 2021-02-26 | 徐州威卡电子控制技术有限公司 | Angle sensor detection method based on quadrant calibration model |
-
2020
- 2020-02-14 CN CN202020170694.4U patent/CN211601925U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414355A (en) * | 2020-10-27 | 2021-02-26 | 徐州威卡电子控制技术有限公司 | Angle sensor detection method based on quadrant calibration model |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11035659B2 (en) | Inertial dimensional metrology | |
| US8138938B2 (en) | Hand-held positioning interface for spatial query | |
| JP6430073B2 (en) | Attitude estimation apparatus, attitude estimation method, and observation system | |
| CN102575933A (en) | System that generates map image integration database and program that generates map image integration database | |
| CN103424124A (en) | Nonmagnetic inertial navigation unit calibration method based on image measuring technologies | |
| CN108375383A (en) | The airborne distribution POS flexibility base line measurement method and apparatus of polyphaser auxiliary | |
| CN211601925U (en) | Angular deviation measuring system | |
| CN111238439B (en) | Angular deviation measuring system | |
| CN114459345A (en) | System and method for detecting position and attitude of airplane body based on visual space positioning | |
| CN111238441B (en) | Angular deviation measuring method, angular deviation measuring device, and storage medium | |
| JP2013185898A (en) | State estimation device | |
| CN112697074A (en) | Dynamic object angle measuring instrument and measuring method | |
| CN111307108B (en) | Method and system for measuring attitude of vehicle | |
| CN111307072B (en) | Measuring platform system and measuring system | |
| CN111238412B (en) | Measuring method, system and storage medium | |
| CN111238438B (en) | Non-contact attitude measurement method and storage medium | |
| CN211576208U (en) | Attitude information acquisition equipment | |
| CN111678451B (en) | Method and apparatus for measuring deformation of carrier, and storage medium | |
| Boronakhin et al. | Test beds for small-sized inertial systems and sensors | |
| CN111238440B (en) | Non-contact attitude measurement system | |
| CN111504344B (en) | Calibration system and method for calibrating non-contact attitude measurement equipment | |
| CN111623775B (en) | Vehicle attitude measurement system, method, and storage medium | |
| CN211696377U (en) | Platform device for measurement | |
| CN116295020B (en) | Bridge disease positioning method and device | |
| JP5373140B2 (en) | Portable photographing apparatus and photographing program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |