CN102519671A - Space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance - Google Patents
Space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance Download PDFInfo
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- CN102519671A CN102519671A CN2011104411292A CN201110441129A CN102519671A CN 102519671 A CN102519671 A CN 102519671A CN 2011104411292 A CN2011104411292 A CN 2011104411292A CN 201110441129 A CN201110441129 A CN 201110441129A CN 102519671 A CN102519671 A CN 102519671A
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Abstract
The invention discloses a space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance, which comprises an X-axis image acquisition assembly (10) used for acquiring image information of a detected sample (40) in the X-axis direction, a Z-axis image acquisition assembly (30) used for acquiring image information of a detected sample (40) in the Z-axis direction, a support frame (1) and a background plate. The X-axis image acquisition assembly (10) and the Z-axis image acquisition assembly (30) are installed outside the support frame (1), and the background plate is installed inside the support frame (1). The measuring device acquires front view and plan view of the detected sample (40) through three cameras, does not need to be directly contacted with the detected sample (gyroscope), thereby generating no interference to gesture change of the detected sample and being beneficial for improving measurement accuracy.
Description
Technical field
The present invention relates to a kind of statically balanced measurement mechanism, more particularly say, be meant a kind of based on the measurement mechanism binocular principle, that be used to measure gyroscope static equilibrium spatial pose.
Background technology
Gyroscope principle of work: when not influenced by external force, can not change with respect to inertial space based on the direction of the kinematic axis indication of high-speed rotation rigid-body.It can utilize the momentum moment of high speed rotary body to measure the special detection device around the angular motion of one or two axle that is orthogonal to the axis of rotation in the housing relative inertness space.Because its testing result does not rely on extraneous reference signal, gyroscope exists on Aeronautics and Astronautics, navigation and land independent navigation extensively and the effect that is difficult to substitute.
Gyrostatic mass unbalance meeting makes its output signal produce the very big error of zero (drift), and the error of zero is one of most important factor that influences the inertia system performance.Therefore, in gyrostatic production run, must carry out the static equilibrium test to it.Traditional static equilibrium test all is that manual work is implemented based on naked eyes or transit, and precision is difficult to be guaranteed, and production efficiency is also very low.
Summary of the invention
The purpose of this invention is to provide a kind of statically balanced spatial pose measurement mechanism of gyroscope that is used to measure based on binocular vision; Follow the tracks of and identification by image through in three directions gyrowheel being carried out for this static equilibrium measurement mechanism, thereby realize that contactless, high precision, high-speed real-time to gyrowheel measure.
A kind of statically balanced spatial pose measurement mechanism of gyroscope that is used to measure of the present invention, this measurement mechanism based on binocular vision include the X-direction epigraph information that is used to gather tested sample (40) X axle image collection assembly (10), be used to gather Z axle image collection assembly (30) and the bracing frame (1) and the background board of the Z-direction epigraph information of tested sample (40);
Bracing frame (1) is a shaped as frame structure, and the first leading screw frame (11) is installed on the outside of the first plate face (1A) of bracing frame (1); On the outside of the second plate face (1B) of bracing frame (1) the 4th background board (5) is installed; On the inboard of the 3rd plate face (1C) of bracing frame (1) first background board (2) is installed; On the inboard of the 4th plate face (1D) of bracing frame (1) the 3rd background board (3) is installed; On the base plate face (1E) of bracing frame (1) the 3rd background board (4) is installed; Push up on the bracing frame (1) the 5th leading screw frame (15) is installed;
X axle image collection assembly (10) includes the first leading screw frame (11), first leading screw (11B), first motor (11A), the second leading screw frame (12), second leading screw (12B), second motor (12A), first slide block (21), second slide block (22) and first camera (17); Said first camera (17) is used to gather the front view of test specimen (40);
One end of first leading screw (11B) is installed in the A ball bearing (11E) of A side plate (11C) of the first leading screw frame (11), and this A ball bearing (11E) is installed in the A through hole (11F) of A side plate (11C); The other end of first leading screw (11B) is connected with the output shaft of first motor (11A) through shaft coupling; First motor (11A) is installed on the B side plate (11D) of the first leading screw frame (11);
One end of second leading screw (12B) is installed in the B ball bearing (12E) of A side plate (12C) of the second leading screw frame (12); This B ball bearing (12E) is installed in the B through hole (12F) of A side plate (12C), and the other end of second leading screw (12B) is connected with the output shaft of second motor (12A) through shaft coupling; Second motor (12A) is installed on the B side plate (12D) of the second leading screw frame (12);
First slide block (21) is installed in the back of the second leading screw frame (12), and the center lead screw hole on first slide block (21) is used for first leading screw (11B) and passes; First camera (17) is installed on second slide block (22); And the center lead screw hole on second slide block (22) is used for second leading screw (12B) and passes;
Z axle image collection assembly (30) includes the 5th leading screw frame (15), the 5th leading screw (15B), the 5th motor (15A), the 6th leading screw frame (16), the 6th leading screw (16B), the 6th motor (16A), the 5th slide block (25), the 6th slide block (26), second camera (18), the 3rd camera (19) and camera support (20);
Camera support (20) is installed on the 6th slide block (26); Second camera (18) and the 3rd camera (19) are installed on the camera support (20); Second camera (18) is used to gather the left vertical view of test specimen (40), and the 3rd camera (19) is used to gather the right vertical view of test specimen (40);
One end of the 5th leading screw (15B) is installed in the E ball bearing (15E) of A side plate (15C) of the 5th leading screw frame (15); This E ball bearing (15E) is installed in the E through hole (15F) of A side plate (15C), and the other end of the 5th leading screw (15B) is connected with the output shaft of the 5th motor (15A) through shaft coupling; The 5th motor (15A) is installed on the B side plate (15D) of the 5th leading screw frame (15);
One end of the 6th leading screw (16B) is installed in the F ball bearing (16E) of A side plate (16C) of the 6th leading screw frame (16); This F ball bearing (16E) is installed in the F through hole (16F) of A side plate (16C), and the other end of the 6th leading screw (16B) is connected with the output shaft of the 6th motor (16A) through shaft coupling; The 6th motor (16A) is installed on the B side plate (16D) of the 6th leading screw frame (16);
The 5th slide block (25) is installed in the back of the 6th leading screw frame (16), and the center lead screw hole on the 5th slide block (25) is used for the 5th leading screw frame (15) and passes; Camera support (20) is installed on the 6th slide block (26), and the center lead screw hole on the 6th slide block (26) is used for the 6th leading screw (16B) and passes.
Describedly be used to measure the statically balanced spatial pose measurement mechanism of gyroscope based on binocular vision; The mode of motion of its four motors is: control first leading screw (11) and second leading screw (12) respectively through first motor (11A) and second motor (12A) and produce and be synchronized with the movement; Thereby promote first slide block (21) and second slide block (22), make first camera (17) produce the interlock on Y and the Z direction; Controlling the 5th leading screw (15) and the 6th leading screw (16) respectively through the 5th motor (15A) and the 6th motor (16A) produces and is synchronized with the movement; Thereby promote the 5th slide block (25) and the 6th slide block (26), make second camera (18) and the 3rd camera (19) produce the interlock on X and the Z direction.
The advantage that the present invention is based on the spatial pose measurement mechanism of binocular vision is:
(1) because this measurement mechanism based on vision measurement, need not to produce with tested sample (gyroscope) directly contact, therefore can not change the attitude of tested sample to produce and disturb, for raising measuring accuracy and favourable.
(2) because present vision measurement technology can reach the rank of sub-pix, utilize the precision of the static equilibrium measurement mechanism of this technical design to be higher than present manual measurement method far away.
(3) this measurement mechanism can realize gyrowheel dynamically, at a high speed, measure in real time, detect and production efficiency has huge help for improving.
(4) adopt the bracing frame of cavity hexahedron structure to locate as the locus, and the vertical installation of three leading screw framves and bracing frame, guaranteed to be distributed in of the collection of three cameras on the shaft position to image information (front elevation, side view, vertical view).
(5) two leading screw framves on each adopt in twos and vertically install, and the camera that helps being installed on the leading screw frame is being installed in-plane moving, thereby realizes the IMAQ of different visual angles.
Description of drawings
Fig. 1 is the structural drawing of static equilibrium measurement mechanism of the present invention.
Figure 1A is the structural drawing of the static equilibrium measurement mechanism of the present invention of unassembled bracing frame.
Figure 1B is the structural drawing of bracing frame of the present invention.
Fig. 2 is the structural drawing of X axle image collection assembly of the present invention.
Fig. 3 is the structural drawing of Z axle image collection assembly of the present invention.
Fig. 4 A is the synoptic diagram that adopts three camera collection images in the measurement mechanism of the present invention.
Fig. 4 B is that test specimen is the synoptic diagram after cylinder and cylinder launch.
Number among the figure: 1. bracing frame; 1A. the first plate face; 1B. the second plate face; 1C. the 3rd plate face; 1D. the 4th plate face; 1E. base plate face; 2. first background board; 3. second background board; 4. the 3rd background board; 5. the 4th background board; 11. the first leading screw frame; 11A. first motor; 11B. first leading screw; 11C.A side plate; 11D.B side plate; 11E.A ball bearing; 11F.A through hole; 12. the second leading screw frame; 12A. second motor; 12B. second leading screw; 12C.A side plate; 12D.B side plate; 12E.B ball bearing; 12F.B through hole; 15. the 5th leading screw frame; 15A. the 5th motor; 15B. the 5th leading screw; 15C.A side plate; 15D.B side plate; 15E.E ball bearing; 15F.E through hole; 16. the 6th leading screw frame; 16A. the 6th motor; 16B. the 6th leading screw; 16C.A side plate; 16D.B side plate; 16E.F ball bearing; 16F.F through hole; 17. first camera; 18. second camera; 19. the 3rd camera; 20. camera support; 21. first slide block; 22. second slide block; 25. the 5th slide block; 26. the 6th slide block; 10.X axle image collection assembly; 30.Z axle image collection assembly; 40. tested sample.
Embodiment
To combine accompanying drawing that the present invention is done further detailed description below.
Shown in Fig. 1, Figure 1A; The present invention is a kind of statically balanced spatial pose measurement mechanism based on binocular vision of gyroscope that is used to measure, this measurement mechanism include the X-direction epigraph information that is used to gather tested sample 40 X axle image collection assembly 10, be used to gather Z axle image collection assembly 30 and the bracing frame 1 and the background board of the Z-direction epigraph information of tested sample 40.
(1) bracing frame
Shown in Fig. 1, Figure 1B, bracing frame 1 is a shaped as frame structure, and bracing frame 1 is selected the tempered glass material for use.
On the outside of the first plate face 1A of bracing frame 1 the first leading screw frame 11 is installed;
On the outside of the second plate face 1B of bracing frame 1 the 4th background board 5 is installed;
On the inboard of the 3rd plate face 1C of bracing frame 1 first background board 2 is installed;
On the inboard of the 4th plate face 1D of bracing frame 1 the 3rd background board 3 is installed;
On the base plate face 1E of bracing frame 1 the 3rd background board 4 is installed;
Push up on the bracing frame 1 the 5th leading screw frame 15 is installed.
In the present invention, bracing frame 1 is used to support entire measuring device.Bracing frame 1 is designed to hexahedron structure, can make things convenient for camera on X axle and the Z axle to the collection of test specimen 40 image informations, also is the space orientation parts of spatially realizing test specimen 40 simultaneously.
(2) background board
Shown in Fig. 1, Figure 1A, background board is used to strengthen picture contrast among the present invention, improves the measuring accuracy of measurement mechanism.Background board is selected black aluminium fabrication and processing for use.
The 3rd background board 4 is installed on the base plate face 1E of bracing frame 1;
The 4th background board 5 is installed on the inboard of the second plate face 1B of bracing frame 1.
(3) X axle image collection assembly 10
Referring to Fig. 1, Figure 1A, shown in Figure 2, X axle image collection assembly 10 includes the first leading screw frame 11, the first leading screw 11B, the first motor 11A, the second leading screw frame 12, the second leading screw 12B, the second motor 12A, first slide block 21, second slide block 22 and first camera 17.Said first camera 17 is used to gather the front view of test specimen 40.
The end of the first leading screw 11B is installed in the A ball bearing 11E (leading screw and ball bearing be connected to routine techniques) of the A side plate 11C of the first leading screw frame 11, and this A ball bearing 11E is installed in the A through hole 11F of A side plate 11C; The other end of the first leading screw 11B is connected with the output shaft of the first motor 11A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The first motor 11A is installed on the B side plate 11D of the first leading screw frame 11.
The end of the second leading screw 12B is installed in the B ball bearing 12E (leading screw and ball bearing be connected to routine techniques) of the A side plate 12C of the second leading screw frame 12; This B ball bearing 12E is installed in the B through hole 12F of A side plate 12C; The other end of the second leading screw 12B is connected with the output shaft of the second motor 12A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The second motor 12A is installed on the B side plate 12D of the second leading screw frame 12.
Center lead screw hole on first slide block 21 is used for the first leading screw 11B and passes.
Center lead screw hole on second slide block 22 is used for the second leading screw 12B and passes.
In the present invention, the first leading screw frame 11 that X axle image collection assembly 10 utilizes on the first plate face 1A (X installed surface) that is installed in bracing frame 1 realizes that the image information of the test specimen 40 that first camera 17 collects is front elevation.
(4) Z axle image collection assembly 30
Referring to Fig. 1, Figure 1A, shown in Figure 3, Z axle image collection assembly 30 includes the 5th leading screw frame 15, the 5th leading screw 15B, the 5th motor 15A, the 6th leading screw frame 16, the 6th leading screw 16B, the 6th motor 16A, the 5th slide block 25, the 6th slide block 26, second camera 18, the 3rd camera 19 and camera support 20.
The end of the 5th leading screw 15B is installed in the E ball bearing 15E (leading screw and ball bearing be connected to routine techniques) of the A side plate 15C of the 5th leading screw frame 15; This E ball bearing 15E is installed in the E through hole 15F of A side plate 15C; The other end of the 5th leading screw 15B is connected with the output shaft of the 5th motor 15A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The 5th motor 15A is installed on the B side plate 15D of the 5th leading screw frame 15.
The end of the 6th leading screw 16B is installed in the F ball bearing 16E (leading screw and ball bearing be connected to routine techniques) of the A side plate 16C of the 6th leading screw frame 16; This F ball bearing 16E is installed in the F through hole 16F of A side plate 16C; The other end of the 6th leading screw 16B is connected with the output shaft of the 6th motor 16A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The 6th motor 16A is installed on the B side plate 16D of the 6th leading screw frame 16.
The 5th slide block 25 is installed in the back of the 6th leading screw frame 16, and the center lead screw hole on the 5th slide block 25 is used for the 5th leading screw 15B and passes.Drive at the 5th motor 15A under the condition of the 5th leading screw 15B motion, the also accompany movement on the 5th leading screw 15B of the 5th slide block 25, however the motion of the 5th slide block 25 makes second camera 18 and the 3rd camera 19 along the Y direction translation motion.
On the 6th slide block 26 camera support 20 is installed, and the center lead screw hole on the 6th slide block 26 is used for the 6th leading screw 16B and passes.Drive at the 6th motor 16A under the condition of the 6th leading screw 16B motion, the also accompany movement on the 6th leading screw 16B of the 6th slide block 26, however the motion of the 6th slide block 26 makes second camera 18 and the 3rd camera 19 along the X-direction translation motion.
Center lead screw hole on the 5th slide block 25 is used for the 5th leading screw 15B and passes.
Center lead screw hole on the 6th slide block 26 is used for the 6th leading screw 16B and passes.
In the present invention; The 5th leading screw frame 15 in the Z axle image collection assembly 30 is installed in bracing frame 1 top; And the 5th leading screw frame 15 is parallel with the base plate face 1E of bracing frame 1, thereby the image information that realizes the test specimen 40 that second camera 18 and the 3rd camera 19 collect is vertical view.
In the present invention, first camera 17, second camera 18 and the 3rd camera 19 are selected the camera of identical performance for use.Adopt Gazelle 4.0 industrial cameras of U.S. Point Grey company like camera, image resolution ratio is 2048 * 2048, and frame speed is 170fps; Camera lens adopts the LM8HC mega pixel camera lens of Japanese Kowa, focal length 8.5mm.
Shown in Fig. 4 A, Fig. 4 B, the motion of measurement mechanism of the present invention mainly is that the centroid position according to the rotor of test specimen 40 (gyroscope) carries out the Real-time and Dynamic adjustment, the steps include:
The first step, at helix of side spray printing of test specimen 40 (gyrowheel), this helix is equivalent to the diagonal line (shown in Fig. 4 B) of some expansion rectangles of rotor side surface;
In second step, come images acquired information with first camera 17 (collection front elevation), second camera 18 (gathering left vertical view) and the 3rd camera 19 (gathering right vertical view);
In the 3rd step, image information is transferred in the computing machine, and rim detection and profile recognition processing software are installed in the said computing machine; After rim detection and the processing of profile recognition processing software, can detect the side linear feature that gyrorotor forms on two width of cloth vertical views and front elevation; Through just calculating, the cylinder side straight inclined angle of vertical view, just can converse the pitching of gyrorotor, the angle of going off course;
In the 4th step,, calculate the center-of-mass coordinate of gyrorotor through the detected contour feature of each view to three camera collections;
In the 5th step, detect the characteristics such as circle, rectangle and arrow that gyrorotor forms on side view through rim detection and profile recognition processing software; In conjunction with just, surperficial spray printing line in the vertical view and position of intersecting point and the circle in the side view, rectangle and the arrow locations of side straight line, just can converse the lift-over angle of gyrorotor.
The measurement mechanism of the present invention design, when the gyrowheel position changed, first camera 17, second camera 18 and the 3rd camera 19 all needed the centroid position of dynamic tracing rotor.Tracing process is: at first according to the information of first camera 17, judge the up-to-date centroid position of rotor through Flame Image Process, calculate rotor afterwards at X, Y, the displacement on three coordinate axis of Z, the interlock through four Electric Machine Control cameras then.Promptly control first leading screw 11 and second leading screw 12 respectively and produce and be synchronized with the movement, thereby promote first slide block 21 and second slide block 22, make the interlock on first camera, 17 generation Y and the Z direction through the first motor 11A and the second motor 12A; Control the 5th leading screw 15 and the 6th leading screw 16 respectively through the 5th motor 15A and the 6th motor 16A and produce and be synchronized with the movement, thereby promote the 5th slide block 25 and the 6th slide block 26, make the interlock on second camera 18 and the 3rd camera 19 generation X and the Z direction.
Claims (5)
1. one kind is used to measure the statically balanced spatial pose measurement mechanism based on binocular vision of gyroscope, it is characterized in that: this measurement mechanism include the X-direction epigraph information that is used to gather tested sample (40) X axle image collection assembly (10), be used to gather Z axle image collection assembly (30) and the bracing frame (1) and the background board of the Z-direction epigraph information of tested sample (40);
Bracing frame (1) is a shaped as frame structure, and the first leading screw frame (11) is installed on the outside of the first plate face (1A) of bracing frame (1); On the outside of the second plate face (1B) of bracing frame (1) the 4th background board (5) is installed; On the inboard of the 3rd plate face (1C) of bracing frame (1) first background board (2) is installed; On the inboard of the 4th plate face (1D) of bracing frame (1) the 3rd background board (3) is installed; On the base plate face (1E) of bracing frame (1) the 3rd background board (4) is installed; Push up on the bracing frame (1) the 5th leading screw frame (15) is installed;
X axle image collection assembly (10) includes the first leading screw frame (11), first leading screw (11B), first motor (11A), the second leading screw frame (12), second leading screw (12B), second motor (12A), first slide block (21), second slide block (22) and first camera (17); Said first camera (17) is used to gather the front view of test specimen (40);
One end of first leading screw (11B) is installed in the A ball bearing (11E) of A side plate (11C) of the first leading screw frame (11), and this A ball bearing (11E) is installed in the A through hole (11F) of A side plate (11C); The other end of first leading screw (11B) is connected with the output shaft of first motor (11A) through shaft coupling; First motor (11A) is installed on the B side plate (11D) of the first leading screw frame (11);
One end of second leading screw (12B) is installed in the B ball bearing (12E) of A side plate (12C) of the second leading screw frame (12); This B ball bearing (12E) is installed in the B through hole (12F) of A side plate (12C), and the other end of second leading screw (12B) is connected with the output shaft of second motor (12A) through shaft coupling; Second motor (12A) is installed on the B side plate (12D) of the second leading screw frame (12);
First slide block (21) is installed in the back of the second leading screw frame (12), and the center lead screw hole on first slide block (21) is used for first leading screw (11B) and passes; First camera (17) is installed on second slide block (22); And the center lead screw hole on second slide block (22) is used for second leading screw (12B) and passes;
Z axle image collection assembly (30) includes the 5th leading screw frame (15), the 5th leading screw (15B), the 5th motor (15A), the 6th leading screw frame (16), the 6th leading screw (16B), the 6th motor (16A), the 5th slide block (25), the 6th slide block (26), second camera (18), the 3rd camera (19) and camera support (20);
Camera support (20) is installed on the 6th slide block (26); Second camera (18) and the 3rd camera (19) are installed on the camera support (20); Second camera (18) is used to gather the left vertical view of test specimen (40), and the 3rd camera (19) is used to gather the right vertical view of test specimen (40);
One end of the 5th leading screw (15B) is installed in the E ball bearing (15E) of A side plate (15C) of the 5th leading screw frame (15); This E ball bearing (15E) is installed in the E through hole (15F) of A side plate (15C), and the other end of the 5th leading screw (15B) is connected with the output shaft of the 5th motor (15A) through shaft coupling; The 5th motor (15A) is installed on the B side plate (15D) of the 5th leading screw frame (15);
One end of the 6th leading screw (16B) is installed in the F ball bearing (16E) of A side plate (16C) of the 6th leading screw frame (16); This F ball bearing (16E) is installed in the F through hole (16F) of A side plate (16C), and the other end of the 6th leading screw (16B) is connected with the output shaft of the 6th motor (16A) through shaft coupling; The 6th motor (16A) is installed on the B side plate (16D) of the 6th leading screw frame (16);
The 5th slide block (25) is installed in the back of the 6th leading screw frame (16), and the center lead screw hole on the 5th slide block (25) is used for the 5th leading screw frame (15) and passes; Camera support (20) is installed on the 6th slide block (26), and the center lead screw hole on the 6th slide block (26) is used for the 6th leading screw (16B) and passes.
2. according to claim 1ly be used to measure the statically balanced spatial pose measurement mechanism of gyroscope based on binocular vision; It is characterized in that: control first leading screw (11) and second leading screw (12) respectively through first motor (11A) and second motor (12A) and produce and be synchronized with the movement; Thereby promote first slide block (21) and second slide block (22), make first camera (17) produce the interlock on Y and the Z direction; Controlling the 5th leading screw (15) and the 6th leading screw (16) respectively through the 5th motor (15A) and the 6th motor (16A) produces and is synchronized with the movement; Thereby promote the 5th slide block (25) and the 6th slide block (26), make second camera (18) and the 3rd camera (19) produce the interlock on X and the Z direction.
3. according to claim 1ly be used to measure the statically balanced spatial pose measurement mechanism based on binocular vision of gyroscope, it is characterized in that: bracing frame (1) is selected the tempered glass material for use.
4. according to claim 1ly be used to measure the statically balanced spatial pose measurement mechanism based on binocular vision of gyroscope, it is characterized in that: background board is selected black aluminium fabrication and processing for use.
5. according to claim 1ly be used to measure the statically balanced spatial pose measurement mechanism of gyroscope based on binocular vision; It is characterized in that: first camera 17, second camera 18 and the 3rd camera 19 are selected the camera of identical performance for use; Its image resolution ratio is 2048 * 2048; Frame speed is 170fps, focal length 8.5mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104411292A CN102519671B (en) | 2011-12-26 | 2011-12-26 | Space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance |
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| CN2011104411292A CN102519671B (en) | 2011-12-26 | 2011-12-26 | Space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance |
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Cited By (6)
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| CN102889883A (en) * | 2012-10-24 | 2013-01-23 | 北京航天控制仪器研究所 | Object space attitude measurement device |
| CN102889883B (en) * | 2012-10-24 | 2014-11-19 | 北京航天控制仪器研究所 | Object space attitude measurement device |
| CN106272437A (en) * | 2016-10-12 | 2017-01-04 | 吉林大学 | Device is asked in a kind of optimum visual field for parallel robot binocular visual positioning |
| CN106272437B (en) * | 2016-10-12 | 2018-11-09 | 吉林大学 | A kind of optimal visual field for parallel robot binocular visual positioning seeks device |
| CN107941456A (en) * | 2018-01-02 | 2018-04-20 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of vertical wind tunnel two CCD camera measure system demarcates frame |
| CN111238729A (en) * | 2020-02-28 | 2020-06-05 | 中国科学院西安光学精密机械研究所 | Precise static balance balancing method for pitching shaft of large-size photoelectric theodolite |
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