CN110333186A - Regulating device, regulating system, adjusting method and control set for adjusting - Google Patents
Regulating device, regulating system, adjusting method and control set for adjusting Download PDFInfo
- Publication number
- CN110333186A CN110333186A CN201910604818.7A CN201910604818A CN110333186A CN 110333186 A CN110333186 A CN 110333186A CN 201910604818 A CN201910604818 A CN 201910604818A CN 110333186 A CN110333186 A CN 110333186A
- Authority
- CN
- China
- Prior art keywords
- leveling
- driving member
- driving
- target
- loading end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Abstract
The present invention relates to a kind of regulating devices, including leveling target, pedestal and driving assembly.Loading end includes the loading end for carrying determinand.Pedestal is located at the side of the separate loading end of leveling target.Driving assembly includes actuator and driving member.Actuator be located on pedestal and with leveling target it is opposite.The quantity of driving member is at least three, and at least three driving members are not arranged in collinearly on leveling target and are sequentially connected with actuator；When actuator driving driving member is moved along preset direction, driving member is for driving leveling target to move along preset direction.Due to being provided with driving assembly far from the side of loading end in leveling target, the actuator of driving assembly can drive at least three driving members to move along preset direction, to make driving member that leveling target be driven to move along preset direction, so, without manually adjusting, the position that can be achieved with exchanging horizontal target is adjusted, and saves manpower, and degree of regulation is high, leveling target can be adjusted to optimal imaging position.
Description
Technical field
The present invention relates to instrument and equipment fields, more particularly to a kind of regulating device, regulating system, adjusting method, adjusting
Control device, computer equipment and computer readable storage medium.
Background technique
In field of precision instruments, especially optical imaging device platform, need to place operating platform and the imaging of determinand
Device measuring device keeps normal direction vertical relation, or requires operating platform holding horizontal, so that imaging device measuring device energy
It enough shoots determinand and forms clearly image.Due to rigging error, so that operating platform and imaging device measuring device can not
Normal direction vertical relation is kept, however existing operating platform is usually to manually adjust, and manually adjusts that consuming time is long, it is also possible to
Make imaging device measuring device because degree of regulation is low the imaging is not clear, influences subsequent detection.
Summary of the invention
Based on this, it is necessary to which, for existing operating platform using manually adjusting, consuming time is long, and degree of regulation is low and makes
The problem of the imaging is not clear, a kind of regulating device, regulating system, adjusting method, control set for adjusting, computer equipment are provided
And computer readable storage medium.
A kind of regulating device, comprising:
Target, including loading end are leveled, the loading end is for carrying determinand；
Pedestal, positioned at the side far from the loading end of the leveling target；With
Driving assembly, comprising:
Actuator, positioned at the leveling target far from the side of the loading end and opposite with the leveling target；
Driving member, the quantity of the driving member are at least three, and institute is not arranged in collinearly at least three driving members
It states on leveling target and is sequentially connected with the actuator；When the actuator drives the driving member to move along preset direction,
The driving member is for driving the leveling target to move along the preset direction.
A kind of regulating system, including regulating device and imaging device described in above-described embodiment.Imaging device and the tune
Horizontal target is oppositely arranged and is used to take pictures to the determinand.
In above-mentioned regulating device and regulating system, the side of loading end is provided with driving assembly in leveling target, drives
The actuator of dynamic component can drive at least three driving members to move along preset direction, so that driving member be made to drive leveling target along pre-
Set direction is mobile, in this way, the position that can be achieved with exchanging horizontal target is adjusted without manually adjusting, saves manpower, and degree of regulation
Leveling target can be adjusted to optimal imaging position by height.
A kind of adjusting method, applied to the regulating system as described in above-described embodiment, comprising:
Obtain the corresponding image in any leveling position on the leveling target；The leveling position be the leveling target with it is described
The position that driving member is in contact；
Judge whether the levelness of the loading end is equal to preset level degree according to described image；
If it is not, then controlling the actuator according to the deviation of the levelness of the loading end and the preset level degree and driving
The driving member of dynamic current leveling position is moved along the preset direction；And it returns and is currently adjusted on the execution acquisition leveling target
Prosposition sets corresponding image, until being equal to according to the current levelness for leveling loading end described in the corresponding spectral discrimination in position
The preset level degree.
In above-mentioned adjusting method, by the corresponding image in leveling position any on acquisition leveling target, and sentenced according to image
Whether the levelness of disconnected loading end is equal to preset level degree, is not equal to preset level in the levelness for judging loading end according to image
When spending, according to the deviation of the levelness of loading end and preset level degree, the driving member of the current leveling position of actuator driving is controlled
It is moved along preset direction；And return and currently level the corresponding image in position on execution acquisition leveling target, until according to current leveling
The corresponding image in position judges that the levelness of loading end is equal to preset level degree.In this way, exchanging the loading end of horizontal target with realization
Automatic leveling saves manpower without manually adjusting.
A kind of control set for adjusting, comprising:
Module is obtained, for obtaining the corresponding image in any leveling position on the leveling target；The leveling position is institute
State the position that leveling target is in contact with the driving member；
Judgment module, for judging whether the levelness of the loading end is equal to preset level degree according to described image；
Control module, for judging the levelness of the loading end not equal to pre- according to described image in the judgment module
If when levelness, according to the deviation of the levelness of the loading end and the preset level degree, controlling the actuator driving and working as
The driving member of preceding leveling position is moved along the preset direction；
The acquisition module is also used to judge the levelness of the loading end not according to described image in the judgment module
When being spent equal to preset level, returns and currently level the corresponding image in position on the execution acquisition leveling target, until according to described
The current levelness for leveling loading end described in the corresponding spectral discrimination in position is equal to the preset level degree.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
The step of device realizes method described in above-described embodiment when executing the computer program.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of method described in above-described embodiment is realized when row.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of regulating system of the present invention in a certain embodiment；
Fig. 2 is the structural schematic diagram of regulating device of the present invention in a certain embodiment；
Fig. 3 is the structural schematic diagram of the regulating device of the present invention in another embodiment；
Fig. 4 is the structural schematic diagram of the regulating device of the present invention in another embodiment；
Fig. 5 is the flow diagram of adjusting method of the present invention in a certain embodiment；
Fig. 6 is the image state schematic diagram of leveling position of the present invention on the leveling target in a certain embodiment；
Fig. 7 is the flow diagram of the adjusting method of the present invention in another embodiment；
Fig. 8 is the structural schematic diagram of control set for adjusting of the present invention in a certain embodiment.
Specific embodiment
Understand to make the objectives, technical solutions, and advantages of the present invention clearer, by the following examples, and combines attached
Figure, the present invention will be described in further detail.
The present invention provides a kind of regulating system 1000, and structure is as shown in Figure 1, include regulating device 100 and imaging device
200.For carrying determinand, imaging device 200 is oppositely arranged regulating device 100 with regulating device 100, and for determinand
It takes pictures, resulting image can be used for testing and analyzing determinand.Regulating device 100 is also used to adjust regulating device
Relative position between 100 and imaging device 200, so that the determinand being located in regulating device 100 is in imaging device 200
Optimal imaging position (at this point, the image that imaging device 200 is formed is clearest).Wherein, determinand can be sample to be detected, example
For example tissue samples, cell sample, DNA sample, RNA sample etc., imaging device 200 can be complementary metal oxide semiconductor
(CMOS, Complementary Metal Oxide Semiconductor) camera or charge coupled cell (CCD,
Charge-coupled Device) camera, it can also be other certainly, this is not restricted.
Fig. 2 is regulating device 100 of the present invention in a certain embodiment.As shown in Fig. 2, regulating device provided by the invention
100 include leveling target 10, pedestal 20 and driving assembly 30.
Leveling target 10 is for carrying determinand.Specifically, leveling target 10 include loading end 11, loading end 11 for carry to
Survey object.Leveling target 10 is plate structure in one of the embodiments,.Leveling target 10 can be load sample platform.
Pedestal 20 is located at the side of the separate loading end 11 of leveling target 10.Pedestal 20 can be used for supporting leveling target 10 and driving
Component 30.
Driving assembly 30 is for driving leveling target 10 to move along preset direction.Specifically by taking Fig. 2 as an example, driving assembly 30 is installed
On pedestal 20, Z-direction is preset direction, and driving assembly 30 can drive leveling target 10 to yearn for along the positive direction and losing side of Z axis
It is multiple mobile.Specifically, driving assembly 30 includes actuator 31 and driving member 32.
Actuator 31 is located on pedestal 20 and opposite with leveling target 10.It is formed between actuator 31 and leveling target 10 mobile empty
Between, it is mobile for leveling target 10.The quantity of driving member 32 is at least three, and at least three driving members 32, which are not arranged in collinearly, to be adjusted
It is sequentially connected on horizontal target 10 and with actuator 31.When actuator 31 drives driving member 32 to move along preset direction, driving member 32
For driving leveling target 10 to move along preset direction.
Wherein, at least three driving members 32 are fixedly connected with leveling target.At least three driving members 32 do not indicate collinearly at least
The position that three driving members 32 are in contact with leveling target 10 is sequentially connected, and each position is not conllinear in loading end 11.In this implementation
In example, driving member 32 is defined as leveling position with the position that is in contact of leveling target, wherein level position can level a little or
Level region.Specifically by taking Fig. 3 as an example, when the quantity of driving member 32 is three, driving member 32 and loading end 11 form three leveling
Point, is followed successively by leveling point a, leveling point b and leveling point c, and three leveling points are interconnected to form triangle, such as equilateral triangle；
When the quantity of driving member 32 is 4, the leveling point that driving member 32 and loading end 11 are formed is connected with each other quadrangularly or two
Triangle, such as trapezoidal, rectangle；For another example when the quantity of driving member 32 is 5, the tune of driving member 32 and the formation of loading end 11
Flat spot is interconnected to pentagon or multiple triangles.Therefore, at least three not conllinear driving members 32 are moved along preset direction
When dynamic, it can drive the loading end 11 of leveling target 10 is whole to move along preset direction.
In use, determinand is not placed on loading end 11 first, and directly exchanges horizontal target 10 and carries out position tune
Section.Specifically, actuator 31 drives driving member 32 to move along preset direction, so that driving member 32 be made to drive leveling target 10 along default
Direction is mobile.When the loading end 11 for leveling target 10 is parallel to horizontal plane, that is, indicate that leveling target 10 has leveled.Further,
Actuator 31 continues to drive all driving members 32 mobile, can move integrally leveling target 10 and be adjusted into mobile leveling target 10
As device 200 focal length on so that imaging device 200 be imaged it is clearest.
Levelling principle compared to existing automatic leveling platform is totally based on that a rotation branch is arranged on a platform
Point portion and multiple rotate driving portions drive entire platform to rotate around rotating fulcrum portion by rotate driving portion, flat after leveling
Face in a fixed pan, is unable to satisfy the leveling requirements of three-dimensional space always, it is difficult to meet the normal direction position in leveling direction
Compensated distance demand, so that the optimal imaging position that platform is not at, the imaging is not clear, and the present invention is driven by actuator 31
Driving member 32 moves, to adjust the position of leveling target 10 so that leveling target 10 can satisfy normal direction position on preset direction away from
From compensation demand, i.e. leveling target 10 is adjustable to optimal imaging position, and the image that imaging device 200 obtains is clearest.
In above-mentioned regulating device 100 and regulating system, driving assembly is set far from the side of loading end in leveling target 10
30, the actuator 31 of driving assembly 30 can drive at least three driving members 32 to move along preset direction, and driving member 32, which drives, to be adjusted
Horizontal target 10 is moved along preset direction, in this way, the position that can be achieved with exchanging horizontal target 10 is adjusted without manually adjusting, saves manpower,
And degree of regulation is high, leveling target 10 can be adjusted to optimal imaging position.
In the present embodiment, an actuator 31 can drive multiple driving members 32 to move along preset direction simultaneously, can also
Only to drive a driving member 32 mobile.
Specifically, driving member 32 and actuator 31 correspond in one of the embodiments,.The quantity of actuator 31 with
The quantity of driving member 32 corresponds, i.e., an actuator 31 is for driving a driving member 32 to move along preset direction.Driving
The quantity of part 31 and driving member 32 is more, it can be ensured that when certain actuators 31 or driving member 32 break down, remains to utilize
Other actuators 31 and driving member 32 adjust the position of leveling target 10.Specifically by taking Fig. 2 as an example, the quantity of driving member 32 is three,
The quantity of actuator 31 is also three, and each driving of actuator 31 is moved for corresponding driving member 32 along preset direction.In work
When making, it can simultaneously or sequentially control each actuator 31 and corresponding driving member 32 is driven to move along preset direction, to make whole
A leveling target 10 moves.
In another embodiment, an actuator 31 is corresponding with multiple not conllinear driving members 32.
In a sub- embodiment, the quantity of driving member 32 is 3n, and n is the natural number more than or equal to 1, and every three not conllinear
Driving member 32 be one group, the quantity of actuator 31 is n, and each actuator 31 is corresponding with one group of driving member 32.Such as it is driven
Part 32 is 6, and the quantity of actuator 31 is two, and every three driving members 32 are for one group and corresponding with an actuator 31, when it
In corresponding three driving members 32 of actuator 31 driving it is mobile when, leveling target 10 moves integrally, when another actuator
When the driving member 32 of 31 corresponding three of drivings is mobile, leveling target 10 can also be moved integrally, so that it is guaranteed that certain actuators 31 or
When driving member 32 breaks down, the position that leveling target 10 is adjusted using other actuators 31 and driving member 32 is remained to.
In another sub- embodiment, the quantity of driving member 32 is 4n, and n is the natural number more than or equal to 1, every two transmission
Part 32 is one group, and every group of driving member 32 be not mutually conllinear, and the quantity of actuator 31 is 2n, one group of driving member 32 and a driving
Part 31 is corresponding.Such as the quantity of driving member 32 is 4, forms two groups of not conllinear driving members 32, the quantity of actuator 31 is two
A, two actuators 31 are corresponding with two groups of driving members 32 respectively.When the two actuators 31 drive two groups of driving members 32 to move,
Entire leveling target 10 moves.
Also referring to Fig. 1 and Fig. 2, regulating device 100 further includes limit assembly 40.Limit assembly 40 includes 41 He of guide rail
Locating part 42.Guide rail 41 is arranged on pedestal 20 along preset direction, and driving member 32 is slidably arranged on guide rail 41.Locating part 42 is set
Set opposite both ends on guide rail 41 and the movement for limiting driving member 32.
As shown in Fig. 2, guide rail 41 is arranged on pedestal 20 along Z-direction, driving member 32 can slide on guide rail 41.Limit
Both ends opposite on guide rail 41 are arranged in part 42, and when driving member 32 slides on guide rail 41, locating part 42 limits driving member 32
Continue to slide toward the end of guide rail 41, the imaging device for leveling target 10 with being located above is caused to prevent the excessive movement of driving member 32
200 collisions, cause the damage of regulating device 100, imaging device 200 and determinand.
Limit assembly 40 can be multiple groups, multiple groups limit assembly 40 and multiple driving members 32 in one of the embodiments,
It corresponds, and is respectively used to limit the movement of multiple driving members 32.Specifically by taking Fig. 2 as an example, limit assembly 40 is three groups, transmission
Part 32 is three, and every group of limit assembly 40 is separately positioned on pedestal 20 corresponding with 32 position of driving member.When three driving members
32 it is mobile by drives edge preset direction when, each group of limit assembly 40 can be avoided corresponding driving member 32 to be caused because crossing the border
The damage to regulating device 100, imaging device 200 or determinand.
Please continue to refer to Fig. 2, locating part 42 is microswitch, microswitch and actuator in one of the embodiments,
31 electrical connections.Microswitch, which is outer mechanical force, acts on movement reed by actuated element (push-piece, button, lever, idler wheel etc.)
On, contact the movable contact of its end with two fixed contacts respectively, to realize the switch of electrical communication or disconnection.In the present embodiment
In, microswitch is electrically connected by connection terminal with actuator 31.When driving member 32 is located at position of the guide rail 41 far from both ends,
The movable contact of movement reed end is contacted with the first fixed contact, and the circuit of actuator 31 is access, and actuator 31 operates normally, can
To drive driving member 32 to slide on guide rail 41；When driving member 32 moves to any end of guide rail 41, driving member 32 with it is micro-
The actuated element of dynamic switch is inconsistent, makes the movable contact and the second fixed contact quick-make that act reed end, at this point, actuator
31 circuit is opened a way, and actuator 31 is out of service, and driving member 32 no longer drives the leveling continuation of target 10 to move along preset direction,
Driving member 32 is avoided because of the damage caused by crossing the border to regulating device 100, imaging device 200 or determinand.Due to fine motion
The contact spacing of switch is small, actuating length is short, by power is small, on-off is rapid, can quick-speed interruption actuator 31 run, to protect
Protect regulating device 100, imaging device 200 and determinand.
In another embodiment, locating part 42 is protrusion, and protrusion 32 surpasses for keeping out driving member 32 to prevent driving member
The stroke of guide rail 41 out.
Guide rail 41 is linear guide in one of the embodiments,.
Please continue to refer to Fig. 2, driving member 32 includes opposite first end 321 and second end in one of the embodiments,
322, first end 321 is fixedly connected with leveling target 10.Driving assembly 30 further includes connector 50, and connector 50 includes being connected with each other
First support arm 51 and second support arm 52, first support arm 51 is slidably arranged on guide rail 41, and actuator 31, second end 322 are distinguished
It is fixedly connected with second support arm 52.
Connector 50 is also used for connection driving member 32 and guide rail 41 for connecting actuator 31 and driving member 32.Specifically,
Connector 50 includes first support arm 51 interconnected and second support arm 52, and first support arm 51 is slidably arranged on guide rail 41, the
Two support arms 52 are fixedly connected with the second end 322 of actuator 31 and driving member 32.The mode of connection includes but is not limited to that bolt connects
It connects, weld or is glued.When actuator 31 drives driving member 32 to move along preset direction by second support arm 52, second support arm 52
Drive first support arm 51 mobile, first support arm 51 is slided on guide rail 41, and locating part 42 limits first support arm 51 and exceeds guide rail
41 stroke.
Please continue to refer to Fig. 2, limit assembly 40 further includes being slidably arranged on guide rail 41 in one of the embodiments,
Sliding block 43, sliding block 43 are fixedly connected with first support arm 51, and locating part 42 is used to limit the movement of sliding block 43.When actuator 31 passes through
When second support arm 52 drives driving member 32 to move along preset direction, second support arm 52 drives first support arm 51 mobile, first support arm
51 band movable sliders 43 slide on guide rail 41, and locating part 42 limits the stroke that sliding block 43 exceeds guide rail 41.
The quantity of limit assembly 40 is multiple groups in one of the embodiments, in every group of limit assembly 40, each guide rail 41
Settable one, two or more sliding blocks 43.Specifically by taking Fig. 2 as an example, every group of limit assembly 40 includes two sliding blocks 43, and two
Sliding block 43 is fixedly connected with the both ends of first support arm 51, and the locating part 42 positioned at 41 both ends of guide rail is for limiting first support arm 51
The movement of sliding block 43 on both ends.
Referring to Fig. 2, in one of the embodiments, actuator 31 include motor 311 and controller 312, motor 311 with
Controller 312 is electrically connected, and controller 312 drives driving member 32 to move along preset direction for controlling motor 311.
In use, connect controller 312 and motor 311 power supply, controller 312 control motor 311 rotate forward or
Person's reversion, the rotation of motor 311 drive driving member 32 mobile toward preset direction.For example, motor 311 when rotating forward, drives driving member
32 move along the positive direction of Z axis, and in reversion, driving driving member 32 moves motor 311 along the negative direction of Z axis.Certainly, motor
The direction of 311 rotations and the direction of the movement of driving member 32 are not only above-mentioned corresponding relationship, can also be other, such as motor
311 when rotating forward, and driving driving member 32 is moved along the negative direction of Z axis, and motor 311 drives driving member 32 along Z axis in reversion
Positive direction is mobile, herein with no restrictions.
Motor 311 is stepper motor in one of the embodiments,.
Controller 312 is computer, single-chip microcontroller or chip in one of the embodiments,.
Please continue to refer to Fig. 2, driving member 32 is bulb joint bearing 323, bulb joint axis in one of the embodiments,
Holding 32 includes bearing body 3231, bulb 3232 and connecting rod 3233, and bearing body 3231 is living by bulb 3231 and connecting rod 3233
Dynamic connection.Motor 311 includes motor body 3111, output shaft 3112 and the nut 3113 being set on output shaft 3112.Output
Axis 3112 is connect with motor body 3111, and motor body 3111 is for driving output shaft 3112 to rotate, so that nut 3113 is defeated
It is moved on shaft 3112.Nut 3113 is connect with bearing body 3231, and leveling target 10 is connect with connecting rod 3233.
Electric impulse signal is changed into the straight-line displacement of nut 3113, nut by motor body 3111 by output shaft 3112
3113 drive the bearing body 3231 of bulb joint bearing 323 to move, and bearing body 3231 drives connecting rod by bulb 3232
3233 movements, connecting rod 3233 drive leveling target 10 to move.
Please continue to refer to Fig. 2, the bearing body of the nut 3113 of motor 311, driving member 32 in one of the embodiments,
3231 are fixedly connected with the second support arm 52 of connector 50.The mode of connection includes but is not limited to be bolted, weld or be glued.
Motor 311 is screw rod stepper motor in one of the embodiments,.
Referring to Fig. 2, pedestal 20 includes the first lateral sub- pedestal 21, second laterally sub- bottom in one of the embodiments,
Seat 22 and longitudinal sub- pedestal 23, the first lateral sub- pedestal 21 and the second lateral sub- pedestal 22 are opposite to form installation space, driving
Part 31 is threaded through on the first lateral sub- pedestal 21 and is contained in installation space, and longitudinal sub- pedestal 23 is for fixing actuator 31.
In this way, can prevent from causing to vibrate entire regulating device 100 because 31 Oscillation Amplitude of actuator is larger.
Referring to Fig. 4, motor 311 includes motor body (not shown), 3112 and of output shaft in one of the embodiments,
The gear 3114 being set on output shaft 3112.Output shaft 3112 is connect with motor body, and motor body is for driving output shaft
3112 rotations, output shaft 3112 are used for band moving gear 3114 and rotate.Driving member 32 includes transmission main body 324 and driving section 325, is passed
Dynamic main body 324 is fixedly connected with leveling target 10, and driving section 325 and gear 3114 cooperate.
Motor body is arranged on pedestal 20, and for driving output shaft 3112 to rotate.It is leveled in regulating device 100
When, motor body drives output shaft 3112 to rotate, and gear 3114 follows output shaft 3112 to rotate, and is meshed with driving section 325,
To drive transmission main body 324 to move along preset direction.Driving section 325 is that setting is led in transmission in one of the embodiments,
The gear teeth on 324 lateral wall of body.
Referring to Fig. 1, regulating system 1000 further includes detection piece 300 in one of the embodiments,.Detection piece 300 is set
It sets on leveling target 10 and is electrically connected with actuator 31, detection piece 300 is used to detect the levelness of loading end 11.In levelness
When numerical value is spent greater than preset level, actuator 31 drives driving member 32 to move along preset direction.
Wherein, inclination angle size of the levelness between loading end 11 and horizontal plane, when the levelness of leveling target 10 is equal in advance
If when levelness, main shaft L (as shown in Figure 1) of the loading end 11 perpendicular to imaging device 200.In one of the embodiments,
Regulating device 100 is placed in the horizontal plane, and preset level degree is zero degree.It is greater than zero degree in the numerical value of the levelness of loading end 11
When, such as the levelness of loading end 11 is positive and 5 degree or is negative 5 degree, actuator 31 drives driving member 32 mobile, so as to adjust tune
The levelness of horizontal target 10.
Detection piece 300 is obliquity sensor in one of the embodiments,.
In another embodiment, actuator 31 further includes controller 312, and the data that detection piece 300 detects are also used to
It is sent to controller 312, controller 312 judges loading end 11 whether perpendicular to imaging device according to the levelness of loading end 11
200 main shaft L, and when judging that loading end 11 is not orthogonal to the main shaft L of imaging device 200, control actuator 31 drives
Driving member 32 is moved along preset direction.
The inclination angle of the main shaft L of the available current imaging device 200 of controller 312 is detected receiving detection piece 300
To after the levelness of loading end 11, can determine whether loading end 11 whether perpendicular to imaging device 200 main shaft L.For example, currently at
As device 200 main shaft L inclination angle be 90 degree when, if the levelness of loading end 11 be zero degree, loading end 11 perpendicular at
As the main shaft L of device 200；For another example when the inclination angle of the main shaft L of current imaging device 200 is 90 degree, if loading end 11
Levelness is positive 5 degree or 5 degree minus, then loading end 11 is not orthogonal to the main shaft L of imaging device 200.At this point, controller 312
Control motor 311 drives driving member 32 to move along preset direction.
Referring to Fig. 1, regulating system 1000 further includes mobile foundation 400, regulating device in one of the embodiments,
100 are arranged on mobile foundation 400, and the camera lens that mobile foundation 400 is used to for regulating device 100 being moved to imaging device 200 regards
In open country.
In use, in order to which determinand to be placed in regulating device 100, imaging device 200 need to be removed or adjusted
Imaging device 200 or regulating device 100 are moved back to original position again after placing determinand, at this time regulating device 100 by device 100
It may be located at except the camera lens visual field of imaging device 200.At this point, by mobile foundation 400, it can be mobile by regulating device 100
To the camera lens visual field of imaging device 200, so that imaging device 200 takes pictures to the determinand in regulating device 100.
The pedestal 20 of regulating device 100 is fixedly connected with mobile foundation 400 in one of the embodiments,.
Mobile foundation 400 includes transverse shifting pedestal 410 and longitudinal movement pedestal 420 in one of the embodiments, is adjusted
Regulating device 100 is arranged on transverse shifting pedestal 410, and the setting of transverse shifting pedestal 410 is on longitudinal movement pedestal 420.Laterally
Mobile foundation 410 and longitudinal movement pedestal 420 are used to for regulating device 100 being moved in the camera lens visual field of imaging device 200.
Transverse shifting pedestal 410 is used for the position of transverse shifting regulating device 100, and longitudinal movement pedestal 420 is for longitudinal
The position of mobile regulating device 100, thus by the positioning to the camera lens visual field of imaging device 200 of regulating device 100.
Mobile foundation 400 further includes pedestal controller in one of the embodiments, pedestal controller respectively with lateral shifting
Moving base 410 and longitudinal movement pedestal 420 are electrically connected, and for obtaining transverse shifting pedestal 410 and vertically moving pedestal 420
Changing coordinates, and control transverse shifting pedestal 410 and longitudinal movement pedestal 420 are moved to setting coordinate.
When transverse shifting pedestal 410 and longitudinal movement pedestal 420 are located at setting coordinate, the leveling target of regulating device 100
10 fall into the camera lens visual field of imaging device 200.Before leveling, pedestal controller is by getting 410 He of transverse shifting pedestal
The changing coordinates of pedestal 420 are vertically moved, and judge whether changing coordinates are setting coordinate, if it is not, then controlling transverse shifting
Pedestal 410 and longitudinal movement pedestal 420 are moved to setting coordinate.
Referring to Fig. 2, regulating system 1000 further includes position sensor 500, position sensing in one of the embodiments,
Device 500 is arranged on mobile foundation 400 and is electrically connected with mobile foundation 400, and position sensor 500 is for detecting mobile foundation
400 position, and will test result and feed back in mobile foundation 400, mobile foundation 400 for adjusting according to testing result
The position of device 100.So, it may be determined that the changing coordinates of regulating device 100 simultaneously will be adjusted to target position.
Position sensor 500 is electrically connected with pedestal controller in one of the embodiments, and position sensor 500 is also used
It is sent to pedestal controller in the changing coordinates of the mobile foundation 400 detected, pedestal controller is for judging mobile foundation 400
Changing coordinates whether be setting coordinate.
Position sensor 500 includes the first sub- position sensor and the second sub- position sensing in one of the embodiments,
Device.The lateral coordinates on transverse shifting pedestal 410 and for detecting regulating device 100 are arranged in first sub- position sensor.The
Two position sensors are arranged on longitudinal movement pedestal 420 and the longitudinal coordinate for detecting regulating device 100.
In another embodiment, controller 312 is electric with transverse shifting pedestal 410 and longitudinal movement pedestal 420 respectively
Connection, and the changing coordinates for obtaining transverse shifting pedestal 410 and longitudinal movement pedestal 420, and control transverse shifting base
Seat 410 and longitudinal movement pedestal 420 are moved to setting coordinate.Pedestal controller is replaced by controller 312, in this way, reducing control
Unit reduces costs.
Fig. 5 is a kind of adjusting method provided by the invention.The adjusting method is applied to the adjusting in any of the above-described embodiment
System 1000.As shown in figure 5, adjusting method the following steps are included:
Step 102, the corresponding image in any leveling position on leveling target 10 is obtained；Leveling position is leveling target 10 and transmission
The position that part 32 is in contact.
Driving member 32 is at least three not conllinear, position and driving members 32 at driving member 32 and on leveling target 10 at least three
Contact, each position are a leveling position.Specifically by taking Fig. 3 as an example, three driving members 32 and leveling target 10 form three tune
Prosposition is set.In each leveling position, the height on preset direction is different, i.e., multiple driving members 32 are located at not on preset direction
When with position, the inclined degree for leveling the loading end 11 of target 10 is different, and the image of the leveling target 10 of formation is different.Obtain any one
The image for leveling position, can determine whether loading end 11 tilts.
It is taken pictures simultaneously by any leveling position that imaging device 200 is exchanged on horizontal target 10 in one of the embodiments,
Image is formed, then obtains the image of formation from imaging device 200 by controller 312.
Step 104, judge whether the levelness of loading end 11 is equal to preset level degree according to image.
The state of loading end 11, tool are judged according to the corresponding image shape in leveling position in one of the embodiments,
Body is incorporated by reference to Fig. 6 (a), and in the corresponding image in leveling position that gets, the corresponding image in leveling position is following two shape
One of:
One focus point, a focus point and the camber line around the focus point.
Wherein, a focus point state indicates that the levelness of loading end 11 is equal to preset level degree, such as zero degree, i.e. loading end
11 are in horizontality, and levelness is zero degree.One focus point and the camber line state around the focus point indicate loading end 11
Levelness be not equal to preset level degree, i.e. loading end 11 favours horizontal plane.
Further, incorporated by reference to Fig. 6 (a), using focus point as origin, it can will level the corresponding image in position and be divided into four
Quadrant: upper right side region is first quartile I, and upper left side region is the second quadrant II, and bottom-left quadrant is third quadrant III, bottom right
Square region is fourth quadrant IV.
At this point, state is the leveling position of a focus point and the camber line around the focus point as shown in Fig. 6 (b) and (c)
Setting image includes two states: a focus point and positioned at the camber line of first quartile I and the second quadrant II, a focus point and being located at the
The camber line of three quadrant III and fourth quadrant IV.Wherein, a focus point and positioned at the camber line of first quartile I and the second quadrant II indicate
The inclined direction of current loading end 11 is upwards (i.e. first quartile I is directed toward fourth quadrant IV) that levelness is positive value, is shown current
Position of the driving member 32 on preset direction is higher or other positions of driving member 32 on preset direction are lower.One focuses
It puts and indicates that the inclined direction of current loading end 11 is downward (i.e. four-quadrant positioned at the camber line of third quadrant III and fourth quadrant IV
Limit IV is directed toward first quartile I), levelness is negative value, shows that position of the contemporary transmissions part 32 on preset direction is lower, Huo Zheqi
His position of the driving member 32 on preset direction is higher.
For specifically combining Fig. 3, current image is the image for leveling point a, if its image state is one in Fig. 6 (b)
Focus point and camber line positioned at first quartile I and the second quadrant II, then show to level position of the point a on preset direction it is higher,
Or the position of leveling point b and leveling point c on preset direction is lower, so that current loading end 11 tilts upward；If its
Image state is the focus point in Fig. 6 (c) and the camber line positioned at third quadrant III and fourth quadrant IV, then shows to level point a
Position on preset direction is lower, or the position of leveling point b and leveling point c on preset direction is higher, so that currently
Loading end 11 is diagonally downward.
It should be noted that in other embodiments, the corresponding image state in leveling position is a focus point and is located at this
The leveling location drawing picture of camber line around focus point can also include two states: a focus point and be located at first quartile I and the
The camber line of four-quadrant IV, a focus point and the camber line positioned at third quadrant III and the second quadrant II, then the inclination side of loading end 11
To be respectively inclination to the left, inclination to the right.
In another embodiment, the levelness of the loading end 11 detected according to detection piece 300 judges loading end
11 state.
Step 106, if it is not, controlling actuator 31 then according to the deviation of the levelness of loading end 11 and preset level degree and driving
The driving member 32 of dynamic current leveling position is moved along preset direction；And it returns and currently levels position pair on execution acquisition leveling target 10
The image answered, until judging that the levelness of loading end 11 is equal to preset level degree according to the corresponding image in current leveling position.
Wherein, the levelness of loading end 11 and the deviation of preset level degree include loading end 11 inclined direction and inclination angle it is poor
Value.
Specifically, after calculating the levelness of loading end 11 and the inclination angle difference of preset level degree, if inclination angle difference is positive
When value, control actuator 31 drives the driving member 32 of current contact position to move along the negative direction of Z axis, so that leveling target 10 is past
Under.If inclination angle difference is negative value, control actuator 31 drives the driving member 32 of current contact position to move along the positive direction of Z axis
It is dynamic, so that leveling target 10 is up.Every position for adjusting a driving member 32 on preset direction, obtains on one-time leveling target 10
With the image of each driving member contact position, if judging that the levelness of loading end 11 is still not equal to preset level degree according to image,
Then repeat step 104,106.According to bias direction and preset step-length, is driven by iterative method control actuator 31 and currently connect
The driving member 32 of touching position is moved along preset direction, until obtaining leveling target 10 to raise the image state that prosposition is set is a focusing
When point, shows that the levelness of loading end 11 is equal to preset level degree, then the leveling work for exchanging horizontal target 10 is completed.
In one of the embodiments, according to the deviation of the levelness of loading end 11 and preset level degree, generates first and adjust
Whole instruction, the first adjustment instruction drive the driving member 32 of current leveling position to move along preset direction for controlling actuator 31.
Wherein, the first adjustment instruction includes the mobile direction of driving member 32 and preset step-length.Preset step-length is that the electric pulse of motor 311 is believed
Number be converted to the one step of straight-line displacement.The mobile direction of driving member 32 is corresponding with inclination angle difference.
In another embodiment, the first adjustment instruction includes the mobile direction of driving member 32 and deviation step-length, deviation
Step-length be by driving member 32 disposably driving is to target position on preset direction when, the step-length that exports needed for motor 311.Specifically
, when bias direction is upward, the first adjustment instruction control actuator 31 drives the driving member 32 of current contact position along Z axis
Negative direction be moved to target position.When bias direction is downward, the first adjustment instruction control actuator 31, which drives, currently to be connect
The driving member 32 of touching position is moved to target position along the positive direction of Z axis, until obtaining leveling target 10 raises the image that prosposition is set
When state is a focus point, shows that the levelness of loading end 11 is equal to preset level degree, then the tune for exchanging horizontal target 10 is completed
Flat work.
The image pick-up card of controller 312 and imaging device 200 communicates to connect in one of the embodiments,.Image is adopted
The image that truck is used to get the camera lens of imaging device 200 is handled.Controller 312 is used for: receiving image pick-up card
Treated image；Judge whether the levelness of loading end 11 is equal to preset level degree according to image；Judging loading end 11
Levelness is not equal to preset level degree, according to the deviation of the levelness of loading end 11 and preset level degree, generates the first adjustment and refers to
It enables, the first adjustment instruction drives the driving member 31 of current leveling position to move along preset direction for controlling actuator 31.
In above-mentioned adjusting method, by the corresponding image in leveling position any on acquisition leveling target 10, and according to image
Judge whether the levelness of loading end 11 is equal to preset level degree, judges the levelness of loading end 11 according to image in judgment module
When being spent not equal to preset level, according to the deviation of the levelness of loading end 11 and preset level degree, controls the driving of actuator 31 and work as
The driving member 32 of preceding leveling position is moved along preset direction；And it returns to execution and obtains on leveling target 10 that currently to level position corresponding
Image, until judging that the levelness of loading end 11 is equal to preset level degree according to current leveling position correspondence image.In this way, with reality
The automatic leveling for now exchanging the loading end 11 of horizontal target 10 saves manpower without manually adjusting.
Referring to Fig. 7, automatic focusing task can also be carried out in one of the embodiments, after the completion of leveling work.
After the step of being spent according to the levelness of each corresponding spectral discrimination loading end 11 in leveling position equal to preset level, adjust
Method is further comprising the steps of:
Step 108, the image of leveling target 10 is obtained.
Imaging device 200 is also used to obtain the image of leveling target 10 in one of the embodiments, and controller 312 is used for
The image of entire leveling target 10 is obtained from imaging device 200.
Step 110, judge whether image is clear according to preset definition algorithm.
Definition algorithm, such as Brenner gradient function, Tenengrad gradient function, SMD are stored in controller 312
(gray variance) function, energy gradient function etc..Using preset definition algorithm, can exchange the image definition of horizontal target 10 into
Row judgement.By taking Brenner gradient function as an example, by calculating square of the two neighboring pixel grey scale difference of image, it is clear to obtain image
Clear degree.
Step 112, if the image definition of leveling target 10 is lower than preset clarity, the image according to leveling target 10 is clear
Clear degree control actuator 31 drives all driving members 32 to move along preset direction；And return to the figure for executing and obtaining leveling target 10
Picture, until the image definition of leveling target 10 is not less than preset clarity.
If the image definition of judgement leveling target 10 is lower than preset clarity in one of the embodiments, control
Actuator 31 drives all driving members 32 to move along preset direction, to drive entire leveling target 10 to move integrally, so as to hold
Section 11 is located at the optimal imaging position of imaging device 200.
In another embodiment, after the step 106, imaging device 200 is adjusted to for target 10 is leveled by iterative method
Optimal imaging position.Specifically, generating second when the image definition of judgement leveling target 10 is lower than preset clarity and adjusting
Whole instruction, second adjustment instruction drive all driving members 32 to move along preset direction for controlling actuator 31.Wherein, second
Adjustment instruction includes the mobile direction of driving member 32 and preset step-length.After current all driving members 32 are adjusted, after
The continuous image for obtaining entire leveling target 10.If the image definition of leveling target 10 is still below preset clarity, repeat
Step 112, until realizing the optimal imaging position that loading end 11 is adjusted to imaging device 200.
In other one embodiment, regulating device 100 can not be used to be focused work, but by imaging device
200 realize the function of auto-focusing, adjusting method further include:
If the image definition for leveling target is lower than preset clarity, controls imaging device 200 and focus automatically.
The algorithm that imaging device 200 focuses automatically includes ranging focusing or focusing test focusing.Ranging focusing is to obtain
The measurement of the distance between camera lens and loading end 11 of imaging device 200, and camera adjusting image distance is driven, so that loading end 11 is located at
The method of the optimal imaging device of imaging device 200.Focusing test focusing is by receiving the light from object, with electronic video
It surveys or the mode of phase difference detection determines best image distance, and drive camera adjusting image distance, so that loading end 11 is located at imaging device
The method of 200 optimal imaging device.
According to the adjusting method of aforementioned present invention, the present invention also provides a kind of control set for adjusting 600, with reference to the accompanying drawing
And control set for adjusting 600 of the invention is described in detail in preferred embodiment.
Referring to Fig. 8, control set for adjusting 600 includes obtaining module 610, judgment module 620 and control module 630.
Module 610 is obtained for obtaining the corresponding image in any leveling position on leveling target 10；Leveling position is leveling target
The position being in contact with driving member 32；
Judgment module 620 is used to judge whether the levelness of loading end 11 is equal to preset level degree according to image；
Control module 630 is used to judge the levelness of loading end 11 not equal to preset level degree according to image in judgment module
When, according to the deviation of the levelness of loading end 11 and preset level degree, control the transmission that actuator 31 drives current leveling position
Part 32 is moved along preset direction；
Module 610 is obtained to be also used to judge the levelness of loading end 11 not equal to default according to image in judgment module 630
When levelness, return, which executes to obtain, currently levels the corresponding image in position on leveling target 10, until currently leveling position is corresponding
The levelness of spectral discrimination loading end 11 is equal to preset level degree.
The present invention also provides a kind of computer equipment, including memory and processor, computer is stored in memory
Program, the processor perform the steps of when executing computer program
Step 102, the image of any leveling position on leveling target 10 is obtained；Leveling position is leveling target 10 and driving member 32
The position being in contact.
Step 104, judge whether the levelness of loading end 11 is equal to preset level degree according to image.
Step 106, if it is not, controlling actuator 31 then according to the deviation of the levelness of loading end 11 and preset level degree and driving
The driving member 32 of dynamic current leveling position is moved along preset direction；And it returns and currently levels position pair on execution acquisition leveling target 10
The image answered, until judging that the levelness of loading end 11 is equal to preset level degree according to the corresponding image in current leveling position.
Other above-mentioned all described implementations are also realized when the processor executes computer program in one of the embodiments,
In example the step of adjusting method.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, computer program
It is performed the steps of when being executed by processor
Step 102, the image of any leveling position on leveling target 10 is obtained；Leveling position is leveling target 10 and driving member 32
The position being in contact.
Step 104, judge whether the levelness of loading end 11 is equal to preset level degree according to image.
Step 106, if it is not, controlling actuator 31 then according to the deviation of the levelness of loading end 11 and preset level degree and driving
The driving member 32 of dynamic current leveling position is moved along preset direction；And it returns and currently levels position pair on execution acquisition leveling target 10
The image answered, until judging that the levelness of loading end 11 is equal to preset level degree according to the corresponding image in current leveling position.
Other above-mentioned all described implementations are also realized when computer program is executed by processor in one of the embodiments,
In example the step of adjusting method.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of regulating device characterized by comprising
Target, including loading end are leveled, the loading end is for carrying determinand；
Pedestal, positioned at the side far from the loading end of the leveling target；With
Driving assembly, comprising:
Actuator is located on the pedestal and opposite with the leveling target；
Driving member, the quantity of the driving member are at least three, and the tune is not arranged in collinearly at least three driving members
It is sequentially connected on horizontal target and with the actuator；It is described when the actuator drives the driving member to move along preset direction
Driving member is for driving the leveling target to move along the preset direction.
2. regulating device according to claim 1, which is characterized in that the regulating device further includes limit assembly, described
Limit assembly includes guide rail and locating part, and the guide rail is arranged on the base along the preset direction, and the driving member is sliding
It is dynamic to be arranged on the guide rail；The locating part is arranged on the guide rail opposite both ends and for limiting the driving member
Movement；
The driving member includes opposite first end and second end, and the first end is fixedly connected with the leveling target；The drive
Dynamic component further includes connector, and the connector includes first support arm and second support arm interconnected, and the first support arm is sliding
Dynamic to be arranged on the guide rail, the actuator, the second end are fixedly connected with the second support arm respectively.
3. regulating device according to claim 1, which is characterized in that the actuator includes motor and controller, described
Motor is electrically connected with the controller, and the controller is for controlling driving member described in the motor driven along the preset direction
Movement.
4. regulating device according to claim 3, which is characterized in that
The driving member is bulb joint bearing, and the bulb joint bearing includes bearing body, bulb and connecting rod, the bearing
Ontology is flexibly connected by the bulb with the connecting rod；The motor includes motor body, output shaft and is set in described defeated
Nut on shaft；The output shaft is connect with the motor body, and the motor body is used to that the output shaft to be driven to rotate,
So that the nut moves on the output shaft；The nut is connect with the bearing body, the leveling target and the company
Bar connection；
Or
The motor includes motor body, output shaft and the gear being set on the output shaft；The output shaft and the electricity
The connection of machine ontology, the motor body is for driving the output shaft to rotate, and the output shaft is for driving the gear to rotate；
The driving member include transmission main body and driving section, the transmission main body be fixedly connected with the leveling target, the driving section and
The gear cooperation.
5. a kind of regulating system characterized by comprising
Regulating device according to any one of claims 1-4；With
Imaging device is oppositely arranged with the leveling target and is used to take pictures to the determinand.
6. regulating system according to claim 5, which is characterized in that the regulating system further includes detection piece, the inspection
It surveys part to be arranged on the leveling target and be electrically connected with the actuator, the detection piece is used to detect the level of the loading end
Degree；
When the levelness is spent not equal to preset level, the actuator drives the driving member to transport along the preset direction
It is dynamic.
7. regulating system according to claim 5, which is characterized in that the regulating system further includes mobile foundation, described
Regulating device is arranged on the mobile foundation, and the mobile foundation is used to the regulating device being moved to the imaging device
The camera lens visual field in.
8. a kind of adjusting method, which is characterized in that applied to the adjusting system as described in any one of claim 5-7 claim
System, comprising:
Obtain the corresponding image in any leveling position on the leveling target；The leveling position is the leveling target and the transmission
The position that part is in contact；
Judge whether the levelness of the loading end is equal to preset level degree according to described image；
If it is not, then controlling the actuator driving according to the deviation of the levelness of the loading end and the preset level degree and working as
The driving member of preceding leveling position is moved along the preset direction；And it returns and currently levels position on the execution acquisition leveling target
Corresponding image is set, until being equal to according to any levelness for leveling loading end described in the corresponding spectral discrimination in position described
Preset level degree.
9. adjusting method according to claim 8, which is characterized in that sentence according to each corresponding image in leveling position
After the step of levelness of the fixed loading end is spent equal to preset level, further includes:
Obtain the image of the leveling target；
The image definition of the leveling target is calculated according to preset definition algorithm；
If the image definition of the leveling target is lower than preset clarity, controlled according to the image definition of the leveling target
The actuator drives all driving members to move along the preset direction；And it returns to execution and obtains the corresponding figure of the leveling target
Picture, until the image definition of the leveling target is not less than preset clarity.
10. a kind of control set for adjusting characterized by comprising
Module is obtained, for obtaining the corresponding image in any leveling position on the leveling target；The leveling position is the tune
The position that horizontal target is in contact with the driving member；
Judgment module, for judging whether the levelness of the loading end is equal to preset level degree according to described image；
Control module, for judging that the levelness of the loading end is not equal to default water according to described image in the judgment module
When Pingdu, according to the deviation of the levelness of the loading end and the preset level degree, the current tune of actuator driving is controlled
The driving member that prosposition is set is moved along the preset direction；
The acquisition module is also used to judge that the levelness of the loading end is not equal to according to described image in the judgment module
When preset level is spent, returns and currently level the corresponding image in position on the execution acquisition leveling target, until according to described current
The levelness for leveling loading end described in the corresponding spectral discrimination in position is equal to the preset level degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910604818.7A CN110333186B (en) | 2019-07-05 | 2019-07-05 | Adjusting device, adjusting system, adjusting method and adjusting control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910604818.7A CN110333186B (en) | 2019-07-05 | 2019-07-05 | Adjusting device, adjusting system, adjusting method and adjusting control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110333186A true CN110333186A (en) | 2019-10-15 |
| CN110333186B CN110333186B (en) | 2023-04-07 |
Family
ID=68143238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910604818.7A Active CN110333186B (en) | 2019-07-05 | 2019-07-05 | Adjusting device, adjusting system, adjusting method and adjusting control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110333186B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166122A (en) * | 2021-12-02 | 2022-03-11 | 中国工程物理研究院流体物理研究所 | Automatic target adjusting device |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2898765Y (en) * | 2006-01-26 | 2007-05-09 | 姚晓栋 | Digital image inspector |
| CN101477319A (en) * | 2009-01-22 | 2009-07-08 | 上海微电子装备有限公司 | Optical system used for focusing and leveling |
| CN201331498Y (en) * | 2009-04-30 | 2009-10-21 | 湖南通源机电科技有限公司 | CCD imaging system fine regulating device |
| CN101876393A (en) * | 2010-06-09 | 2010-11-03 | 哈尔滨工业大学 | Ultraprecise platform leveling device |
| CN101958154A (en) * | 2010-02-11 | 2011-01-26 | 浙江工业大学 | Platform automatic leveling device based on machine vision |
| CN102565080A (en) * | 2011-12-30 | 2012-07-11 | 聚信科技有限公司 | Vision detection device and system |
| CN102749930A (en) * | 2012-06-06 | 2012-10-24 | 哈尔滨市光学仪器厂 | Calibration positioning instrument and positioning method for oilfield wellhead |
| CN103345269A (en) * | 2013-06-30 | 2013-10-09 | 湖南农业大学 | Laser emitting device and automatic tracking method |
| CN103795907A (en) * | 2014-01-23 | 2014-05-14 | 中国科学院长春光学精密机械与物理研究所 | Main frame assembling device and assembling method for space optical camera |
| CN204882386U (en) * | 2015-09-02 | 2015-12-16 | 三峡大学 | Detection apparatus for adjustable metallographic specimen detects face levelness |
| CN205365458U (en) * | 2016-03-09 | 2016-07-06 | 福建工程学院 | Levelness adjustable adsorbs formula car tachymeter |
| CN105973809A (en) * | 2016-07-12 | 2016-09-28 | 中国科学院光电研究院 | Integrated adjusting structure and method for Hartmann sensor measurement |
| CN207132855U (en) * | 2017-09-05 | 2018-03-23 | 苏州阿特斯阳光电力科技有限公司 | Testboard and ellipsometer |
| CN207172752U (en) * | 2017-05-27 | 2018-04-03 | 西京学院 | A kind of 3D printer workbench self-level(l)ing device |
| CN107896326A (en) * | 2017-10-15 | 2018-04-10 | 北京中科慧眼科技有限公司 | Binocular solid camera automatic leveling equipment, its levelling control system and control method |
| CN207674065U (en) * | 2017-09-30 | 2018-07-31 | 东莞中子科学中心 | Control device for accelerator motorized adjustment holder |
-
2019
- 2019-07-05 CN CN201910604818.7A patent/CN110333186B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2898765Y (en) * | 2006-01-26 | 2007-05-09 | 姚晓栋 | Digital image inspector |
| CN101477319A (en) * | 2009-01-22 | 2009-07-08 | 上海微电子装备有限公司 | Optical system used for focusing and leveling |
| CN201331498Y (en) * | 2009-04-30 | 2009-10-21 | 湖南通源机电科技有限公司 | CCD imaging system fine regulating device |
| CN101958154A (en) * | 2010-02-11 | 2011-01-26 | 浙江工业大学 | Platform automatic leveling device based on machine vision |
| CN101876393A (en) * | 2010-06-09 | 2010-11-03 | 哈尔滨工业大学 | Ultraprecise platform leveling device |
| CN102565080A (en) * | 2011-12-30 | 2012-07-11 | 聚信科技有限公司 | Vision detection device and system |
| CN102749930A (en) * | 2012-06-06 | 2012-10-24 | 哈尔滨市光学仪器厂 | Calibration positioning instrument and positioning method for oilfield wellhead |
| CN103345269A (en) * | 2013-06-30 | 2013-10-09 | 湖南农业大学 | Laser emitting device and automatic tracking method |
| CN103795907A (en) * | 2014-01-23 | 2014-05-14 | 中国科学院长春光学精密机械与物理研究所 | Main frame assembling device and assembling method for space optical camera |
| CN204882386U (en) * | 2015-09-02 | 2015-12-16 | 三峡大学 | Detection apparatus for adjustable metallographic specimen detects face levelness |
| CN205365458U (en) * | 2016-03-09 | 2016-07-06 | 福建工程学院 | Levelness adjustable adsorbs formula car tachymeter |
| CN105973809A (en) * | 2016-07-12 | 2016-09-28 | 中国科学院光电研究院 | Integrated adjusting structure and method for Hartmann sensor measurement |
| CN207172752U (en) * | 2017-05-27 | 2018-04-03 | 西京学院 | A kind of 3D printer workbench self-level(l)ing device |
| CN207132855U (en) * | 2017-09-05 | 2018-03-23 | 苏州阿特斯阳光电力科技有限公司 | Testboard and ellipsometer |
| CN207674065U (en) * | 2017-09-30 | 2018-07-31 | 东莞中子科学中心 | Control device for accelerator motorized adjustment holder |
| CN107896326A (en) * | 2017-10-15 | 2018-04-10 | 北京中科慧眼科技有限公司 | Binocular solid camera automatic leveling equipment, its levelling control system and control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166122A (en) * | 2021-12-02 | 2022-03-11 | 中国工程物理研究院流体物理研究所 | Automatic target adjusting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110333186B (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2081391B1 (en) | Method for adjusting position of image sensor, method and apparatus for manufacturing a camera module, and camera module | |
| JP4871264B2 (en) | Microscope image capturing device | |
| CN110006905A (en) | A kind of ultra-clean smooth surface defect detecting device of heavy caliber that line area array cameras combines | |
| US20070057683A1 (en) | Method for controlling parallelism between probe card and mounting table, storage medium storing inspection program, and inspection apparatus | |
| US20080283722A1 (en) | Autofocus Device and Microscope Using the Same | |
| BR112012009241A2 (en) | ''device for obtaining a focused image of a specimen, method, computer readable medium, device for a microscope stage, device for slide cache, device for slide scanning and method for scanning the slide'' | |
| CN113674345B (en) | Two-dimensional pixel-level three-dimensional positioning system and positioning method | |
| CN103105671A (en) | Magnification observation device | |
| CN103620341A (en) | Three-dimensional shape measuring device and robot system | |
| CN109286751B (en) | Linear array camera focusing method, device, equipment and storage medium | |
| CN214747771U (en) | Automatic detection equipment for parts | |
| US11328409B2 (en) | System and method utilizing multi-point autofocus to align an optical axis of an optical assembly portion to be normal to a workpiece surface | |
| US11499817B2 (en) | Coordinate measuring machine with vision probe for performing points-from-focus type measurement operations | |
| CN112964318A (en) | Real-time detection method and detection system for belt conveyor muck volume flow | |
| CN110333186A (en) | Regulating device, regulating system, adjusting method and control set for adjusting | |
| CN1790095A (en) | Automatic image focusing system and method | |
| CN114593897A (en) | Measuring method and device of near-eye display | |
| CN111487042B (en) | Measuring system and measuring method for parallelism and uniformity of collimated light beams | |
| CN113804401A (en) | Full-automatic horizontal correction system and detection equipment | |
| CN112212798A (en) | Part three-dimensional appearance measuring device | |
| CN116576752A (en) | Parallelism adjusting method and system for workbench and electron beam measuring equipment | |
| KR101277205B1 (en) | Testing apparatus for an actuator for mobile phone | |
| CN212300252U (en) | Image measuring instrument capable of automatically adjusting position of sample to be measured | |
| US11221363B2 (en) | Test device, test method, and memory medium | |
| CN216050618U (en) | Optical lens mechanical back focal length measuring equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |