CN104006789B - Spatial distributions angle measurement unit and measuring method - Google Patents
Spatial distributions angle measurement unit and measuring method Download PDFInfo
- Publication number
- CN104006789B CN104006789B CN201410260143.6A CN201410260143A CN104006789B CN 104006789 B CN104006789 B CN 104006789B CN 201410260143 A CN201410260143 A CN 201410260143A CN 104006789 B CN104006789 B CN 104006789B
- Authority
- CN
- China
- Prior art keywords
- measurand
- angle
- spatial distributions
- graduation
- angle sensor
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of Spatial distributions angle measurement unit and measuring method, for the real-time measurement of Spatial distributions angle.Spatial distributions angle measurement unit of the present invention includes dynamic angle sensor, cooperative target target plate and data handling system, be a kind of low cost, high precision, be easy to operate measuring equipment.Measuring method of the present invention is by the dynamic angle sensor identification that is made up of diaxon elaborate servo mechanism, high-precision optical imaging system and universal machine clamping device and follow the tracks of cooperative target target plate, Spatial distributions measurement of angle problem is converted into the Motion parameters based on machine vision and tracking problem, make it the new method become in measuring science, enrich vision measurement technical connotation, the test of multiple fields such as industry, military affairs and scientific research in this or metering requirements can have been met.
Description
Technical field
The present invention relates to a kind of measuring method and the measurement mechanism that are applied to article for rotation dynamic angle in three dimensions, specifically a kind of Spatial distributions angle measurement unit and measuring method.
Background technology
Measurement of angle is the important component part of measuring science, is widely used in commercial production and field of scientific study.Along with science and technology and the fast development of production technology, all more and more higher requirement is proposed to the measuring method of angle and measuring accuracy at numerous areas such as Precision Machining, Aero-Space, water conservancy transport development, geodetic surveyings.Therefore, High-precision angle surveying instrument is developed significant.
Existing angle measurement method mainly contains: mechanical measuring means, method for electromagnetically measuring, vision measuring method and photoelectric measurement method etc.Mechanical measuring means is applied more in early days, and advantage is that structure is simple, cost is low, but equipment volume is huge, measuring accuracy is low, measure time delay greatly, in most cases can not real time dynamic measurement; Method for electromagnetically measuring utilizes electromagnetic induction principle to take measurement of an angle, and measuring accuracy is high, measuring speed is fast, but can not be applied to non-contact measurement; Optical method for measuring angle has noncontact, high precision and highly sensitive feature, especially along with the development of LASER Light Source and the appearance of sophisticated sensor make the measuring accuracy of photoelectricity angle measurement improve constantly, its Typical Representative equipment is exactly laser tracking measurement system, there is high precision, high-level efficiency, real-time follow-up, the feature such as quick for installation, easy and simple to handle, but laser tracking measurement system cost is high, as single device about 1,200,000 Renminbi of FARO company; Vision measuring method is the integrated application of computer graphic image treatment technology, photoelectric technology, has the plurality of advantages such as noncontact, high speed, real-time be good.
The principle of work of laser tracking measurement system is, impact point settles a reverberator, and the laser that follower head sends is irradiated on reverberator, turns back to follower head again, and when the object moves, follower head adjustment beam direction aims at the mark.Meanwhile, Returning beam is detected system and receives, and is used for calculating the locus of target.Briefly, laser tracking measurement system problem to be solved is static or dynamically follows the tracks of a point moved in space, determines the volume coordinate of impact point simultaneously.Laser tracking measurement system industrially can realize detection and checking, large-size components measurement, robot spatial pose adjustment, system and the parts assembling of surface of the work, and many angle measuring functions such as frock detection and research and development, but there is the shortcomings such as equipment manufacturing cost is high.The principle of work of vision measuring method utilizes single handheld camera to take testee from the diverse location attitude of space, obtain several measurement image, utilize vision measurement theoretical in conjunction with the collinearity in close-range photogrammetry theory, co-planarity constraint founding mathematical models, realize the precision measurement of putting three-dimensional coordinate in large scale space.Advantages such as although vision measuring method have noncontact, high speed, real-time is good, price is low, that can only measure input space angle rises to the positional information in two moment, cannot kinetic measurement in implementation procedure, has higher requirements to measurement environment simultaneously.
Summary of the invention
An object of the present invention is just to provide a kind of Spatial distributions angle measurement unit, solves the problem that existing space dynamic angle measurement precision is difficult to improve.
Two of object of the present invention is just to provide a kind of Spatial distributions angle measurement method, to realize the high-acruracy survey of three dimensions dynamic angle.
An object of the present invention is achieved in that a kind of Spatial distributions angle measurement unit, includes:
Dynamic angle sensor, is connected with data handling system, for detecting the change of measurand dynamic angle;
Cooperative target target plate, the object of reference as the change of measurand dynamic angle is arranged at the front of measurand; And
Data handling system, is connected with described dynamic angle sensor, and the search for target of cooperating to described dynamic angle sensor controls, and processes the data detected, to obtain the Spatial distributions angle value of measurand;
Described dynamic angle sensor is made up of diaxon elaborate servo mechanism, high-precision optical imaging system and universal machine clamping device; Described high-precision optical imaging system is installed on the carrying platform of described diaxon elaborate servo mechanism, by the action of described diaxon elaborate servo mechanism, changes optical imagery visual field; In described diaxon elaborate servo mechanism, be built-in with absolute light photoelectric coder, described absolute light photoelectric coder is in order to export the angle of pitch and/or azimuthal changing value.
Absolute light photoelectric coder is built-in with, in order to export the angle of pitch and the position angle of servo control mechanism action in described diaxon elaborate servo mechanism.
The target plate of described cooperative target target plate is provided with the different cross-graduation of thickness.
Described data handling system is made up of control circuit, vision cooperative target recognition and tracking module, dynamic error compensation module and data record output module; Described diaxon elaborate servo mechanism is connected with described data handling system respectively with described high-precision optical imaging system.
Described dynamic angle sensor is fixed in measurand by described universal machine clamping device; When measurand rotates or spatial pose changes, under described data handling system controls, cooperative target target plate described in real-time follow-up, makes the cross-graduation on described cooperative target target plate coincide with the electric cross-graduation in described optical imaging system all the time.
Described cooperative target target plate is positioned over measurand front, enables to be captured by the high-precision optical imaging system on described dynamic angle sensor.
Two of object of the present invention is achieved in that a kind of Spatial distributions angle measurement method, comprises the following steps:
A, the cooperative target target plate in Spatial distributions angle measurement unit is placed in the front of measurand, dynamic angle sensor is fixed in measurand by the universal machine clamping device on it, and the angle of pitch of the diaxon elaborate servo mechanism in described dynamic angle sensor and position angle are pointed to the spatial pose of measurand be adjusted to consistent, by absolute light photoelectric coder zero built-in in described diaxon elaborate servo mechanism this moment;
B, utilize the data handling system in Spatial distributions angle measurement unit to control described dynamic angle sensor automatically to identify cross-graduation on described cooperative target target plate, and the electric cross-graduation in this cross-graduation image making the high-precision optical imaging system in described dynamic angle sensor obtain and high-precision optical imaging system coincides, the output valve of described data handling system record described absolute light photoelectric coder this moment, and point out measurand to start to rotate;
C, in measurand rotation process, the cross-graduation of described dynamic angle sensor under the control of described data handling system on cooperative target target plate described in real-time follow-up, and the electric cross-graduation in this cross-graduation image making described high-precision optical imaging system obtain and high-precision optical imaging system coincides, described data handling system records the output valve of image sequence that high-precision optical imaging system described in measurand rotation process obtains and described absolute light photoelectric coder simultaneously;
At the end of d, measurand are rotated, described dynamic angle sensor, under the control of described data handling system, stops following the tracks of the cross-graduation on described cooperative target target plate, the output valve of described data handling system record described absolute light photoelectric coder this moment;
E, described data handling system according to the output valve of the described absolute light photoelectric coder in step b, c, d, by space angle TRANSFER MODEL and the Spatial distributions rotational angle compensation calculation of dynamic tracking error being obtained to measurand.
Described dynamic angle sensor is fixed in measurand by described universal machine clamping device; When measurand rotates or spatial pose changes, under described data handling system controls, cooperative target target plate described in real-time follow-up, makes the cross-graduation on described cooperative target target plate coincide with the electric cross-graduation in described optical imaging system all the time.
Described cooperative target target plate is positioned over measurand front, enables to be captured by the high-precision optical imaging system on described dynamic angle sensor.
According to the distance between described dynamic angle sensor and described cooperative target target plate, select the cross-graduation following the tracks of different thicknesses, make described high-precision optical imaging system get the cross-graduation image of high definition.
In measuring process, real-time analysis process is carried out to image sequence, compensate the angular deviation because described dynamic angle sensor causes the tracking error of described cooperative target target plate cross-graduation.
The measurement of dynamic angle is converted into the recognition and tracking of cooperative target by the present invention, by the high-precision optical imaging system on dynamic angle sensor to the identification of cooperative target and tracking, dexterously tested angle variable quantity is passed on dynamic angle sensor, form the angle of pitch of diaxon servo control mechanism and azimuthal variable quantity, and this variable quantity obtains by built-in absolute light photoelectric coder.The present invention, without the need to measuring the distance between cooperative target and measurand, has both remained the advantage that laser tracking measurement system angle-measurement accuracy is high, has greatly reduced cost again.The present invention also can utilize dynamic error compensation module to carry out Software error compensation in dynamic angle measurement process, thus improves measuring accuracy further.
The high dynamic of laser tracking measurement system and the low cost of vision measurement system combine by the present invention, define a kind of brand-new dynamic angle measurement method, applying of the method, greatly will reduce the cost of Angle Measuring Equipment, improve angle-measurement accuracy, speed and automaticity.
Accompanying drawing explanation
Fig. 1 is the structural representation of measurement mechanism of the present invention.
Fig. 2 is the structural representation of dynamic angle sensor.
Fig. 3 is the using state reference diagram of measurement mechanism of the present invention.
Fig. 4 is Spatial distributions measurement of angle workflow diagram of the present invention.
Fig. 5 is dynamic error compensation algorithm workflow diagram.
In figure: 1, dynamic angle sensor, 2, cooperative target target plate, 3, data handling system, 4, diaxon elaborate servo mechanism, 5, high-precision optical imaging system, 6, universal machine clamping device, 7, pitch axis, 8, wobble shaft, 9, measurand.
Embodiment
Below in conjunction with accompanying drawing, Spatial distributions angle measurement unit of the present invention and measuring method are described in detail.
As shown in Figure 1, Spatial distributions angle measurement unit of the present invention includes dynamic angle sensor 1, cooperative target target plate 2 and data handling system 3.Dynamic angle sensor 1 is for detecting the change of measurand dynamic angle; The object of reference that cooperative target target plate 2 changes as measurand dynamic angle; Data handling system 3 is connected with dynamic angle sensor 1, the search control of target of cooperating to dynamic angle sensor 1, and processes the data detected, to obtain the Spatial distributions angle value of measurand.
As shown in Figure 2, dynamic angle sensor 1 is made up of diaxon elaborate servo mechanism 4, high-precision optical imaging system 5 and universal machine clamping device 6.Wherein, the front portion of diaxon elaborate servo mechanism 4 is provided with carrying platform, and carrying platform is connected with anterior body by pitch axis 7, and anterior body is connected with rear portion body by wobble shaft 8, and the axis of wobble shaft 8 and the axis of pitch axis 7 are mutually vertical in surface level.Absolute light photoelectric coder is built-in with, the angle of pitch of the exportable servo control mechanism action of absolute light photoelectric coder and position angle in diaxon elaborate servo mechanism 4.High-precision optical imaging system 5 is arranged on the carrying platform of diaxon elaborate servo mechanism 4 front end, under the drive of diaxon elaborate servo mechanism 4, changes optical imagery visual field, and can obtain high-quality image.Dynamic angle sensor 1 itself is fixed on the front end (Fig. 3) of measurand 9 by the universal machine clamping device 6 in dynamic angle sensor 1.
As shown in Figure 3, cooperative target target plate 2 is arranged on the front portion of measurand 9, relative with measurand 9, its target plate has the cross-graduation that thickness is different, as different objects of reference.Different according to the distance of measurand 9 and cooperative target target plate 2, can select cross-graduation that thickness is different as concrete reference object.In general, during distance, thick cross-graduation should be selected, to ensure that high-precision optical imaging system 5 can capture the cross-graduation image of high definition.
Data handling system 3 is made up of control circuit, vision cooperative target recognition and tracking module, dynamic error compensation module and data record output module.Diaxon elaborate servo mechanism 4 is connected with data handling system 3 respectively with high-precision optical imaging system 5.The cross-graduation on cooperative target target plate 2 followed the tracks of by data handling system 3 controlled braking state angular transducer 1, obtains cross-graduation image sequence, reads the output valve of absolute light photoelectric coder; High-precision dynamic error compensation can be carried out according to cross-graduation image sequence simultaneously.
Below in conjunction with the measurement of robot arm spatial attitude angle, the concrete steps of dynamic angle measurement method of the present invention are described:
1, as shown in Figure 3, the dynamic angle sensor 1 in Spatial distributions angle measurement unit of the present invention is fixed on as on the robot arm of measurand 9 by the universal machine clamping device 6 on it; Cooperative target target plate 2 is placed in the front of measurand 9.Now, the center superposition with robot arm is pointed at the center of the high-precision optical imaging system 5 of dynamic angle sensor 1 front end, and the absolute light photoelectric coder in diaxon elaborate servo mechanism 4 exports zero.
2, as shown in Figure 1, under the effect control of the vision cooperative target recognition and tracking module of dynamic angle sensor 1 in data handling system 3, cross-graduation on search cooperative target target plate 2, after searching, continue the diaxon elaborate servo mechanism 4(Fig. 2 in adjustment dynamic angle sensor 1), the cross-graduation image that high-precision optical imaging system 5 is obtained and the electric cross-graduation on it coincide, data handling system 3 records the output valve of absolute light photoelectric coder this moment, and prompting can start to adjust robot arm rotation.
3, in the rotation process of robot arm, the cross-graduation on cooperative target target plate 2 followed the tracks of all the time by dynamic angle sensor 1 under the control of data handling system 3, and the cross-graduation image making high-precision optical imaging system 5 obtain and the electric cross-graduation on it coincide, the cross-graduation image sequence that in data handling system 3 real-time storage measurand rotation process, high-precision optical imaging system 5 obtains, and the output valve of real time record absolute light photoelectric coder.
4, at the end of robot arm rotates, dynamic angle sensor 1 stops following the tracks of the cross-graduation on cooperative target target plate 2 under the control of data handling system 3, and data handling system 3 records the output valve of absolute light photoelectric coder this moment.
5, data handling system 3 for robot arm before rotation, rotate in and the output valve of the image sequence that obtained by high-precision optical imaging system 5 after stopping and absolute light photoelectric coder in the process analyze, and by the space angle TRANSFER MODEL of foundation and by the calculating that dynamic error compensation module compensates dynamic tracking error, the Spatial distributions angle changing value in robot arm adjustment process can be obtained; This measurement data can be exported finally by data record output module.
The above-mentioned workflow of Spatial distributions measurement of angle of the present invention as shown in Figure 4.
The workflow diagram of dynamic error compensation algorithm of the present invention as shown in Figure 5, the cross-graduation image that Real-time Collection high-precision optical imaging system 5 obtains in diaxon elaborate servo mechanism 4 course of action, the compensation model between angular error is set up according to the side-play amount of itself and electric cross-graduation, dynamic compensation is carried out to the angle of pitch in each moment and azimuthal numerical value, thus obtains Dynamic High-accuracy angular measurement.
Claims (9)
1. a Spatial distributions angle measurement unit, is characterized in that, includes:
Dynamic angle sensor, is connected with data handling system, for detecting the change of measurand dynamic angle;
Cooperative target target plate, the object of reference as the change of measurand dynamic angle is arranged at the front of measurand; And
Data handling system, is connected with described dynamic angle sensor, and the search for target of cooperating to described dynamic angle sensor controls, and processes the data detected, to obtain the Spatial distributions angle value of measurand;
Described dynamic angle sensor is made up of diaxon elaborate servo mechanism, high-precision optical imaging system and universal machine clamping device; Described high-precision optical imaging system is installed on the carrying platform of described diaxon elaborate servo mechanism, by the action of described diaxon elaborate servo mechanism, changes optical imagery visual field; In described diaxon elaborate servo mechanism, be built-in with absolute light photoelectric coder, described absolute light photoelectric coder is in order to export the angle of pitch and/or azimuthal changing value.
2. Spatial distributions angle measurement unit as claimed in claim 1, is characterized in that, in described diaxon elaborate servo mechanism, be built-in with absolute light photoelectric coder, in order to export the angle of pitch and the position angle of servo control mechanism action.
3. Spatial distributions angle measurement unit as claimed in claim 1, is characterized in that, the target plate of described cooperative target target plate is provided with the different cross-graduation of thickness.
4. Spatial distributions angle measurement unit as claimed in claim 1, it is characterized in that, described data handling system is made up of control circuit, vision cooperative target recognition and tracking module, dynamic error compensation module and data record output module; Described diaxon elaborate servo mechanism is connected with described data handling system respectively with described high-precision optical imaging system.
5. Spatial distributions angle measurement unit as claimed in claim 1, it is characterized in that, described dynamic angle sensor is fixed in measurand by described universal machine clamping device; When measurand rotates or spatial pose changes, under described data handling system controls, cooperative target target plate described in real-time follow-up, makes the cross-graduation on described cooperative target target plate coincide with the electric cross-graduation in described optical imaging system all the time.
6. Spatial distributions angle measurement unit as claimed in claim 1, it is characterized in that, described cooperative target target plate is positioned over measurand front, enables to be captured by the high-precision optical imaging system on described dynamic angle sensor.
7. a Spatial distributions angle measurement method, is characterized in that, comprises the following steps:
A, the cooperative target target plate in Spatial distributions angle measurement unit is placed in the front of measurand, dynamic angle sensor is fixed in measurand by the universal machine clamping device on it, and the angle of pitch of the diaxon elaborate servo mechanism in described dynamic angle sensor and position angle are pointed to the spatial pose of measurand be adjusted to consistent, by absolute light photoelectric coder zero built-in in described diaxon elaborate servo mechanism this moment;
B, utilize the data handling system in Spatial distributions angle measurement unit to control described dynamic angle sensor automatically to identify cross-graduation on described cooperative target target plate, and the electric cross-graduation in this cross-graduation image making the high-precision optical imaging system in described dynamic angle sensor obtain and high-precision optical imaging system coincides, the output valve of described data handling system record described absolute light photoelectric coder this moment, and point out measurand to start to rotate;
C, in measurand rotation process, the cross-graduation of described dynamic angle sensor under the control of described data handling system on cooperative target target plate described in real-time follow-up, and the electric cross-graduation in this cross-graduation image making described high-precision optical imaging system obtain and high-precision optical imaging system coincides, described data handling system records the output valve of image sequence that high-precision optical imaging system described in measurand rotation process obtains and described absolute light photoelectric coder simultaneously;
At the end of d, measurand are rotated, described dynamic angle sensor, under the control of described data handling system, stops following the tracks of the cross-graduation on described cooperative target target plate, the output valve of described data handling system record described absolute light photoelectric coder this moment;
E, described data handling system according to the output valve of the described absolute light photoelectric coder in step b, c, d, by space angle TRANSFER MODEL and the Spatial distributions rotational angle compensation calculation of dynamic tracking error being obtained to measurand.
8. Spatial distributions angle measurement method as claimed in claim 7, it is characterized in that, described dynamic angle sensor is fixed in measurand by described universal machine clamping device; When measurand rotates or spatial pose changes, under described data handling system controls, cooperative target target plate described in real-time follow-up, makes the cross-graduation on described cooperative target target plate coincide with the electric cross-graduation in described optical imaging system all the time.
9. Spatial distributions angle measurement method as claimed in claim 7, it is characterized in that, described cooperative target target plate is positioned over measurand front, enables to be captured by the high-precision optical imaging system on described dynamic angle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410260143.6A CN104006789B (en) | 2014-06-11 | 2014-06-11 | Spatial distributions angle measurement unit and measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410260143.6A CN104006789B (en) | 2014-06-11 | 2014-06-11 | Spatial distributions angle measurement unit and measuring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104006789A CN104006789A (en) | 2014-08-27 |
| CN104006789B true CN104006789B (en) | 2016-03-09 |
Family
ID=51367564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410260143.6A Active CN104006789B (en) | 2014-06-11 | 2014-06-11 | Spatial distributions angle measurement unit and measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104006789B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104729534B (en) * | 2015-03-12 | 2017-08-25 | 北京空间飞行器总体设计部 | The monocular vision error measuring system and limits of error quantization method of cooperative target |
| CN104833268B (en) * | 2015-04-15 | 2016-06-15 | 中国人民解放军军械工程学院 | Small caliber piece dynamic tracking accuracy detecting device |
| CN105043438B (en) * | 2015-05-18 | 2017-07-28 | 西安航空制动科技有限公司 | Space object multi-Dimensional parameters measurement apparatus |
| CN105526907B (en) * | 2015-12-29 | 2018-06-26 | 中国人民解放军总装备部军械技术研究所 | The measuring device and measuring method of the space angle in large scale space |
| CN106918447A (en) * | 2017-05-15 | 2017-07-04 | 中国人民解放军63908部队 | Target automatic direction regulating formula plain shaft parallelism detection method and device |
| CN110869797B (en) * | 2018-06-25 | 2023-09-05 | 北京嘀嘀无限科技发展有限公司 | High-definition map acquisition system |
| CN111208523B (en) * | 2020-01-19 | 2021-12-14 | 石家庄铁道大学 | Measuring method and measuring device for space dynamic angle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4627724A (en) * | 1983-07-08 | 1986-12-09 | The United States Of America As Represented By The Secretary Of The Army | Radiation scanning and detection system |
| JPH11295422A (en) * | 1998-04-07 | 1999-10-29 | Mitsubishi Electric Corp | Light wave sensor |
| CN103363902B (en) * | 2013-07-16 | 2016-03-30 | 清华大学 | Based on moving target apparatus for detecting position and posture and method in the dust atmosphere of infrared laser |
-
2014
- 2014-06-11 CN CN201410260143.6A patent/CN104006789B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104006789A (en) | 2014-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104006789B (en) | Spatial distributions angle measurement unit and measuring method | |
| CN108534679B (en) | A kind of cylindrical member axis pose without target self-operated measuring unit and method | |
| CN102506702B (en) | Large three-dimensional coordinate measuring method with laser tracking and device | |
| CN103307977B (en) | The field measurement apparatus of huge revolving class workpiece inner wall size, system and method | |
| CN106546170B (en) | A kind of robot motion track key point error measurement method | |
| CN101539397B (en) | Method for measuring three-dimensional attitude of object on precision-optical basis | |
| CN108132029B (en) | Accurate measurement method and device for assembly of satellite antenna unfolding system | |
| CN103307984A (en) | Laser measuring device, laser measuring system and laser measuring method for adjustable paddle blade | |
| CN109458958A (en) | A kind of scaling method of turntable center position in four axis vision measurement device | |
| CN109596073A (en) | A kind of origin position scaling method of the revolving platform central axis of view-based access control model measurement | |
| CN109520420A (en) | A kind of space coordinate at rotation of rotary table center determines method | |
| CN108827187A (en) | A kind of measuring system for workpiece progress measuring three-dimensional profile | |
| CN106989670B (en) | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration | |
| CN102126162A (en) | Numerical control machine processing online measurement method | |
| CN206339207U (en) | A kind of path accuracy repetition measurement instrument | |
| CN106705880B (en) | A kind of large caliber reflecting mirror face shape profile detection method and device in place | |
| CN109212497A (en) | A kind of measurement of space six degree of freedom vehicle radar antenna pose deviation and interconnection method | |
| CN105716547A (en) | Rapid measurement device and method for planeness of mechanical workpiece | |
| CN109238175A (en) | A kind of space plane angle measurement method based on laser tracker | |
| CN108088389B (en) | Rotary double-laser profile measuring method, storage device and measuring device | |
| CN203349785U (en) | Laser measurement device and system for adjustable propeller blade | |
| CN205352322U (en) | Large -scale complicated curved surface measurement system | |
| CN112697074B (en) | Dynamic object to be measured angle measuring instrument and measuring method | |
| Jianming et al. | Error correction for high-precision measurement of cylindrical objects diameter based on machine vision | |
| CN112407344A (en) | Pose prediction method and device for space non-cooperative target |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |