CN102642385B - Calibration method for positioning reference of full-automatic multi-camera silk screen printing equipment and calibration device - Google Patents
Calibration method for positioning reference of full-automatic multi-camera silk screen printing equipment and calibration device Download PDFInfo
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Abstract
The invention discloses a calibration method for a positioning reference of full-automatic multi-camera silk screen printing equipment and a calibration device. The calibration device comprises a control system, a plurality of printing stock positioning cameras, external printing stock positioning camera adjustable light sources, a conveying device, a plate discharging station camera, a printing mechanism, a three-degree-of-freedom silk screen adjusting table, a plurality of printing tables and a plurality of silk screen positioning cameras. The calibration method includes: calibrating the cameras by the aid of a calibration plate and the three-degree-of-freedom silk screen adjusting table; establishing a corresponding mapping relation; and obtaining the reference mapping relation among the printing stock positioning cameras and the silk screen positioning cameras by means of the machine vision algorithm and the silk screen printing process. The calibration method avoids high theoretical property, complicated operation and difficult precision measurement of spatial sizes, and has the advantages of simplicity, convenience, practicability, rapidness and accuracy.
Description
Technical field
The present invention relates to computer vision precision positioning technology field, particularly relate to positioning datum scaling method and the device of full-automatic polyphaser screen printing apparatus.
Background technology
Full-automatic polyphaser screen printing apparatus is a kind of print system of automatically realizing silk screen and stock fine registration based on machine vision, is widely used in all kinds of industries, as crystal silicon solar batteries metallization silk-screen line, Full Vision production line etc.In vision positioning system, the image information of obtaining from video camera, calculates the information such as position, shape of object in three dimensions, and rebuilds thus and recognition object.The three-dimensional geometry position of certain point of space object surface is relevant with its geometric position of corresponding points in image.The correlation of these positions is to be determined by the geometrical model of video camera imaging, and these geometrical model parameters are exactly camera parameters.Under most of conditions, these parameters must just can obtain with calculating by experiment, and this process is called as camera calibration.Calibration process is exactly to determine geometry and the optical parametric of video camera inside, and camera coordinate system changes with respect to the pose of world coordinate system.Provide quantitative relationship corresponding, conversion due between the camera calibration two-dimensional signal that is visual pattern and its actual three-dimensional body, prerequisite and the basis that computer vision is obtained three-dimensional spatial information, the size of stated accuracy, directly affect the precision of machine vision, therefore video camera benchmark calibration method is studied and had important theory significance and practical value.
For the table full-automatic polyphaser screen printing apparatus of undertaking the printing of more, stock location camera is distributed in different locus from silk screen location camera, as 8 positions in 1 position and Fig. 3 in Fig. 2, polyphaser framing system cannot be reflected to stock positional information and silk screen positional information in same acquisition system.Be distributed in different locus from silk screen location camera because stock is located camera, be difficult to critically measure the relative position relation of stock location camera, silk screen location camera and bearing ink pad, Three Degree Of Freedom silk screen adjustment platform.Therefore, to the demarcation research of video camera and whole distributed polyphaser image capturing system, for concrete actual application problem, specifically easy, practical, positioning datum scaling method fast and accurately of one is proposed, avoid complicated space three-dimensional measurements and calculations.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art, positioning datum scaling method and the device of full-automatic polyphaser screen printing apparatus are provided, improve camera entity measuring precision, the undertake the printing of camera reference position relation of station of quick associated difference, by means of instruments such as machine vision algorithm and high-precision calibrating plates, make calibration process become simple and fast and accurately and reliably, avoid complicated space three-dimensional measurements and calculations.Object of the present invention is achieved through the following technical solutions.
The positioning datum caliberating device of full-automatic polyphaser screen printing apparatus, comprises control system, some stocks location camera, the outside tunable light source of stock location camera, a conveyer, ejecting plate station camera, printing mechanism, Three Degree Of Freedom silk screen adjustment platform, some bearing ink pads and some silk screens location camera; Wherein bearing ink pad is fixed on conveyer, and bearing ink pad has back light; Stock location camera, ejecting plate station camera are vertically mounted on the top of bearing ink pad, and silk screen location camera is vertically mounted on silk screen below; It is characterized in that, above bearing ink pad, be provided with the adjustable camera support for stock location camera is installed, stock location camera can be configured according to required precision, and camera outside tunable light source in stock location is installed above bearing ink pad, clearly to obtain stock picture on surface.
A positioning datum scaling method for full-automatic polyphaser screen printing apparatus, described scaling method concrete steps comprise:
(1) install and demarcate silk screen, determine the benchmark relation of bearing ink pad and Three Degree Of Freedom silk screen adjustment platform;
(2) parameter that some stocks are located camera, some silk screens location camera and ejecting plate station camera and each camera is set is installed;
(3) control system is demarcated benchmark and the pixel equivalent of each stock location camera by high-precision calibrating plate and machine vision algorithm, sets up the mapping relations of stock location camera and bearing ink pad, and demarcates ejecting plate station camera reference position;
(4) adjust motion and the machine vision algorithm of platform by Three Degree Of Freedom silk screen, demarcate some silk screens location camera benchmark and pixel equivalent, set up silk screen location camera and silk screen and adjust the mapping relations of platform, and revise by laser interferometer;
(5) on bearing ink pad, load stock (or mounting paper, thin plate), adjust stage fiducial position printing slurry at Three Degree Of Freedom silk screen, leave clear pattern at each stock (or paper, thin plate), by machine vision algorithm, obtain the reference information of identification point on pattern;
(6) set up stock location camera, conveyer, bearing ink pad, Three Degree Of Freedom silk screen and adjust the benchmark mapping relations of platform, silk screen location camera, finally obtain the benchmark mapping relations of stock location camera and silk screen location camera.
In above-mentioned scaling method, on described stock location camera, silk screen location camera benchmark and pattern, the benchmark of identification point, comprises X, Y position reference and angle reference.
Preferably, the reference position that the described definite bearing ink pad of step (1) and Three Degree Of Freedom silk screen are adjusted platform comprises: determine rotation transmitting device the undertake the printing of angle-differentiated of station or the reciprocal conveyer station distance of undertaking the printing of, and the center, reference position of definite Three Degree Of Freedom silk screen adjustment stage fiducial place-centric and bearing ink pad is basically identical, determine that the corresponding identification point line of demarcation silk screen or steel mesh overlaps substantially with bearing ink pad center line.
In above-mentioned scaling method, the described some stocks of step (2) location camera, some silk screens location camera and ejecting plate station camera parameter comprise camera operating distance, focal length, aperture and visual field size; The installation of some stocks location camera, some silk screens location camera and ejecting plate station camera comprises adjusts each stock location camera, each silk screen location camera and ejecting plate station camera position angle, the preliminary benchmark relation of establishing between each camera and between each camera and reference object, establishes the benchmark of ejecting plate station camera and the mapping relations of ejecting plate station camera and bearing ink pad.
In above-mentioned scaling method, step (3) is demarcated benchmark and the pixel equivalent of stock location camera by high-precision calibrating plate and machine vision algorithm, determine pixel equivalent and camera self direction of each stock location camera, finally establish the overall benchmark mapping relations of some stocks location cameras and the platform of promising.
Preferably, the reference position of described demarcation stock location camera and pixel equivalent, camera direction comprise: enter the zone line of visual field by high-precision calibrating panel sign dot pattern, optimize and demarcate stock and locate reference position distance or the corresponding picture location bias parameter between camera; By rectilinear direction and the position of high-precision calibrating plate, optimize and demarcate stock and locate reference position direction or the corresponding picture direction offset parameter between camera; By the square pattern of high-precision calibrating plate, demarcate the pixel equivalent of each stock location camera; Finally set up the mapping relations of stock location camera and bearing ink pad.
In above-mentioned scaling method, motion and machine vision algorithm that step (4) is adjusted platform X/Y axle by Three Degree Of Freedom silk screen calculate fine setting camera position and direction or image shift, make the direction of motion of uncalibrated image consistent with the moving direction of printing machine X/Y axle, obtain Three Degree Of Freedom silk screen and adjust platform move distance and picture pixel distance relation, set up the benchmark mapping relations of silk screen location camera and Three Degree Of Freedom silk screen adjustment platform.
Preferably, demarcate silk screen location camera reference position, angle and pixel equivalent: first, enter the zone line of visual field by demarcating the identification point pattern of silk screen or steel mesh, demarcate reference position distance or corresponding picture location bias parameter between the camera of silk screen location; By demarcating the identification point line pattern of silk screen or steel mesh or demarcating direction and the position of steel ruler, demarcate the benchmark relative direction between the camera of silk screen location; Move back and forth by the X, the Y direction that drive Three Degree Of Freedom silk screen to adjust platform, calculate the movement locus of demarcating in the image that in silk screen, identification point is taken in real time at several silk screen cameras, demarcate benchmark angle offset and the pixel equivalent of silk screen location camera, and follow the tracks of compensation by laser interferometer; Finally set up silk screen location camera and Three Degree Of Freedom silk screen and adjust the mapping relations of platform.
In above-mentioned scaling method, step (5) is by the detection of pattern and the machine vision algorithm of serigraphy, obtain Three Degree Of Freedom silk screen and adjust the relation of each bearing ink pad benchmark on stage fiducial and conveyer, set up respectively mapping relations, and then locate the detection and Identification of camera by stock, set up mapping relations with stock location camera self benchmark.
Preferably, described pattern comprises silk screen and adjusts reference position, the directional information of platform, also comprises corresponding stock location camera location information simultaneously, and by respective straight pattern correction camera direction mapping relations; Use cameras record corresponding Three Degree Of Freedom silk screen in silk screen location to adjust the reference information of platform simultaneously.
In above-mentioned scaling method, step (6) locates camera by silk screen and Three Degree Of Freedom silk screen is adjusted stage fiducial mapping relations, Three Degree Of Freedom silk screen is adjusted stage fiducial and each bearing ink pad position mapping relations, each bearing ink pad position and each stock location camera position mapping relations, final associated silk screen location camera, transmission transposition, each bearing ink pad and stock are located the benchmark of camera, set up the benchmark of whole screen printing apparatus.
Preferably, the described benchmark mapping relations of setting up stock location camera, conveyer, bearing ink pad, Three Degree Of Freedom silk screen adjustment platform, silk screen location camera, the benchmark mapping relations of mainly locating benchmark mapping relations, Three Degree Of Freedom silk screen adjustment platform and the silk screen location camera of camera and bearing ink pad by stock, finally obtain each camera and the benchmark mapping relations of the station of respectively undertaking the printing of.Above-mentioned all about picture position, orientation measurement or location are all used machine vision algorithm to calculate.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
Positioning datum caliberating device of the present invention is simple in structure, easy for installation, use scaling board and Three Degree Of Freedom silk screen to adjust platform calibration for cameras, and set up the mapping relations that are consistent, by machine vision algorithm and screen printing process, obtain the benchmark mapping relations of stock location camera and silk screen location camera, avoid that industrial camera theoretical property is strong, scaling method and the larger bulk accurate measurement of difficulty of complicated operation, there is easy, practical, advantage fast and accurately.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of scaling method in embodiment.
Fig. 2 is the schematic diagram of full-automatic printing equipment entirety in embodiment.
Fig. 3 is the partial schematic diagram of full-automatic printing equipment in embodiment.
Fig. 4 is the formation schematic diagram of control system in embodiment.
Fig. 5 is the mapping relations schematic diagram of scaling method in embodiment.
The specific embodiment
In order to understand better the present invention, below in conjunction with drawings and Examples, the present invention is further described, but this working of an invention mode is not limited to this.
As shown in Figure 2, Figure 3 and Figure 4, the positioning datum caliberating device of full-automatic polyphaser screen printing apparatus, comprises that the outside tunable light source of control system 9, some stocks location camera 1, stock location camera 2, conveyer 3, ejecting plate station camera 4, printing mechanism 5, a Three Degree Of Freedom silk screen adjust platform 6, some bearing ink pads 7 and some silk screens location camera 8; Wherein bearing ink pad is fixed on conveyer, and bearing ink pad has back light; Stock location camera, ejecting plate station camera are vertically mounted on the top of bearing ink pad, and silk screen location camera is vertically mounted on silk screen below; Above bearing ink pad, be provided with the adjustable camera support for stock location camera is installed, and camera outside tunable light source in stock location is installed above bearing ink pad.The formation of existing control system and with the annexation of each camera as shown in Figure 4.
As preferred embodiment, the scaling method of above-mentioned caliberating device, as Fig. 1, comprises the following steps:
Silk screen is demarcated in step 101, installation, determines the reference position of conveyer and Three Degree Of Freedom silk screen adjustment platform;
In the invention process example, transmitting transposition 3 is turntable, is uniformly distributed four bearing ink pads 7; Three Degree Of Freedom silk screen is adjusted platform 6 and is adjusted platform for series connection, comprises X, Y, Theta(angle) three axles.Adjust turntable angle-differentiated, determined biography device 3 reference positions, satisfied wherein certain bearing ink pad 7 center and angle and auto-feed center and direction are basically identical.Determined silk screen is adjusted the reference position of platform 6, meets Three Degree Of Freedom silk screen adjustment platform 6 centers, reference position consistent with the place-centric of bearing ink pad 7, demarcates the corresponding identification point line of silk screen or steel mesh and overlaps with bearing ink pad 7 center lines; Meet near silk screen below bearing ink pad 7 position (avoiding scope that scaling method is determined to be restricted) Three Degree Of Freedom silk screen is adjusted the each axle scope of platform 6 central point simultaneously.
In the invention process example, enter plate station top five industrial cameras (stock location camera 1) and two silk screen location cameras 8 are installed, each camera must be before installation, adjusts operating distance, focal length and the aperture of camera on optical correction's platform; When installation, keep the relative position relation between camera, the uniformity of relative direction, take continuously by control system 9 drives camera, on the graphic interface by calibration software, observe, adjust camera 1 and camera 8 positions and make to demarcate pattern and enter the zone line of visual field.
Demarcate reference position, stock location camera 1 and ejecting plate station camera 4 directions and the pixel equivalent (ratio of actual range and pixel distance) of stock location camera by high-precision calibrating plate and calibration software, set up the mapping relations of stock location camera 1 and bearing ink pad 7, and demarcate ejecting plate station camera 4 reference positions.In the invention process example, use respectively three kinds of high-precision calibrating plates, be arranged on position, direction and the pixel equivalent of on the table top of bearing ink pad 7, demarcating stock location camera 1.Enter the zone line of camera 1 visual field by high-precision calibrating panel sign dot pattern, by reference position distance or corresponding picture location bias parameter between vision algorithm positioning and optimizing and the each camera of demarcation stock location camera 1; By the straight-line pattern of high-precision calibrating plate, find out direction and position with machine vision algorithm, optimize and demarcate stock and locate reference position direction or the corresponding picture direction offset parameter between the each camera of camera 1; By the square pattern of high-precision calibrating plate, demarcate the pixel equivalent of each stock location camera; Finally set up the mapping relations of stock location camera 1 and bearing ink pad 7, the systematic errors such as the distortion that these mapping relations have comprised the captured picture of each camera.
Adjust motion and the machine vision algorithm of platform 6 by Three Degree Of Freedom silk screen, demarcate reference position, angle and the pixel equivalent of two silk screen location cameras 8, and can carry out parameter correction by laser interferometer, set up the mapping relations of silk screen location camera 8 and Three Degree Of Freedom silk screen adjustment platform 6.In the invention process example, first, control system enters the zone line of visual field by demarcating the identification point pattern of silk screen or steel mesh, optimizes and demarcates silk screen and locate reference position distance or the corresponding picture location bias parameter between 8 two cameras of camera; By demarcating direction and the position of identification point line pattern of silk screen or steel mesh, optimize and demarcate the benchmark relative direction between 8 two cameras of silk screen location camera; X, Y direction that control system 9 drives silk screen to adjust platform 6 move back and forth by certain step pitch, calculate the movement locus of demarcating in the image that in silk screen, identification point is taken in real time at two silk screen location cameras 8, by repetitious measurement, and can compare with laser interferometer test result, get rid of random error with optimization method as far as possible, set up the mapping relations containing systematic error, demarcate and optimize benchmark angle offset and the pixel equivalent of silk screen location camera 8, and proofread and correct the gearratio of Three Degree Of Freedom silk screen adjustment platform 6; Finally set up silk screen location camera 8 and Three Degree Of Freedom silk screen and adjust the mapping relations of platform 6.
Be arranged on the surface mount stock (paper or thin plate) of the bearing ink pad 7 on conveyer 3, adjust reference position printing slurry or other medium of platform 6 at Three Degree Of Freedom silk screen, make to leave clear pattern on each bearing ink pad 7, by machine vision algorithm, obtain the positional information of each identification point.In the present invention, step 105 is the key links, and by this step, associated Three Degree Of Freedom silk screen is adjusted platform 6 benchmark and the benchmark relation that transmits transposition 3, stock location camera 1 quickly and accurately, so the quality of printing, is decided by the precision of benchmark mapping relations to a great extent.In the invention process example, because the deformation extent of silk screen is large, it is high to control difficulty, therefore replace silk screen to carry out this step with steel mesh.The medium on steel mesh pushes by certain pressure in printing mechanism 5, and medium is deposited on the surface of bearing ink pad 7 from the hole seam of silk-screen patterns.In the selection of printed patterns, printed patterns should comprise reference position, the directional information of Three Degree Of Freedom silk screen adjustment platform 6, and the positional information of corresponding stock location camera 1, and locates the direction mapping relations of camera 1 with respective straight pattern correction stock; The silk screen location corresponding Three Degree Of Freedom silk screen of camera 8 real time record is adjusted the positional information of platform 6.
Control system 9 drive transmission units 3 rotate, control the pattern that stock location camera 1 obtaining step 105 stays on the surface of each bearing ink pad 7, by machine vision algorithm, calculate the position of pattern in whole coordinate system, directional information, thereby obtain stock location camera 1, conveyer 3, bearing ink pad 7, Three Degree Of Freedom silk screen is adjusted the benchmark mapping relations of platform 6 and silk screen location camera 8, finally obtain each camera 1, 8 and the benchmark mapping relations of the station 7 of respectively undertaking the printing of, as shown in Figure 5, bearing ink pad in figure (n), bearing ink pad (n+1), bearing ink pad (n+2) is different bearing ink pads, in the time that the number of units of undertaking the printing of is 2, enter plate, ejecting plate carries out on same bearing ink pad.
The specific embodiment of the above is only preferred embodiments of the present invention, not limits specific embodiment of the invention scope with this, and all equivalences of doing according to description of the present invention, accompanying drawing content change all in protection scope of the present invention.
Claims (8)
1. the scaling method of the positioning datum caliberating device of full-automatic polyphaser screen printing apparatus, it is characterized in that, described screen printing apparatus has many bearing ink pads, stock location camera, ejecting plate station camera and the silk screen location camera of the layout of being separated from each other, and described scaling method concrete steps comprise:
(1) install and demarcate silk screen, determine the benchmark relation of bearing ink pad and Three Degree Of Freedom silk screen adjustment platform;
(2) parameter that some stocks are located camera, some silk screens location camera and ejecting plate station camera and each camera is set is installed;
(3) control system is demarcated benchmark and the pixel equivalent of each stock location camera by high-precision calibrating plate and machine vision algorithm, sets up the mapping relations of stock location camera and bearing ink pad, and demarcates ejecting plate station camera reference position;
(4) adjust motion and the machine vision algorithm of platform by Three Degree Of Freedom silk screen, demarcate some silk screens location camera benchmark and pixel equivalent, set up silk screen location camera and silk screen and adjust the mapping relations of platform, and revise by laser interferometer;
(5) on bearing ink pad, load stock, adjust stage fiducial position printing slurry at Three Degree Of Freedom silk screen, leave clear pattern at each stock, by machine vision algorithm, obtain the reference information of identification point on pattern;
(6) set up stock location camera, conveyer, bearing ink pad, Three Degree Of Freedom silk screen and adjust the benchmark mapping relations of platform, silk screen location camera, finally obtain the benchmark mapping relations of stock location camera and silk screen location camera.
2. scaling method according to claim 1, is characterized in that, on described stock location camera, silk screen location camera benchmark and pattern, the benchmark of identification point, comprises X, Y position reference and angle reference.。
3. scaling method according to claim 1, it is characterized in that, the reference position that the described definite bearing ink pad of step (1) and Three Degree Of Freedom silk screen are adjusted platform comprises: determine rotation transmitting device the undertake the printing of angle-differentiated of station or the reciprocal conveyer station distance of undertaking the printing of, and definite Three Degree Of Freedom silk screen adjustment stage fiducial place-centric is consistent with the center, reference position of bearing ink pad, determine that demarcating the corresponding identification point line of silk screen overlaps with bearing ink pad center line.
4. scaling method according to claim 1 is characterized in that, the described some stocks of step (2) location camera, some silk screens location camera and ejecting plate station camera parameter comprise camera operating distance, focal length, aperture and visual field size; The installation of some stocks location camera, some silk screens location camera and ejecting plate station camera comprises adjusts each stock location camera, each silk screen location camera and ejecting plate station camera position angle, the preliminary benchmark relation of establishing between each camera and between each camera and reference object, establishes the benchmark of ejecting plate station camera and the mapping relations of ejecting plate station camera and bearing ink pad.
5. scaling method according to claim 1, it is characterized in that step (3) is by benchmark and the pixel equivalent of high-precision calibrating plate and machine vision algorithm demarcation stock location camera, determine pixel equivalent and camera self direction of each stock location camera, finally establish the overall benchmark mapping relations of some stock location cameras and bearing ink pad.
6. scaling method according to claim 1, it is characterized in that motion and machine vision algorithm that step (4) is adjusted platform X/Y axle by Three Degree Of Freedom silk screen calculate fine setting camera position and direction or image shift, make the direction of motion of uncalibrated image consistent with the moving direction of printing machine X/Y axle, obtain Three Degree Of Freedom silk screen and adjust platform move distance and picture pixel distance relation, set up the benchmark mapping relations of silk screen location camera and Three Degree Of Freedom silk screen adjustment platform.
7. scaling method according to claim 1, it is characterized in that, step (5) is by the detection of pattern and the machine vision algorithm of serigraphy, obtain Three Degree Of Freedom silk screen and adjust the relation of each bearing ink pad benchmark on stage fiducial and conveyer, set up respectively mapping relations, and then locate the detection and Identification of camera by stock, set up mapping relations with stock location camera self benchmark.
8. scaling method according to claim 1, it is characterized in that, step (6) locates camera by silk screen and Three Degree Of Freedom silk screen is adjusted stage fiducial mapping relations, Three Degree Of Freedom silk screen is adjusted stage fiducial and each bearing ink pad position mapping relations, each bearing ink pad position and each stock location camera position mapping relations, final associated silk screen location camera, conveyer, each bearing ink pad and stock are located the benchmark of camera, set up the benchmark of whole screen printing apparatus.
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| CN103287073B (en) * | 2013-06-08 | 2015-12-09 | 太仓市同维电子有限公司 | A kind of method realizing PCB and steel mesh rapid-aligning in printing machine |
| CN103786427B (en) * | 2014-01-27 | 2016-07-06 | 虎彩印艺股份有限公司 | A kind of optical imagery Rotary transfer apparatus and transfer printing process thereof |
| CN104647885B (en) * | 2014-12-24 | 2017-03-29 | 常州天合光能有限公司 | For laser transfer alignment device and its alignment methods in electrode laser transfer |
| CN105216437B (en) * | 2015-11-05 | 2017-06-27 | 东莞市科隆威自动化设备有限公司 | Alignment light source image deviation adjustment self-calibration method |
| CN105291564B (en) * | 2015-11-06 | 2017-09-01 | 凌云光技术集团有限责任公司 | A kind of silk-screen alignment method and device |
| CN105774198B (en) * | 2016-05-06 | 2018-07-27 | 东莞市科隆威自动化设备有限公司 | A kind of the steel mesh method of adjustment and its mechanism of photovoltaic solar screen process press |
| CN107554050A (en) * | 2017-09-08 | 2018-01-09 | 华南理工大学 | The vision calibration device and its localization method of a kind of photovoltaic cell printing equipment |
| CN108955535B (en) * | 2018-05-16 | 2020-06-12 | 苏州迈为科技股份有限公司 | Calibration and alignment method for solder paste printer |
| CN110595353A (en) * | 2018-06-13 | 2019-12-20 | 深圳兆日科技股份有限公司 | Calibration positioning method and device based on calibration plate and storage medium |
| CN109263253B (en) * | 2018-10-11 | 2022-12-13 | 广东科隆威智能装备股份有限公司 | Crystalline silicon photovoltaic solar cell printing positioning platform calibration method and device based on machine vision |
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| CN109848138B (en) * | 2018-12-10 | 2021-09-10 | 北京电子工程总体研究所 | Aiming point calibration method of power grid foreign matter laser cleaning device |
| CN113119458B (en) * | 2019-12-31 | 2022-08-09 | 上海联泰科技股份有限公司 | Calibration system and method of 3D printing equipment and 3D printing equipment |
| CN111260721B (en) * | 2020-01-13 | 2023-08-15 | 深圳市美鼎恒自动化科技有限公司 | Remote multi-camera alignment method and device and related equipment |
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