CN107588929A - Ball-screen projection/tracking system scaling method and calibration device - Google Patents
Ball-screen projection/tracking system scaling method and calibration device Download PDFInfo
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Abstract
The present invention relates to ball-screen projection/tracking technique field, to propose a kind of ball-screen projection/tracking system scaling method and calibration device, the Fast Calibration of the ball curtain centre of sphere can be completed, realize projection system, projection hit system and ball curtain method for precisely marking, and design the calibration device for realizing this method.Effectively solves the problem of current ball-screen projection/tracking system stated accuracy is low, and difficulty is big.And the scaling method and calibration device can be generalized to the system that other include multiple subsystem, there is higher practicality and applicability.The technical solution adopted by the present invention is that ball-screen projection/tracking system scaling method step is as follows：(1) demarcation of ball curtain sphere centre coordinate and radius measurement are completed；(2) coordinate (X of the ball curtain centre of sphere under calibration device coordinate system is calculated using least square fittingO,YO,ZO)；(3) the coordinate demarcation of projection/tracking system is completed in the coordinate demarcation (4) for completing projection system.Present invention is mainly applied to ball-screen projection/tracking occasion.
Description
Technical field
The present invention relates to a kind of Coordinate Conversion field, especially suitable for ball curtain system, projection in ball-screen projection/tracking system
The high accuracy fusion demarcation of system and projection/tracking system.Concretely relate to ball-screen projection/tracking system scaling method and mark
Determine device.
Background technology
Ball-screen projection/tracking technique is a kind of emerging display technique, and it has broken conventional projection target can only be in rule
The limitation of plane.Show the accurate demonstrating effect of high-resolution, big angular field of view, to spectators bring it is superpower when participating in the cintest the sense of reality and
Spatial impression, it is widely used at present in spherical screen stereoscopic film, virtual display, semi-true object emulation technology etc..But in actual applications, due to ball
Curtain projection/tracking system include multiple functional units, each working subsystem of individual system be in different locus with
Data hierarchy is horizontal.But needs are controlled according to same coordinate system and data hierarchy or performance parameter evaluation and test, therefore
Need to carry out frequently coordinate system to change, meet the work requirements of different sub-systems and unit.So need to fulfil function ahead of schedule
Module and the coordinate demarcation of ball curtain, scaling method and precision directly influence projection/tracking effect of whole system.It is so right
The research of scaling method and specific calibration device is particularly important.
Wherein, measurement of coordinates scaling method is directed to, at present mostly using ripe measuring instrument, such as three-dimensional coordinates measurement
Machine, total station measuring system, laser scanning measurement system etc., three coordinate measuring machine belongs to contact type measurement, is not easy alignment characteristicses
Point；Total powerstation generally requires cooperative target (prism or reflector plate) ability ranging, so it can not direct measurement target point；Laser
Scanning measurement system can obtain the cloud data of magnanimity, suitable for the three-dimensional modeling of entity, but aim at the precision of characteristic point
It is low.Because ball-screen projection/tracking system is made up of multiple functional modules, each modular shape, not of uniform size, corresponding coordinate
Position relationship is complicated, or even is difficult to directly determine.So measuring instrument ripe more than the direct use of ball-screen projection/tracking system
Device is demarcated, and resultant error is larger or even can not measure.
The content of the invention
For overcome the deficiencies in the prior art, the present invention is directed to propose a kind of ball-screen projection/tracking system scaling method and mark
Determine device, the Fast Calibration of the ball curtain centre of sphere can be completed, realize projection system, projection hit system and ball curtain Accurate Calibration side
Method, and design the calibration device for realizing this method.It is low effectively to solve current ball-screen projection/tracking system stated accuracy, difficulty
The problem of big.And the scaling method and calibration device can be generalized to the system that other include multiple subsystem, there is higher reality
With property and applicability.The technical solution adopted by the present invention is that ball-screen projection/tracking system scaling method step is as follows：
(1) demarcation of ball curtain sphere centre coordinate and radius measurement are completed：Horizontal table is placed near the ball curtain centre of sphere, by calibration device
Be fixed on horizontal table, rotate calibration device Two Dimensional Rotating determine angle unit can be with the normal vector of control plane mirror, Laser Measuring
Distance meter on ball curtain by that can project laser facula after level crossing, the position of hot spot is positioned by the angle of pitch, azimuth positioning
Directly read with laser range finder, obtain spherical coordinates of the hot spot under the coordinate system using calibration device as the origin of coordinates, be converted into
Corresponding rectangular co-ordinate (Xi,Yi,Zi), adjustment Two Dimensional Rotating determines angle unit and different laser faculas is projected on ball curtain, is located at mark
The coordinate for determining the ball curtain centre of sphere under device coordinate system is (XO,YO,ZO), the point P that the ball curtain centre of sphere is beaten on ball curtain with calibration deviceiCorrespondence
Relation is：(Xi-XO)2+(Yi-YO)2+(Yi-YO)2=R2 (1)
R is ball curtain radius；
(2) by formula (1), coordinate (X of the ball curtain centre of sphere under calibration device coordinate system is calculated using least square fittingO,
YO,ZO), so as to which under the coordinate system using the ball curtain centre of sphere as the origin of coordinates, the coordinate of calibration device is then expressed as (- XO,-YO,-ZO)；
(3) the coordinate demarcation of projection system is completed：Projection system is obtained with being pushed away indirectly after the position relationship of the calibration device
The position relationship of projection system and the ball curtain centre of sphere is exported, that is, obtains coordinate of the projection system center under ball curtain coordinate system.
(4) the coordinate demarcation of projection/tracking system is completed：Obtain projection/tracking system and the position of the calibration device is closed
Derived indirectly so as to obtain the position relationship of projection/tracking system and the ball curtain centre of sphere after system, that is, obtain projection/tracking system center
Coordinate under ball curtain coordinate system.
In one example, calibration device is fixed on horizontal table, using calibration device, uniformly projection n swashs on ball curtain
Luminous point, while coordinate corresponding to the corresponding laser spots of reading point is directly on calibration deviceI=1,2,
3, n, it is P to be converted into corresponding rectangular coordinate system coordinatei(Xi,Yi,Zi), i=1,2,3, n；Ball curtain centre of sphere O
(XO,YO,ZO) the point P that beats on ball curtain with calibration deviceiIn the presence of following corresponding relation：
(Xi-XO)2+(Yi-YO)2+(Yi-YO)2=R2, R is ball curtain radius；
Corresponding ball curtain sphere centre coordinate O is calculated using least square fitting, completes the demarcation of calibration device 1 and ball curtain 2,
The coordinate of calibration device is then expressed as (- XO,-YO,-ZO)。
Ball-screen projection/tracking system calibration device, including Two Dimensional Rotating determine angle unit, laser ranging unit and reference for installation
Groove, wherein the Two Dimensional Rotating, which determines angle unit, includes angle of pitch positioning and azimuth positioning, fixed in corresponding rotation positioning disc
Punched on angle position, the rotary shaft right angle setting of angle of pitch positioning and azimuth positioning, while cross Two Dimensional Rotating structure axle center
Mounting plane speculum, laser ranging unit major function are anti-by the plane mirror by laser range finder shoot laser beam
Carry out ranging after penetrating, the laser range finder, which is fixed on, triangular platform can adjust outgoing in the triangular platform of two dimension fine setting
The position that laser facula is beaten on the speculum, by fine setting, ensure that the laser facula is beaten at the center of the speculum,
The axle center of namely described Two Dimensional Rotating structure, reference for installation groove is used for fixed laser range cells and Two Dimensional Rotating determines angle list
Member, while it is convenient for carrying fixation.
There are the fixed triangular platform and the design of azimuth stationary positioned disk on the reference for installation groove, design passes through reason
It can realize that the shoot laser hot spot is beaten in the center of level crossing 8 by calculating.
The number punched on azimuth rotational positioning rotating disk can ensure that the laser ranging angular range of reflection is 0~± 90 °,
The number punched on angle of pitch rotational positioning rotating disk can ensure the laser ranging angular range of reflection as 0~90 ° while realize can
To measure >=6 positions on large scale ball curtain.
Also include base, horizontal table, flexible X-axis device, horizontal gird, projection system and optical projection system；It is got the bid
Determine device and be fixed on horizontal table, horizontal table and horizontal gird are arranged on base, and both are parallel；Flexible X-axis device is set
Put on horizontal gird.
The features of the present invention and beneficial effect are：
The present invention can complete the measure of angle simultaneously and determine the measure of angle respective distances, during calibration and usage, only in institute
State fixed setting and carry out laser ranging, the work constant of the angle of pitch and azimuth as calibration device, it is not necessary to carry out essence every time
Close rotational angle measuring apparatus, low manufacture cost, easy to use and precision are higher.By measuring the coordinate of upper 6 points of ball curtain, fortune
The Fast Calibration for realizing the ball curtain centre of sphere is calculated with least square method.
Brief description of the drawings：
Fig. 1 is ball-screen projection/tracking system schematic diagram.
Fig. 2 is the structural representation of calibration device
Fig. 3 is ball-screen projection/tracking system scaling method schematic diagram
Fig. 4 is the schematic diagram that calibration device completes ball curtain centre of sphere scaling method.
Fig. 5 is projection/tracking system scaling method schematic diagram.
Fig. 6 is projection system scaling method schematic diagram.
Wherein：1 calibration device, 2 ball curtains, 3 projection systems, 4 projections/tracking system, 5 laser range finders, 6 azimuth rotational circles
Disk, 7 angle of pitch rotating circular disks, 8 plane mirrors, 9 triangular platforms, 10 reference for installation grooves, 11 alignment pins, 12 bases, 13 levels
Workbench, 14 telescopic shafts, 15 horizontal girds.
Embodiment
The technical scheme is that：
In order to verify performance corresponding to whole tracking/optical projection system, using projection/projection as observer's coordinate, seeing
Provided under the person's of examining coordinate system and formulate flight path point coordinates (Xr,Yr,Zr), it is converted into projecting the coordinate under coordinate system, completes projection system
Projection on ball curtain, tracking/optical projection system detect the position of the hot spot on ball curtain, are converted into the seat under local Coordinate System
Mark secondary projection corresponding to information progress.Complete respective coordinates translation function key and be subsystem and ball curtain centre of sphere relative coordinate
Measurement in advance.The demarcation of the ball curtain centre of sphere and the measurement of radius are carried out using calibration device scene, while calibration device is as backman
Tool, complete ball-screen projection/tracking system in the position relationship of subsystems and calibration device measure, so as to obtain whole system with
The demarcation relation of ball curtain, realize the demarcation of ball-screen projection/tracking system whole system.Specific scaling method includes：
(1) demarcation of ball curtain sphere centre coordinate and radius measurement are completed.Horizontal table is placed near the ball curtain centre of sphere, by calibration device
Be fixed on horizontal table, rotate calibration device Two Dimensional Rotating determine angle unit can be with the normal vector of control plane mirror, Laser Measuring
Distance meter on ball curtain by that can project laser facula after level crossing, the position of hot spot can be positioned by the angle of pitch, azimuth
Angle is positioned and laser range finder is directly read, and obtains three-dimensional seat of the hot spot under the coordinate system using calibration device as the origin of coordinates
Mark, is converted into corresponding rectangular co-ordinate (Xi,Yi,Zi), adjustment Two Dimensional Rotating determine angle unit can be projected on ball curtain it is different sharp
Light hot spot.The coordinate for being located at the ball curtain centre of sphere under calibration device coordinate system is (XO,YO,ZO), the ball curtain centre of sphere is beaten on ball curtain with calibration device
Point PiCorresponding relation be：(Xi-XO)2+(Yi-YO)2+(Yi-YO)2=R2(R is ball curtain radius).Minimum is utilized according to the formula
Two methods multiplied can go out coordinate (X of the ball curtain centre of sphere under calibration device coordinate system with the Fitting CalculationO,YO,ZO), so as to ball curtain
The centre of sphere is under the coordinate system of the origin of coordinates, the coordinate can at calibration device center is expressed as (- XO,-YO,-ZO)。
(2) the coordinate demarcation of projection system is completed：Obtain coordinate (X of the projection system under the calibration device coordinate systemp,
Yp,Zp), derive the position relationship of projection system and the ball curtain centre of sphere indirectly afterwards, that is, obtain projection system center in ball curtain coordinate system
Under coordinate (Xp-XO,Yp-YO,Zp-ZO)。
(3) the coordinate demarcation of projection/tracking system is completed：Projection/tracking system is obtained under the calibration device coordinate system
Coordinate (Xt,Yt,Zt), it is rear to derive indirectly so as to obtain the position relationship of projection/tracking system and the ball curtain centre of sphere, that is, thrown
Coordinate (X of the shadow/tracking system center under ball curtain coordinate systemt-XO,Yt-YO,Zt-ZO)。
The coordinate transformation relation of ball curtain tracking/optical projection system whole system is can be obtained by according to above method.
The calibration device of the present invention determines angle unit, laser ranging unit and reference for installation groove including Two Dimensional Rotating.It is wherein described
Two Dimensional Rotating, which determines angle unit, includes angle of pitch positioning and azimuth positioning, is beaten on corresponding rotation positioning disc fixed angle position
Hole.The angle of pitch position and azimuth positioning rotary shaft right angle setting, while cross Two Dimensional Rotating axis of no-feathering feel at ease dress plane reflection
Mirror.Laser ranging unit major function is surveyed after being reflected by laser range finder shoot laser beam by the plane mirror
Away from.The laser range finder, which is fixed on, triangular platform can adjust shoot laser hot spot and beat in the triangular platform of two dimension fine setting
Position on the speculum, by fine setting, ensure that the laser facula is beaten at the center of the speculum, that is, it is described
The axle center of Two Dimensional Rotating structure.Reference for installation groove is used for fixed laser range cells and Two Dimensional Rotating determines angle unit, while conveniently
Carry and fix.
The laser beam of laser range finder carries out ranging after being reflected by the speculum.Target is to pivot pip
Distance S subtracts rangefinder reference point to the distance L of reflection kernel point equal to ranging distance L0.And L0Be it is changeless, can be with thing
First accurate measurement, preserved as work constant.
After the calibration device processing, the angle in the hole on rotational positioning disk first is completed to survey with fine angle encoder
It is fixed, preserved as work constant.Conical dowel pin ensures the positioning precision repeated every time.
With reference to specific embodiment, the present invention is described in detail.As shown in Figures 1 to 5, it is the ball curtain of the present invention
Projection/tracking system scaling method and calibration device.Calibration device 1 includes laser ranging unit, Two Dimensional Rotating determines angle unit and installation
Baseline trough.Laser ranging unit and Two Dimensional Rotating determine angle unit on reference for installation groove.Two Dimensional Rotating, which determines angle unit, to be included
Angle of pitch positioning 6 and azimuth positioning 7, two rotary shaft right angle settings.Cross described Two Dimensional Rotating axis of no-feathering heart mounting plane
Speculum 8.Laser ranging unit carries out ranging after being reflected by laser range finder shoot laser beam by plane mirror.Laser Measuring
Distance meter 5 be fixed on can two dimension fine setting triangular platform 9, it can adjust the position that shoot laser hot spot is beaten on speculum 8,
By fine setting, ensure that the laser facula is beaten at the center of the speculum 8, that is, the axle center of the Two Dimensional Rotating structure.
Preferably, there are the fixed triangular platform 9 and the design of azimuth stationary positioned disk on the reference for installation groove.If
Meter can realize that the shoot laser hot spot is beaten in the center of level crossing 8 by theoretical calculation.
Preferably, the number punched on azimuth rotational positioning rotating disk 6 can ensure that the laser ranging angular range of reflection is 0
~± 90 °, the number punched on angle of pitch rotational positioning rotating disk 7 can ensure that the laser ranging angular range of reflection is same for 0~90 °
Shi Shixian can measure >=6 positions on large scale ball curtain.
Preferably, the finding range of laser range finder 5 meets the requirement of space measurement, can carry out outdoor measurement.
Preferably, the present embodiment also includes base 12, horizontal table 13, flexible X-axis 14, horizontal gird 15, projection system
System 3 and optical projection system 4.Wherein calibration device 1 is fixed on horizontal table 13, and horizontal table 13 and horizontal gird 15 are arranged on bottom
On seat, both are parallel.Flexible X-axis 14 is arranged on horizontal gird.
The operation principle of the present embodiment is：The ball curtain centre of sphere is unknown either projection/tracking system in actual use
The position relationship of subsystem and the ball curtain centre of sphere can not be directly obtained, using for calibration device is exactly as a middle conversion, mesh
Be exactly to obtain the position relationship of projection system, projection tracking system and the ball curtain centre of sphere.As shown in Figures 3 to 6, by calibration device 1
It is fixed on horizontal table 13, uniformly 6 points is made a call on ball curtain 2 using calibration device 1, can be directly by being obtained on calibration device 1
To coordinate of the projection laser spots under calibration device coordinate system, coordinate corresponding to each incident point isI=1,2,
3, n (n is to get number ready), it is P to be converted into corresponding rectangular coordinate system coordinatei(Xi,Yi,Zi), i=1,2,
3, n.Under calibration device coordinate system, ball curtain sphere centre coordinate O (XO,YO,ZO) the point P that beats on ball curtain 2 with calibration device 1i
In the presence of following corresponding relation：
(Xi-XO)2+(Yi-YO)2+(Yi-YO)2=R2(R is ball curtain radius)
Solve equation group and calculate coordinate (Xs of the corresponding ball curtain centre of sphere O under calibration device coordinate systemO,YO,ZO), complete mark
Determine the demarcation of device 1 and ball curtain 2, obtain the position relationship of calibration device origin and the ball curtain centre of sphere, then calibration device center B is with ball curtain
Ball curtain centre of sphere O is that the coordinate under the coordinate system of the origin of coordinates is as (- XO,-YO,-ZO)。
Projection/tracking system 4 typically all includes detecting devices, predominantly image sensor, and we just use image here
Sensor is demarcated corresponding to completing.By the angle of pitch positioning disc 7 of optical projection system alignment calibration device 1, adjustment X-axis makes focusing clear
It is clear, adjust the Y of optical projection system, Z location so that disk is always in the visual field of the detection sensor of optical projection system, along disk
8 sections of circular arcs for taking annulus are uniformly distributed, equally, with least square fitting disc centre VO(y, z), as optical projection system position
Put.O and VOAll it is built upon in the coordinate system of machine of measuring machine, it is hereby achieved that corresponding position.Thrown in measurement process
The data that shadow system obtains are established in the projected coordinate system using optical projection system center as the origin of coordinates, and the coordinate of these data adds
After the position relationship of upper reflector center and the pitching disk centre of sphere, calibration device coordinate system is shifted to, has corresponded to projection/tracking system
Coordinate (X of the origin of coordinates of uniting under calibration device coordinate systemt,Yt,Zt)。
Equally, projection system 3 is moved in coordinate measuring machine, ensures that projection system rotates corresponding two dimension angular and can incited somebody to action
Incident point is directly incident upon the center of calibration device, that is, the position that laser range finder 5 is beaten on plane mirror, then projection
The coordinate of point just corresponds to coordinate of the center of calibration device 1 under the coordinate system of projection system 3, has also corresponded to the projection system origin of coordinates and has existed
Coordinate (X under calibration device coordinate systemp,Yp,Zp)。
Using calibration device coordinate system as transition, it is possible to realize that the position between ball curtain 2, projection system 3 and optical projection system 4 is closed
System, i.e. the coordinate of projection/tracking system, projection system under the coordinate system using the ball curtain centre of sphere as the origin of coordinates is respectively：(Xt-
XO,Yt-YO,Zt-ZO)、(Xp-XO,Yp-YO,Zp-ZO), the unification of three coordinate systems is just completed, the closed loop for completing whole system is set
Meter.
In addition, every kind of system calibrating can be demarcated repeatedly, the average value of multigroup result can be used as final mark
Determine result, improve stated accuracy.
Claims (6)
1. a kind of ball-screen projection/tracking system scaling method, it is characterized in that, step is as follows：
(1) demarcation of ball curtain sphere centre coordinate and radius measurement are completed：Horizontal table is placed near the ball curtain centre of sphere, and calibration device is fixed
On horizontal table, rotate calibration device Two Dimensional Rotating determine angle unit can be with the normal vector of control plane mirror, laser range finder
By that can project laser facula after level crossing on ball curtain, the position of hot spot is positioned by the angle of pitch, azimuth positioning and is swashed
Optar is directly read, and obtains spherical coordinates of the hot spot under the coordinate system using calibration device as the origin of coordinates, is converted into correspondingly
Rectangular co-ordinate (Xi,Yi,Zi), adjustment Two Dimensional Rotating determines angle unit and different laser faculas is projected on ball curtain, is located at calibration device
The coordinate of the ball curtain centre of sphere is (X under coordinate systemO,YO,ZO), the point P that the ball curtain centre of sphere is beaten on ball curtain with calibration deviceiCorresponding relation
For：(Xi-XO)2+(Yi-YO)2+(Yi-YO)2=R2 (1)
(2) R is ball curtain radius；
(3) by formula (1), coordinate (X of the ball curtain centre of sphere under calibration device coordinate system is calculated using least square fittingO,YO,
ZO), so as to which under the coordinate system using the ball curtain centre of sphere as the origin of coordinates, the coordinate of calibration device is then expressed as (- XO,-YO,-ZO)；
(4) the coordinate demarcation of projection system is completed：Projection system is obtained with being derived indirectly after the position relationship of the calibration device
The position relationship of projection system and the ball curtain centre of sphere, that is, obtain coordinate of the projection system center under ball curtain coordinate system；
(5) the coordinate demarcation of projection/tracking system is completed：After obtaining the position relationship of projection/tracking system and the calibration device
Derive indirectly so as to obtain the position relationship of projection/tracking system and the ball curtain centre of sphere, that is, obtain projection/tracking system center in ball
Coordinate under curtain coordinate system.
2. ball-screen projection as claimed in claim 1/tracking system scaling method, it is characterized in that, in an example, by calibration device
It is fixed on horizontal table, n laser spots is uniformly projected on ball curtain using calibration device, while directly read on calibration device
Point corresponding laser spots corresponding to coordinate beI=1,2,3, n, it is converted into corresponding rectangular coordinate system and sits
It is designated as Pi(Xi,Yi,Zi), i=1,2,3, n；Ball curtain centre of sphere O (XO,YO,ZO) the point P that beats on ball curtain with calibration deviceiDeposit
In following corresponding relation：
(Xi-XO)2+(Yi-YO)2+(Yi-YO)2=R2, R is ball curtain radius；
Corresponding ball curtain sphere centre coordinate is calculated using least square fitting, completes the demarcation of calibration device and ball curtain, calibration device
Coordinate be then expressed as (- XO,-YO,-ZO)。
3. a kind of curtain projection/tracking system calibration device, it is characterized in that, including Two Dimensional Rotating determine angle unit, laser ranging unit and
Reference for installation groove, wherein the Two Dimensional Rotating, which determines angle unit, includes angle of pitch positioning and azimuth positioning, positioned in corresponding rotation
Disk fixed angle punches on position, the rotary shaft right angle setting of angle of pitch positioning and azimuth positioning, while crosses Two Dimensional Rotating
Axis of no-feathering, which is felt at ease, fills plane mirror, and laser ranging unit major function passes through the plane by laser range finder shoot laser beam
Ranging is carried out after speculum reflection, and the laser range finder is fixed on can triangular platform can be with the triangular platform of two dimension fine setting
The position that adjustment shoot laser hot spot is beaten on the speculum, by fine setting, ensures that the laser facula is beaten in the reflection
The center of mirror, that is, the axle center of the Two Dimensional Rotating structure, reference for installation groove is used for fixed laser range cells and two dimension is revolved
Turn to determine angle unit, while be convenient for carrying fixation.
4. curtain projection/tracking system calibration device as claimed in claim 3, it is characterized in that, there is fixation on the reference for installation groove
The design of the triangular platform and azimuth stationary positioned disk, design can realize the shoot laser hot spot by theoretical calculation
Beat in the level crossing center.
5. curtain projection/tracking system calibration device as claimed in claim 3, it is characterized in that, beaten on azimuth rotational positioning rotating disk
The number in hole can ensure that the laser ranging angular range of reflection is 0~± 90 °, the number punched on angle of pitch rotational positioning rotating disk
The laser ranging angular range of reflection can be ensured as 0~90 ° while realized can to measure >=6 positions on large scale ball curtain.
6. curtain projection/tracking system calibration device as claimed in claim 3, it is characterized in that, in addition to base, horizontal table,
Flexible X-axis device, horizontal gird, projection system and optical projection system；Wherein calibration device is fixed on horizontal table, horizontal table
It is arranged on horizontal gird on base, both are parallel；Flexible X-axis device is arranged on horizontal gird.
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| CN110715795A (en) * | 2019-10-14 | 2020-01-21 | 中国科学院光电技术研究所 | Calibration and measurement method for fast reflector in photoelectric tracking system |
| CN110715795B (en) * | 2019-10-14 | 2021-06-01 | 中国科学院光电技术研究所 | Calibration and measurement method for fast reflector in photoelectric tracking system |
| CN114531579A (en) * | 2020-11-23 | 2022-05-24 | 华强方特（深圳）科技有限公司 | Circular screen projection method, system and equipment |
| CN112935785A (en) * | 2021-03-09 | 2021-06-11 | 杭州盈铭深冷真空工程有限公司 | Machining laser precision positioning method |
| CN112935785B (en) * | 2021-03-09 | 2022-06-03 | 杭州盈铭深冷真空工程有限公司 | Machining laser precision positioning method |
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