CN105627819B - A kind of automatic control system dynamic performance detection method and device - Google Patents
A kind of automatic control system dynamic performance detection method and device Download PDFInfo
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- CN105627819B CN105627819B CN201610105471.8A CN201610105471A CN105627819B CN 105627819 B CN105627819 B CN 105627819B CN 201610105471 A CN201610105471 A CN 201610105471A CN 105627819 B CN105627819 B CN 105627819B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
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Abstract
The invention discloses a kind of automatic control system dynamic performance detection method and device, wherein, methods described includes：Laser projection pen is fixed on above automatic control system, it is set to be servo-actuated in the automatic control system, and by the laser projection of transmitting to reception target, imaging sensor obtains the moving image of the laser from the reception target photographs, and send it to image processing system, moving image progress of the described image processing system to the laser of reception, which is handled, obtains continuous overshoot trajectory diagram, you can know every dynamic performance index of the automatic control system.The present invention is measured using laser, reception target, imaging sensor and image processing system to the dynamic property of automatic control system, accurate foundation is provided for the control parameter adjustment of automatic control system, it is simple to operate, required time is short, manpower is saved, the success rate of test and precision and the degree of accuracy of test is improved.
Description
Technical field
The present invention relates to automation field, and in particular to a kind of automatic control system dynamic performance detection method and dress
Put.
Background technology
Because automatic control system (particularly position control servosysterm) has for industrial efficiency and quality
Great castering action, widely, existing automatic control system is mostly simulation or half for its application in the industrial production
Analog control system, there is temperature drift etc. influences the environmental factor of systematic function, thus is protected in actual use with regularly safeguarding
In supporting, measurement and the adjustment of its dynamic property are very crucial, such as two-way stable devices, and it is modern self-propelled gun and smooth
The important component of gram armored vehicle etc., is to realize that armament systems aimed fire between traveling must be provided with, two-way stable
The dynamic property of device will largely influence the shooting of the fighting efficiency, mainly armament systems of armament systems afield
Precision and reaction time.
However, in actual applications, due to subject to conditions, for automatic control system performance measurement be often limited to it is quiet
State, dynamic property measurement substantially carries out manual measurement using instruments such as clip, pencil and targets.The presence of this method is very
Many shortcomings：One is, artificial operation, random very big, measures not accurate enough；Two are, cooperation is difficult inside and outside system, success rate
It is relatively low；Three are, measurement every time needs more personnel, generally requires 5 people；Four are, step is more, take longer.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of automatic control system dynamic performance detection method and device,
The dynamic property of automatic control system is measured using laser, reception target, imaging sensor and image processing system,
Simple to operate, required time is short, saves manpower, improves the success rate of test and precision and the degree of accuracy of test.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
On the one hand, the invention provides a kind of automatic control system dynamic performance detection method, methods described includes：
S1, laser projection pen is fixed on above automatic control system, the automatic control system is in setting time section
Maximum step signal is produced, and then to be in full speed running state from setting time section；
S2, the laser projection pen are servo-actuated in the automatic control system, and by the laser projection of transmitting to receive target
On；
S3, imaging sensor obtain the moving image of the laser from the reception target photographs, and send it to
Image processing system；
S4, described image processing system are handled the moving image of the laser of reception, obtain continuous overshoot
Trajectory diagram is measured, is that the every dynamic property that would know that the automatic control system refers to according to the continuous overshoot trajectory diagram
Mark.
On the other hand, the invention provides a kind of automatic control system dynamic performance tester, described device is included certainly
Autocontrol system, laser projection pen, reception target, imaging sensor and image processing system；
The automatic control system, for producing maximum step signal in setting time section, and then causes from institute
State in setting time section and be in full speed running state；
The laser projection pen, for being fixed on above automatic control system, and then is servo-actuated in the automatic control system,
And by the laser projection of transmitting to reception target；
Described image sensor, the moving image for obtaining the laser from the reception target photographs, and by its
It is sent to image processing system；
Described image processing system, the moving image for the laser to reception is handled, and is continuously surpassed
Tune amount trajectory diagram.
The invention provides a kind of automatic control system dynamic performance detection method and device, laser projection pen is fixed on
Above automatic control system, it is servo-actuated in the automatic control system, and the laser projection of transmitting is schemed to receiving on target
As sensor from the reception target photographs obtains the moving image of the laser, and send it to image processing system,
Moving image progress of the described image processing system to the laser of reception, which is handled, obtains continuous overshoot trajectory diagram, you can
Know every dynamic performance index of the automatic control system.The present invention using laser, receive target, imaging sensor and
Image processing system is measured to the dynamic property of automatic control system, is provided for the control parameter adjustment of automatic control system
Accurate foundation, simple to operate, required time is short, saves manpower, improve the success rate of test and the precision of test and
The degree of accuracy.
Brief description of the drawings
Fig. 1 is a kind of automatic control system dynamic performance detection method flow chart of the embodiment of the present invention 1；
Fig. 2 in a kind of automatic control system dynamic performance detection method of the embodiment of the present invention 1 series of discrete it is super
Tune amount track point diagram；
Fig. 3 is continuous overshoot rail in a kind of automatic control system dynamic performance detection method of the embodiment of the present invention 1
Mark figure；
Fig. 4 is a kind of automatic control system dynamic performance tester schematic diagram of the embodiment of the present invention 2；
Fig. 5 for the embodiment of the present invention 2 a kind of automatic control system dynamic performance tester in graph paper schematic diagram；
Fig. 6 is image processing system in a kind of automatic control system dynamic performance tester of the embodiment of the present invention 2
Schematic diagram.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Embodiment 1, a kind of automatic control system dynamic performance detection method.The present embodiment is carried with reference to Fig. 1 to Fig. 3
The method of confession is described in detail.
Referring to Fig. 1 to Fig. 3, S1, laser projection pen is fixed on above automatic control system, the automatic control system exists
Maximum step signal is produced in setting time section, and then to be in full speed running state from setting time section.
Specifically, laser projection pen is fixed on above automatic control system, the automatic control system is self-propelled gun
Stabilizer, position control wait upon dress system, the control of " remote fire " position wait upon dress system, asault gun stabilizer, archibald firing or
Tank Stabilizer, if for example, when the automatic control system is self-propelled gun stabilizer, laser projection pen is fixed on described
On gun muzzle of self-propelled gun stabilizer；Then the automatic control system is opened, the automatic control system is in setting time section
It is interior to produce step signal maximum under its normal running conditions, and then cause complete from being within the period of the setting
Fast running status, the step signal is shown below：
Wherein, T is the period of setting, after the T moment has arrived, stops input step signal.
S2, the laser projection pen are servo-actuated in the automatic control system, and by the laser projection of transmitting to receive target
On.
Specifically, the laser projection pen is fixed on above the automatic control system, thus can be with described automatic
Control system is moved together, and the laser projection pen, the laser are opened while the automatic control system setting in motion
Projection pen is by the laser projection of transmitting to reception target.
Because the laser projection pen is fixed with the automatic control system, and conveniently to control the laser projection
The switch of pen, thus it must be reequiped, mainly include：One is to lead to the button mains switch of the laser projection pen
Lead extraction is crossed, toggle switch formation external switch is tapped into, and then separate in itself with the laser projection pen；Two be to described
Laser projection pen installs external electric source additional, using 9V batteries with regard to that can make the laser projection pen normal work.
It is described to receive the effective coverage that target is marked with two-dimensional coordinate axle and square, it is specifically to be attached to half by graph paper
Constituted on transparent lucite, the graph paper is marked with the effective coverage of two-dimensional coordinate axle and square；It is described
Complex background image can be removed by receiving target, moreover it is possible to laser is smoothly passed through, and obtain luminous point motion video.
S3, imaging sensor obtain the moving image of the laser from the reception target photographs, and send it to
Image processing system.
Specifically, imaging sensor obtains the moving image of the laser from the reception target photographs, and sent out
Image processing system is given, wherein, the moving image for shooting the acquisition laser specifically refers to be continuously shot the acquisition reception
Include laser spots, the moving image of as described laser in effective coverage on the image of target, the reception target；Separately
Outside, the moving image of the laser to make acquisition is more nearly reality, within the identical period, and the image frame number of acquisition should
This is The more the better, general using domestic unified image production standard, i.e., 25 frame per second.
S4, described image processing system are handled the moving image of the laser of reception, obtain continuous overshoot
Trajectory diagram is measured, is that the every dynamic property that would know that the automatic control system refers to according to the continuous overshoot trajectory diagram
Mark.
Specifically, the step S4 specifically includes following steps：
S41, described image processing system read out picture one by one from the moving image of the laser of reception,
And the coloured image in the picture is converted into gray level image, all include one in the effective coverage in every frame picture
Laser spots.
Specifically, described image processing system reads out one according to aviread functions from the moving image of the laser
The picture of the frame of frame one；And the coloured image in the picture is converted into gray level image using rgb2gray functions, after facilitating
Continuous processing, wherein, all include a laser spots in the effective coverage on the reception target in every frame picture.
S42, according to the laser spots in the effective coverage on the picture to the vertical range of abscissa line obtain institute
State the relative ordinate of laser spots, and using the shooting time of described image sensor as the laser spots abscissa so that
Obtain the relative coordinate of the laser spots.
Specifically, being obtained according to the laser spots in the effective coverage on the picture to the vertical range of abscissa line
The relative ordinate of the laser spots, is by the laser because laser spots not only occupy the position of a pixel
Pixel nearest from the origin of coordinates in occupied multiple pixel positions is put to the vertical range of abscissa line as described
The relative ordinate of laser spots.
Then, using the shooting time of described image sensor as the abscissa of the laser spots, i.e. abscissa is the time
Coordinate, because the image production standard of described image sensor is the horizontal stroke of the laser spots on 25 frame per second, the first pictures
Coordinate is that the abscissa that the abscissa of the laser spots on 0 second, the second pictures is the laser spots on 1/25 second, the second pictures is
2/25 second, by that analogy, obtain the abscissa of all laser spots；The relative ordinates of the laser spots and the laser spots
Abscissa is so as to obtain the relative coordinate of the laser spots.
S43, obtained on the longitudinal axis of the effective coverage according to the acute variation of gray value on the longitudinal axis of the effective coverage
Number of pixels, and with reference to the effective coverage the longitudinal axis length and corresponding engineer's scale, obtain each pixel corresponding
Actual distance value, and then the relative ordinate of the laser spots is converted into actual ordinate, so as to obtain the laser spots
Actual coordinate.
Specifically, in image procossing, image is made up of pixel, and the actual coordinate of laser spots is obtained, just
Have to pixel being mapped with actual distance value.First according to grey on the longitudinal axis of effective coverage square on picture
The acute variation of angle value, lookup obtains number of pixels actual on the longitudinal axis of the effective coverage；Then basis is pre-set
The length of the longitudinal axis of the effective coverage and with corresponding engineer's scale, actual pixel on the longitudinal axis with reference to the effective coverage
Number, calculating obtains the corresponding actual distance value of each pixel, and then the relative ordinate of the laser spots is converted into reality
Border ordinate, the time abscissa of the laser spots keeps constant；Finally obtain the actual coordinate of the laser spots.
S44, the overshoot rail for obtaining according to the actual coordinate of corresponding multiple laser spots on multiframe picture series of discrete
Mark point, and the overshoot tracing point of the series of discrete is carried out curve fitting obtain continuous overshoot trajectory diagram, and will
It carries out output and preserved to the catalogue of setting, is that would know that described automatically control is according to the continuous overshoot trajectory diagram
Every dynamic performance index of system.
Specifically, obtaining the overshoot of series of discrete according to the actual coordinate of corresponding multiple laser spots on multiframe picture
Tracing point (as shown in Figure 2), and the overshoot tracing point of the series of discrete is carried out curve fitting obtain continuous overshoot
Trajectory diagram is measured, to be analyzed and processed, and is carried out under output preservation to the catalogue of setting, can specifically used three times automatically
Spline interpolation function spline, arest neighbors interpolating function nearest and subsection curve fitting Polynomial Method
(pchip, cubic) realizes that the overshoot tracing point by series of discrete carries out curve fitting into continuous overshoot trajectory diagram
(as shown in Figure 3)；It is the every dynamic property that would know that the automatic control system according to the continuous overshoot trajectory diagram
Index.
Embodiment 2, a kind of automatic control system dynamic performance tester.The present embodiment is carried with reference to Fig. 4 to Fig. 6
The method of confession is described in detail.
Referring to Fig. 4 to Fig. 6, a kind of automatic control system dynamic performance tester, described device are present embodiments provided
Including automatic control system 50, laser projection pen 60, receive target 70, imaging sensor 80 and image processing system 90；Institute
State image processing system 90 and specifically include reading converting unit 901, relative coordinate acquiring unit 902, actual coordinate acquiring unit
903rd, trajectory diagram acquiring unit 904 and output storage unit 905.
Wherein, the automatic control system 50, for producing maximum step signal in setting time section, and then causes certainly
Full speed running state is in setting time section.
The laser projection pen 60, is fixedly connected on above automatic control system, and then is servo-actuated and is in described automatically control
System, for by the laser projection of transmitting to receive target.
Described image sensor 80, the moving image for obtaining the laser from the reception target photographs, and will
It is sent to image processing system.
Described image processing system 90, the moving image for the laser to reception is handled, and obtains continuous
Overshoot trajectory diagram.
Specifically, laser projection pen 60 is fixed on above automatic control system 50, it is servo-actuated it and is automatically controlled in described
System 50, described automatically control is 50 maximum step signal to be produced in setting time section, and then is caused from the setting
Full speed running state is in period；The laser projection pen 60 while being moved with the automatic control system 50,
Also by the laser projection of transmitting to reception target 70；Imaging sensor 80 obtains described sharp from reception target 70 photographs
The moving image of light, and send it to image processing system 90；The laser of 90 pairs of receptions of described image processing system
Moving image is handled, and obtains continuous overshoot trajectory diagram, is that would know that institute according to the continuous overshoot trajectory diagram
State every dynamic performance index of automatic control system.
In addition, the automatic control system 50 is self-propelled gun stabilizer, dress system is waitd upon in position control, " remote fire " position control
System waits upon dress system, asault gun stabilizer, archibald firing or Tank Stabilizer.Because by the laser projection pen 60 with
The automatic control system 50 is fixed, and to facilitate controlling switch, thus it must be reequiped, and is mainly included：One be by
The button mains switch of the laser projection pen 60 is drawn by lead, taps into toggle switch formation external switch, and then
Separated in itself with the laser projection pen 60；Two be to install external electric source additional to the laser projection pen 60, using 9V batteries just
The normal work of laser projection pen 60 can be made, without using conventional 12V batteries.The reception target 70 is marked with two-dimentional seat
The effective coverage of parameter and square, can be specifically attached to what is constituted on translucent lucite by graph paper, described to sit
Millimeter paper is marked with the effective coverage (as shown in Figure 5) of two-dimensional coordinate axle and square, and the reception target can remove complexity
Background images, moreover it is possible to make laser smoothly pass through, obtains luminous point motion video.Described image processing system 90, which is shot, obtains described sharp
The moving image of light specifically refers to be continuously shot the effective coverage obtained on the image for receiving target, the reception target 70
Inside include laser spots.Described image processing system 90 specifically include reading converting unit 901, relative coordinate acquiring unit 902,
Actual coordinate acquiring unit 903, trajectory diagram acquiring unit 904 and output storage unit 905.
The reading converting unit 901, for being read out one by one from the moving image of the laser of reception
Picture, and the coloured image in the picture is converted into gray level image, all included in the effective coverage in every frame picture
There are a laser spots.
The relative coordinate acquiring unit 902, for being arrived according to the laser spots in the effective coverage on the picture
The vertical range of abscissa line obtains the relative ordinate of the laser spots, and using the shooting time of described image sensor as
The abscissa of the laser spots, so as to obtain the relative coordinate of the laser spots.
The actual coordinate acquiring unit 903, the acute variation of gray value on the longitudinal axis according to the effective coverage
Obtain the number of pixels on the longitudinal axis of the effective coverage, and with reference to the effective coverage the longitudinal axis length and corresponding ratio
Example chi, obtains the corresponding actual distance value of each pixel, and then the relative ordinate of the laser spots is converted into actual vertical seat
Mark, so as to obtain the actual coordinate of the laser spots.
The trajectory diagram acquiring unit 904, for being obtained according to the actual coordinate of corresponding multiple laser spots on multiframe picture
To the overshoot tracing point of series of discrete, and the overshoot tracing point of the series of discrete is carried out curve fitting connected
Continuous overshoot trajectory diagram.
The output storage unit 905, is preserved to setting for the continuous overshoot trajectory diagram to be carried out into output
Under catalogue.
Specifically, the reading converting unit 901 is read out one by one from the moving image of the laser of reception
Picture, and the coloured image in the picture is converted into gray level image, wherein, per in the effective coverage in frame picture
All include a laser spots；The relative coordinate acquiring unit 902 is according to swashing in the effective coverage on the picture
The vertical range of luminous point to abscissa line obtains the relative ordinate of the laser spots, and during by the shooting of described image sensor
Between as the laser spots abscissa, so as to obtain the relative coordinate of the laser spots；The actual coordinate acquiring unit 903
The number of pixels on the longitudinal axis of the effective coverage is obtained according to the acute variation of gray value on the longitudinal axis of the effective coverage, and
With reference to the length and corresponding engineer's scale of the longitudinal axis of the effective coverage, the corresponding actual distance value of each pixel is obtained, is entered
And the relative ordinate of the laser spots is converted into actual ordinate, so as to obtain the actual coordinate of the laser spots；It is described
Trajectory diagram acquiring unit 904 obtains the overshoot of series of discrete according to the actual coordinate of corresponding multiple laser spots on multiframe picture
Tracing point is measured, and the overshoot tracing point of the series of discrete is carried out curve fitting obtains continuous overshoot trajectory diagram；
The output storage unit 905 carries out the continuous overshoot trajectory diagram that the trajectory diagram acquiring unit 904 is obtained defeated
Go out and preserve to the catalogue of setting.
The invention provides a kind of automatic control system dynamic performance detection method and device, laser projection pen is fixed on
Above automatic control system, it is servo-actuated in the automatic control system, and the laser projection of transmitting is schemed to receiving on target
As sensor from the reception target photographs obtains the moving image of the laser, and send it to image processing system,
Moving image progress of the described image processing system to the laser of reception, which is handled, obtains continuous overshoot trajectory diagram, you can
Know every dynamic performance index of the automatic control system.The present invention using laser, receive target, imaging sensor and
Image processing system is measured to the dynamic property of automatic control system, is provided for the control parameter adjustment of automatic control system
Accurate foundation, simple to operate, required time is short, saves manpower, improve the success rate of test and the precision of test and
The degree of accuracy.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (5)
1. a kind of automatic control system dynamic performance detection method, it is characterised in that methods described includes：
S1, laser projection pen is fixed on above automatic control system, the automatic control system is produced in setting time section
Maximum step signal, and then to be in full speed running state from setting time section；
S2, the laser projection pen are servo-actuated in the automatic control system, and by the laser projection of transmitting to indicating two-dimensional coordinate
On the reception target of the effective coverage of axle and square；
S3, imaging sensor are continuously shot the image for obtaining the reception target for including laser spots in the effective coverage, and will
It is sent to image processing system；
S4, described image processing system are handled the image of the reception target of reception, obtain continuous overshoot rail
Mark figure, is the every dynamic performance index that would know that the automatic control system according to the continuous overshoot trajectory diagram；
The S4 specifically includes following steps,
S41, described image processing system read out picture one by one from the image of the reception target of reception, and will
Coloured image in the picture is converted to gray level image, all includes a laser in the effective coverage in every frame picture
Point；
S42, according to the laser spots in the effective coverage on the picture to the vertical range of abscissa line obtain it is described swash
The relative ordinate of luminous point, and using the shooting time of described image sensor as the laser spots abscissa, so as to obtain
The relative coordinate of the laser spots；
S43, the picture obtained according to the acute variation of gray value on the longitudinal axis of the effective coverage on the longitudinal axis of the effective coverage
Plain number, and with reference to the effective coverage the longitudinal axis length and corresponding engineer's scale, obtain the corresponding reality of each pixel
Distance value, and then the relative ordinate of the laser spots is converted into actual ordinate, so as to obtain the reality of the laser spots
Coordinate；
S44, the overshoot tracing point for obtaining according to the actual coordinate of corresponding multiple laser spots on multiframe picture series of discrete,
And the overshoot tracing point of the series of discrete is carried out curve fitting obtain continuous overshoot trajectory diagram, and carried out
Output is preserved to the catalogue of setting, is would know that the automatic control system each according to the continuous overshoot trajectory diagram
Item dynamic performance index.
2. a kind of automatic control system dynamic performance detection method as claimed in claim 1, it is characterised in that in the S1
The automatic control system is self-propelled gun stabilizer, dress system is waitd upon in position control, " remote fire " position control is waitd upon dress system, assaulted
Big gun stabilizer, archibald firing or Tank Stabilizer.
3. a kind of automatic control system dynamic performance detection method as claimed in claim 2, it is characterised in that the reception mark
Target is specifically to be attached to what is constituted on translucent lucite by graph paper.
4. a kind of automatic control system dynamic performance tester, it is characterised in that described device includes automatic control system, swashed
Light projection pen, reception target, imaging sensor and image processing system；
The automatic control system, for producing maximum step signal in setting time section, and then to set in described certainly
Full speed running state is in section of fixing time；
The laser projection pen, is fixedly connected on above automatic control system, and then is servo-actuated in the automatic control system, is used for
By on the reception target of the laser projection of transmitting to the effective coverage for indicating two-dimensional coordinate axle and square；
Described image sensor, the figure for the reception target for including laser spots in the effective coverage is obtained for being continuously shot
Picture, and send it to image processing system；
Described image processing system, the image for the reception target to reception is handled, and obtains continuous overshoot
Trajectory diagram.
5. a kind of automatic control system dynamic performance tester as claimed in claim 4, it is characterised in that at described image
Reason system is specifically included：
Converting unit is read, for reading out picture one by one from the image of the reception target of reception, and by institute
The coloured image stated in picture is converted to gray level image, all includes a laser in the effective coverage in every frame picture
Point；Relative coordinate acquiring unit, for being arrived according to the laser spots in the effective coverage on the picture
The vertical range of abscissa line obtains the relative ordinate of the laser spots, and by the shooting time of described image sensor
As the abscissa of the laser spots, so as to obtain the relative coordinate of the laser spots；
Actual coordinate acquiring unit, the acute variation of gray value obtains described effective on the longitudinal axis according to the effective coverage
Number of pixels on the longitudinal axis in region, and with reference to the effective coverage the longitudinal axis length and corresponding engineer's scale, obtain every
The corresponding actual distance value of individual pixel, and then the relative ordinate of the laser spots is converted into actual ordinate, so as to obtain
The actual coordinate of the laser spots；
Trajectory diagram acquiring unit, for obtaining series of discrete according to the actual coordinate of corresponding multiple laser spots on multiframe picture
Overshoot tracing point, and the overshoot tracing point of the series of discrete carried out curve fitting obtain continuous overshoot rail
Mark figure；
Storage unit is exported, is preserved for the continuous overshoot trajectory diagram to be carried out into output to the catalogue of setting.
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| CN101419055A (en) * | 2008-10-30 | 2009-04-29 | 北京航空航天大学 | Space target position and pose measuring device and method based on vision |
| CN101424551A (en) * | 2008-11-28 | 2009-05-06 | 北京航空航天大学 | Active vision non-contact type servomechanism parameter measurement method and apparatus thereof |
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| US5764786A (en) * | 1993-06-10 | 1998-06-09 | Kuwashima; Shigesumi | Moving object measurement device employing a three-dimensional analysis to obtain characteristics of the moving object |
| CN1912534A (en) * | 2006-08-25 | 2007-02-14 | 哈尔滨工业大学 | Contactless three-axle air-float stage corner measuring device and its measuring method |
| CN101419055A (en) * | 2008-10-30 | 2009-04-29 | 北京航空航天大学 | Space target position and pose measuring device and method based on vision |
| CN101424551A (en) * | 2008-11-28 | 2009-05-06 | 北京航空航天大学 | Active vision non-contact type servomechanism parameter measurement method and apparatus thereof |
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