CN107084990A - A kind of the face detection means of monocular vision concrete-filled steel square tubular column three and detection method - Google Patents
A kind of the face detection means of monocular vision concrete-filled steel square tubular column three and detection method Download PDFInfo
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Abstract
The present invention discloses a kind of face detection means of monocular vision concrete-filled steel square tubular column three, including the workbench for placing concrete-filled steel square tubular column workpiece, detection module away from being placed with front of workbench towards workpiece and for detecting workpiece, detection module is with calculating mechatronics, bench top is provided with minute surface and the mirror-reflection module for reflecting workpiece left and right side, and workpiece is pasted with blank sheet of paper towards the left surface and right flank of mirror-reflection module.The present invention also proposes a kind of detection method, realizes and carries out crack detection to workpiece front and two sides.The mirror-reflection mechanism of technical solution of the present invention can realize the rotation and translation and the rotation and translation of vertical direction of minute surface horizontal direction, realize the fine setting of mirror angle and areas imaging, it is applicable to a variety of experimental situations, the present invention only can be detected simultaneously by workpiece front and both side surface totally three face crack situations using a camera simultaneously, it is low with cost, efficiency high, the features such as easy to operate.
Description
Technical field
The present invention relates to steel core concrete column dynamic test technical field, more particularly to a kind of monocular vision square steel tube
The face detection means of concrete column three and detection method.
Background technology
Concrete filled steel tube refers in steel pipe concrete perfusion and solidify to form combined member, and the combine component has good
Mechanical property.Because concrete-filled steel square tubular column is by the way that by filling concrete, in the steel pipe of square or rectangle, it has
Stability bearing capacity is high, joint structure is simple, easy to connect, profile is regular and the characteristic such as good anti-seismic performance, therefore in engineering
It is used widely in technology.
Because crackle is the main failure forms of concrete-filled steel square tubular column, therefore is weighing concrete-filled steel square tubular column mechanical property
During energy, the anti-crack ability progress fully test to Concrete-Filled Square Steel Tube is extremely important.
In the prior art, generally static and dynamic mechanical is carried out to concrete-filled steel square tubular column using external pressure apparatus to try
Test, to study its anti-seismic performance.When being detected by monocular vision or binocular vision mode to concrete-filled steel square tubular column, all only
A surface quality situation of concrete-filled steel square tubular column can be detected in same one-time detection, the surface matter to detect multiple surfaces
Amount needs the supporting vision system of set more, and is linked jointly using many set vision systems to detect the surface quality on multiple surfaces, because
This whole detection process precision is not high and cost is higher.Therefore by monocular vision mode simultaneously to many of concrete-filled steel square tubular column
Individual plane is detected, can effectively be reduced testing cost and be improved accuracy of detection and operating efficiency.
The content of the invention
The main object of the present invention is to propose a kind of face detection means of monocular vision concrete-filled steel square tubular column three and detection side
Method, it is intended to reduce the testing cost of concrete-filled steel square tubular column and improve accuracy of detection and operating efficiency.
To achieve the above object, the face detection means of a kind of monocular vision concrete-filled steel square tubular column three proposed by the present invention, bag
The workbench for placing concrete-filled steel square tubular column workpiece can be carried by including, and be placed with front of the remote workbench towards workpiece and use
In detection workpiece detection module, the detection module with calculate mechatronics, the bench top be provided with minute surface and
Mirror-reflection module for reflecting workpiece left and right side, workpiece is equal towards the left surface and right flank of the mirror-reflection module
It is pasted with blank sheet of paper.
Preferably, the detection module is the CCD industrial cameras for gathering image.
Preferably, the mirror-reflection module includes respectively being positioned over the mirror-reflection mechanism on the left of workpiece and right side, described
Mirror-reflection mechanism includes being positioned over the base of the bench top, and the base top engages phase with translator slider one end
Even, the translator slider can be moved along horizontal linear is carried out with base top clamped position；The translator slider other end and branch
Engaging is connected in the middle part of frame, and the support can be moved along vertical line is carried out with the translator slider clamped position；The support court
It is pivotally attached to the side of workpiece provided with horizontal rotation support with the frame bottom, the horizontal rotation support is convex provided with arc
Go out the top-portion apertures that block inserts the support；The horizontal rotation stent side portion is pivotally attached to vertical runing rest, described vertical
Runing rest is inserted provided with arc casting lug thereon in the side opening of the horizontal rotation support opposite side；The horizontal rotation support direction
Be provided with minute surface in the side of workpiece, the base and the translator slider, the translator slider and the support, the support with
The horizontal rotation support, the horizontal rotation support are relatively fixed with the vertical runing rest by screw.
Preferably, the mirror reflection surface of the mirror-reflection mechanism and workpiece left surface or workpiece right flank angle are 0 °
~45 °.
Preferably, the mirror reflection surface of the mirror-reflection mechanism is with workpiece left surface or workpiece right flank angle
15°。
Preferably, the blank sheet of paper size for being pasted on workpiece left surface or right flank is 100mm*100mm, is pasted on workpiece
Blank sheet of paper bottom side edge edge afterwards is higher than workpiece bottom sides along 150~200mm.
The present invention also proposes a kind of detection method of use described device, comprises the following steps：
1) image library and color module class library are set up；
2) the CCD industrial cameras are demarcated, obtains the intrinsic parameter and distortion parameter of camera；
3) concrete-filled steel square tubular column is pressurizeed by external pressure apparatus, at the same by CCD industrial cameras to workpiece and
The mirror-reflection module photograph is with the target image after being corrected；
4) by the step 3) shoot obtained image and be divided into left surface image, positive surface image and right hand view
Picture, and the left surface image, the positive surface image and the right hand view picture are pre-processed；
5) image matches contrast with image template in pre-set image storehouse after being pre-processed using template matches principle, to judge
With the presence or absence of crackle.
Technical solution of the present invention in bench top by setting concrete-filled steel square tubular column workpiece, before away from workbench
Side is provided for detecting the detection module of workpiece, and detection module is with calculating mechatronics, and the left surface in workpiece and right side
Face is respectively provided with mirror-reflection module so that mirror-reflection module is reflected the left surface and right flank of workpiece.Pass through detection
The CCD industrial cameras of module carry out shooting image to the front of workpiece and left surface and right flank, and send to computer
Row analysis judges, to analyze workpiece with the presence or absence of crackle destruction.
Relative to prior art, the mirror-reflection mechanism of technical solution of the present invention can realize the rotation of minute surface horizontal direction
With translation and the rotation and translation of vertical direction, the fine setting of mirror angle and areas imaging is realized, various differences are applicable to
Experimental situation, while the present invention only can be detected simultaneously by workpiece front and both side surface totally three surfaces using a camera
Cracks, efficiency high low with cost, the features such as easy to operate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the main structure diagram of detection means of the present invention；
Fig. 2 is the overlooking the structure diagram of detection means of the present invention；
Fig. 3 is the mirror-reflection mechanism dimensional structure diagram of detection means of the present invention；
Fig. 4 is another dimensional structure diagram of mirror-reflection mechanism of detection means of the present invention；
The schematic diagram that Fig. 5 is imaged for the side surface of detection means of the present invention；
Fig. 6 is the schematic diagram that detection means of the present invention seeks side surface crack length；
Fig. 7 is detection means workflow diagram of the present invention；
Fig. 8 obtains the flow chart of main face crack length and width for the camera of detection means of the present invention；
Fig. 9 obtains the flow chart of side surface crack length and width for the camera of detection means of the present invention.
Drawing reference numeral explanation：
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that related in the embodiment of the present invention directionality indicate (such as up, down, left, right, before and after ...),
Then directionality indicate to be only used for explain relative position relation under a certain particular pose (as shown in drawings) between each part,
Motion conditions etc., if the particular pose changes, directionality indicates also correspondingly therewith to change.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, being somebody's turn to do " first ", " second " etc.
Description be only used for describing purpose, and it is not intended that indicating or implying its relative importance or implicit indicate indicated skill
The quantity of art feature.Thus, " first " is defined, at least one spy can be expressed or be implicitly included to the feature of " second "
Levy.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, when the combination appearance of technical scheme is conflicting or can not realize it will be understood that the knot of this technical scheme
Conjunction is not present, also not within the protection domain of application claims.
The present invention proposes a kind of face detection means of monocular vision concrete-filled steel square tubular column three.
Referring to Fig. 1 and Fig. 2, the face detection means of monocular vision concrete-filled steel square tubular column three of the embodiment of the present invention includes can use
In the workbench 1 for placing concrete-filled steel square tubular column workpiece, the anterior position away from workbench 1 is placed with towards workpiece 3 and can use
In the detection module of detection workpiece 3, detection module is electrically connected with computer 7, and the top surface of workbench 1 is provided with minute surface and can be used for
The mirror-reflection module of the left and right side of workpiece 3 is reflected, workpiece 3 is pasted with towards the left surface and right flank of mirror-reflection module
Blank sheet of paper 2.
Specifically, the detection module for gathering image is CCD industrial cameras 4, and CCD industrial cameras 4 are put by tripod 5
The front of workbench 1 is placed in, and the shooting direction of CCD industrial cameras 4 is positive toward workpiece 3, CCD industrial cameras 4 and meter
Calculation machine 7 is electrically connected by netting twine or wireless wifi modes.
Referring to Fig. 3 and Fig. 4, mirror-reflection module includes being positioned over the mirror-reflection mechanism on the left of workpiece and right side, this reality
Applying the mirror-reflection mechanism 6 of example includes being positioned over the base 61 of the top surface of workbench 1, the top of base 61 and one end card of translator slider 62
Close and be connected, translator slider 62 can carry out horizontal linear along the top clamped position of base 61 and move, one end of translator slider 62 and branch
The engaging of the middle part of frame 63 is connected, and support 63 can carry out vertical line along the clamped position of translator slider 62 and move.Support 63 is close to workpiece 3
Side provided with horizontal rotation support 64 with the bottom of support 63 to be pivotally attached to, horizontal rotation support 64 is provided with arc casting lug thereon 67
In the top-portion apertures for inserting support 63 so that horizontal rotation support 64 can be swung around the pivotal axis being connected with the bottom of support 63,
And the determination on position is carried out by arc casting lug thereon 67.The side of support 64 and the vertical pivot of runing rest 65 are horizontally rotated in addition
Phase inversion connects, and vertical runing rest 65 is inserted provided with arc casting lug thereon 67 in the side opening of the horizontal rotation opposite side of support 64 so that perpendicular
The pivotal axis that straight runing rest 65 can sideways be connected around horizontal rotation support 64 is swung, and is protruded by the arc of side
Block 67 by the swing angle of vertical runing rest 65 to determine, while horizontally rotate support 64 toward workpiece 3 side be provided with
Minute surface.In the present embodiment, after the minute surface of mirror-reflection mechanism 6 is adjusted in place, can by screw 66 respectively by base 61 with
Translator slider 62, translator slider 62 and support 63, support 63 and horizontal rotation support 64, horizontal rotation support 64 and vertical rotation
Support 65 imposes fixation.
Referring to Fig. 1 and Fig. 2, the left side and right side of workpiece 3 are provided with mirror-reflection mechanism 6, the mirror of mirror-reflection mechanism 6
The angle of face reflecting surface and the side of workpiece 3 is 15 °.The workpiece size for being used to be tested in the embodiment of the present invention is (long × wide
× high) it is 250mm × 250mm × 1450mm, the size of blank sheet of paper 2 for being pasted on the left surface of workpiece 3 or right flank is 100mm*
100mm, is pasted on the left surface of workpiece 3 as the blank sheet of paper 2 of mark and right flank is not likely to produce crackle and CCD industrial cameras 4 can
In the region of areas imaging, specifically, the bottom side edge edge after blank sheet of paper 2 is pasted is higher than the bottom sides of workpiece 3 along 150~200mm.
It should be noted that blank sheet of paper 2 is to be used for pixel demarcation, operating personnel are by reading respective pixel on the two ends of blank sheet of paper 2
Sum, you can find out the pixel number included in image in unit millimeter, so as to find out corresponding pass between pixel and millimeter
System, therefore the paper size of blank sheet of paper 2 can be not limited to above-mentioned 100mm*100mm specifications in process of the test.
In other embodiments of the invention, when the side of the mirror reflection surface of mirror-reflection mechanism 6 and workpiece 3 is at 45 °, warp
After mirror reflection surface reflection, imaging of the side of workpiece 3 in flat mirror is vertical with the optical axis of CCD industrial cameras 4, and now
CCD industrial cameras 4 shoot the image come can truly reflect the surface quality situation of the side of workpiece 3 the most.But, because
The side of left and right two of workpiece 3 is required for shooting in place, and single CCD industrial cameras 4 have certain limitation on visual angle, can cause
Be taken detection object beyond camera perspective scope and cause partial portion shoot less than.
Therefore, referring to Fig. 2 and Fig. 5, in the embodiment of the present invention, it is by angle between mirror reflection surface and the side of workpiece 3
15 °, after mirror reflection surface mirror image of such side of workpiece 3 by mirror-reflection mechanism, the side of workpiece 3 is in level crossing
Imaging shoots optical axis into 30 ° of angles with CCD industrial cameras 4, can so reduce the lateral width of measured workpiece 3.
Referring to Fig. 7, the detection means of the embodiment of the present invention is before use, need to set up view data in computer 7 in advance
Storehouse and colour model class library, because CCD industrial cameras 4 are that colour model, template are utilized after the image of needs is collected
Judge theoretical with principle and Optimal Decision-making, therefore pre-establish an image data base and colour model class library.Wherein color
Category of model storehouse includes the due parameter of different colours space hypograph, so as to which image is transformed into specifically before template matches
On color space, and optimal colors component progress template matches and crack detection are chosen in advance.Wherein image library includes
The sample of flawless figure, the crackle figure template samples for meeting normal limitation standard and the crackle artwork plate for not meeting limitation standard
Sample in sample, image library needs to include the crackle of different in width size, the different length crackle template of same widths, simultaneously
Corresponding harm and degree of danger are provided, is judged can correspondingly to provide decision-making after template matches success.
Referring to Fig. 1 and Fig. 7, during the detection means of the embodiment of the present invention, concrete-filled steel square tubular column workpiece 3 is first positioned over work
Make the top surface medium position of platform 1, then the side of workpiece 3 is smeared using red chalk and taken on a red color, then by two 2 points of blank sheet of paper
The left surface and right flank of workpiece 3 are not pasted on, a mirror-reflection mechanism 6 are placed in the left side of workpiece 3, on the right side of workpiece 3
Another mirror-reflection mechanism 6 is placed in side, and causes the mirror reflection surface of Liang Ge mirror-reflections mechanism 6 and the left side of workpiece 3
Angle between face or right flank is into 15 °.
CCD industrial cameras 4 are positioned over to the front of workpiece 3, and cause CCD industrial cameras 4 positive toward workpiece 3
Shot, after the location position of CCD industrial cameras 4, workpiece 3 is applied from surface to underface by external pressure apparatus 8
With pressure, and CCD industrial cameras 4 front of workpiece 3 and mirror-reflection mechanism 6 are shot and corrected after target
Image.
CCD industrial cameras 4, which will shoot obtained image and send to computer 7, to be analyzed and processed, and computer 7 is by CCD works
The photograph image that industry camera 4 is photographed is divided into left-hand face part, main surface portion point and right lateral surface part, then transfers
R (red) color component in image is chosen in default colour model class library, so both can significantly by workpiece surface and
The object on periphery, such as experimental situation peripheral equipment, workbench 1 debris larger with red difference distinguish and remove image
Noise.Further, since some image-independent noises easily occur in the influence of equipment or shooting environmental factor, image,
It can greatly reduce noise by smooth removal denoising, be easy to successive image processing operation.
Referring to Fig. 6 and Fig. 7, after the noise remove in image, gray level image is converted the image into, then ash is carried out to image
Degree enhancing operation, such as increase contrast, thus can fully highlight the crack of workpiece 3.Followed by template
Matching principle is matched pretreated target image with the image template in image data base, and by similarity to sentence
It is disconnected whether to have crackle.
Specifically, target image is traveled through using image template, takes the maximum sad value (absolute difference in ergodic process
Value and) as similarity measure, the smaller then pattern of descriptive parts image of maximum sad value is more similar to target image.By relatively more different
Can to obtain target image the most similar to which template image for maximum sad value between template image and target image.When all
Sad value it is all larger, when being unsatisfactory for threshold condition, then it is assumed that in the absence of crackle.
Wherein SAD similarity measures calculation formula is as follows：
In formula, s is image to be matched, and t is M*N image template.SAD (i, j) is using coordinate value as the picture of (i, j) in s
Vegetarian refreshments is the SAD similarity measures of anchor point；
If the similarity degree of target image and image template is enough to judge to be characterized as crackle at this, further calculating is needed
The length and width of crackle；If target image is not enough to judging characteristic for crackle with image template similarity degree, it is output as
0。
Wherein, when the crackle similarity degree of target image and image template is more than threshold value, then judge that workpiece has crackle,
Then carry out crack length, the detection of width.Because image is the pretreatment by color component, therefore the surface of workpiece 3 in image
Gray scale and background gray scale there is notable difference, by selecting rational threshold value to carry out image binaryzation processing to image, you can
Crack image is partitioned into, but some noises may be produced during Threshold segmentation, noise can be reduced by edge-smoothing processing.
After edge-smoothing processing, rim detection is carried out to image, skeleton is extracted after edge image is refined, is then above carried in image border
Multiple points are taken, selects suitable function model that multiple points are carried out curve fitting according to the shape at edge, finally obtains edge graph
The expression formula of picture.
Referring to Fig. 6, Fig. 8 and Fig. 9, wherein, when calculating the crack length of workpiece 3 and width, for splitting on the front of workpiece 3
Line, can integrate direct digital simulation length of a curve by curve, so that the length of crackle is obtained, and crack width can then pass through
Direct measurement is obtained.
And when calculating the side surface crack length of workpiece 3 and width, because image expression formula is throwing of the crackle on camera lens
Shadow expression formula, therefore directly can not regard the length of matched curve as crack length.
The expression formula of matched curve is f (y, z)=0, is a cylinder in space coordinates, due toPillar
Side surface is in the expression formula of space coordinatesReal crack is can obtain after two above-mentioned expression formulas of simultaneous
Curve representation formula, then can obtain the length of curve of crackle by curve integration.
To obtain the physical values of the relevant parameter in units of millimeter, it is necessary to be demarcated to the pixel in image, find out
Corresponding relation between two kinds of units.In the step of pixel is demarcated, the blank sheet of paper of a known length is placed on into video camera to clap
In the range of taking the photograph, by the pixel sum for reading correspondence length on blank sheet of paper two ends, you can find out unit millimeter in image and included
Pixel number.Wherein it should be noted that blank sheet of paper is after camera lens projects to image, horizontal direction width is changed into original
Half, and vertical direction will not then change, if therefore being found by the width of blank sheet of paper horizontal direction between pixel and millimeter
Transforming relationship, it is necessary to the width of image is halved, then length of curve is converted into actual physical distance, so that available
Crack length.For the width of crackle, pixel wide can be directly calculated, actual physical distance is then converted into and tries to achieve.
Technical scheme of the embodiment of the present invention in the top surface of workbench 1 by setting concrete-filled steel square tubular column workpiece 3, away from work
The front for making platform 1 is provided for detecting the detection module of workpiece 3, and detection module is electrically connected with computer 7, and in workpiece 3
Left surface and right flank are respectively provided with mirror-reflection module so that mirror-reflection module 6 is carried out to the left surface and right flank of workpiece 3
Reflection.Shooting image is carried out to the front of workpiece 3 and left surface and right flank by the CCD industrial cameras 4 of detection module, and
Send to computer 7 and carry out analysis judgement, to analyze workpiece 3 with the presence or absence of crackle destruction.
Relative to prior art, the mirror-reflection mechanism 6 of technical solution of the present invention can realize the rotation of minute surface horizontal direction
Turn with translate and vertical direction rotation and translation, realize the fine setting of mirror angle and areas imaging, be applicable to it is various not
With experimental situation, while the present invention only can be detected simultaneously by workpiece front and both side surface totally three using an industrial camera
Individual face crack situation, efficiency high low with cost, the features such as easy to operate.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every at this
Under the design of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/it is used in indirectly
He is included in the scope of patent protection of the present invention related technical field.
Claims (7)
1. a kind of face detection means of monocular vision concrete-filled steel square tubular column three, it is characterised in that including placement square steel tube can be carried
The workbench of concrete column workpiece, the detection mould away from being placed with front of the workbench towards workpiece and for detecting workpiece
Block, the detection module is provided with minute surface and for reflecting workpiece left and right sides with calculating mechatronics, the bench top
The mirror-reflection module in face, workpiece is pasted with blank sheet of paper towards the left surface and right flank of the mirror-reflection module.
2. device as claimed in claim 1, it is characterised in that the detection module is for gathering the industrial phases of the CCD of image
Machine.
3. device as claimed in claim 2, it is characterised in that the mirror-reflection module include respectively being positioned on the left of workpiece and
The mirror-reflection mechanism on right side, the mirror-reflection mechanism includes being positioned over the base of the bench top, the base top
Portion is connected with the engaging of translator slider one end, and the translator slider can be moved along horizontal linear is carried out with base top clamped position；
The translator slider other end is connected with mid-stent engaging, and the support can be hung down along with the translator slider clamped position
Straight rectilinear movement；The support is pivotally attached to towards the side of workpiece provided with horizontal rotation support with the frame bottom, described
Horizontally rotate the top-portion apertures that support inserts the support provided with arc casting lug thereon；The horizontal rotation stent side portion and vertical rotation
Support is pivotally attached to, and the vertical runing rest inserts the side opening of the horizontal rotation support opposite side provided with arc casting lug thereon
It is interior；The horizontal rotation support is provided with minute surface toward the side of workpiece, and the base is slided with the translator slider, the translation
Block and the support, the support and the horizontal rotation support, the horizontal rotation support and the vertical runing rest are equal
It is relatively fixed by screw.
4. device as claimed in claim 3, it is characterised in that the mirror reflection surface of the mirror-reflection mechanism and workpiece left side
Face or workpiece right flank angle are 0 °~45 °.
5. device as claimed in claim 4, it is characterised in that the mirror reflection surface of the mirror-reflection mechanism and workpiece left side
Face or workpiece right flank angle are 15 °.
6. device as claimed in claim 1, it is characterised in that be pasted on the blank sheet of paper size of workpiece left surface or right flank
For 100mm*100mm, it is pasted on the edge of the blank sheet of paper bottom side edge after workpiece and is higher than workpiece bottom sides along 150~200mm.
7. a kind of detection method using such as any described device of claim 1 to 6, it is characterised in that comprise the following steps：
1) image library and color module class library are set up；
2) the CCD industrial cameras are demarcated, obtains the intrinsic parameter and distortion parameter of camera；
3) concrete-filled steel square tubular column is pressurizeed by external pressure apparatus, while by CCD industrial cameras to workpiece and described
Mirror-reflection module photograph is with the target image after being corrected；
4) by the step 3) shoot obtained image and be divided into left surface image, positive surface image and right hand view picture,
And the left surface image, the positive surface image and the right hand view picture are pre-processed；
5) image matches contrast with image template in pre-set image storehouse after being pre-processed using template matches principle, to judge whether
There is crackle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113640318A (en) * | 2021-10-19 | 2021-11-12 | 四川京龙光电科技有限公司 | Four mirror surface intellectual detection system equipment of monocular |
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| CN113640318A (en) * | 2021-10-19 | 2021-11-12 | 四川京龙光电科技有限公司 | Four mirror surface intellectual detection system equipment of monocular |
| CN113640318B (en) * | 2021-10-19 | 2022-08-23 | 四川京龙光电科技有限公司 | Four mirror surface intellectual detection system equipment of monocular |
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