CN203337112U - Three-dimensional measuring device and robot control device using the same - Google Patents
Three-dimensional measuring device and robot control device using the same Download PDFInfo
- Publication number
- CN203337112U CN203337112U CN2013203834881U CN201320383488U CN203337112U CN 203337112 U CN203337112 U CN 203337112U CN 2013203834881 U CN2013203834881 U CN 2013203834881U CN 201320383488 U CN201320383488 U CN 201320383488U CN 203337112 U CN203337112 U CN 203337112U
- Authority
- CN
- China
- Prior art keywords
- projection division
- optical axis
- shoot part
- dimensional measuring
- measuring apparatus
- 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.)
- Expired - Lifetime
Links
Images
Abstract
The utility model provides a three-dimensional measuring device, wherein changing of optical centers of a projection portion and a shooting portion is little when only angle adjustment is carried out. The three-dimensional measuring device comprises: a projection portion (1), which has a specified mode for irradiation on a measured target area; a shooting portion (2), which is used for carrying out shooting on the measured target area; and a pedestal portion (3), which is used for installation of the projection portion and the shooting portion. One of the projection portion and the shooting portion is fixedly installed at the pedestal portion (3); and the other one of the projection portion and the shooting portion can rotate by taking its rotating axis as the center. Moreover, an optical axis space (3e) between the optical axis (2b) of the shooting portion (2) and the optical axis of the projection portion (1b), so that the shooting portion can carry out shooting on the measured target area at angles different from that of the projection portion. In the terms of the direction along the rotating axis, a distance between the rotating axis of one of the projection portion and the shooting portion and the optical center is less than 10% of the optical axis space (3e).
Description
Technical field
The robot controller that the utility model relates to a kind of three-dimensional measuring apparatus and uses this device.
Background technology
For example in following patent documentation 1, disclose a kind of for measuring the shape of testee (measuring object), the three-dimensional measuring apparatus of position etc., this three-dimensional measuring apparatus has camera section (shoot part) and Projection Division, the light with prescribed model is sent in Projection Division to testee, camera section is taken testee from different angles, taken image is sent to the processing unit of computing machine etc., processing unit is according to the distance (optical axis spacing) between camera section and Projection Division, the distance of testee etc. is arrived in camera section and Projection Division, utilize leg-of-mutton corner relation etc. to try to achieve the shape of testee and position etc.
In addition, have in the prior art a kind of three-dimensional measuring apparatus as shown in Figure 6, this three-dimensional measuring apparatus has pedestal 13, and Projection Division 11 and camera section 12 are installed on pedestal 13, and under original state, the optical axis of the two parallels.Projection Division 11 can be rotated centered by mechanical rotation axis 13b.In figure, 11c is depicted as the imaginary optical centre of Projection Division 11, the imaginary optical centre that 12c is camera section 12, the range of exposures that 11e is Projection Division 11, the coverage that 12e is camera section 12 (visual field).As mentioned above, Projection Division 11 can be rotated centered by its mechanical rotation axis 13b, thereby regulates the angle of the optical axis of its optical axis and camera section 12.
Yet, in the prior art, the optical centre 11c of Projection Division 11 and mechanical rotation center 13b configuration separated by a distance, thereby, while at the optical axis included angle in order to regulate Projection Division 11 and camera section 12, only making Projection Division 11 rotate, the position meeting change of its optical centre 11c, make this optical centre 11c, to the distance of testee, larger variation occur, thereby cause accuracy of detection that larger change occurs, cause measuring out of true.Thereby, in order to guarantee the accuracy of detection of this three-dimensional detection device, to the adjustment of Projection Division 11, camera section 12 etc., be very difficult.
In addition, for Projection Division, be fixed, and also there is identical problem in the structure that camera section can rotate.
Patent documentation 1: No. 60-152903, Japanese patent of invention Publication JP
The utility model content
In view of this, fundamental purpose of the present utility model is, even provide a kind of when only carrying out angular setting, the three-dimensional measuring apparatus that the change of the optical centre of Projection Division and shoot part is also less and the robot controller that uses this device, to improve measuring accuracy.
For achieving the above object, three-dimensional measuring apparatus of the present utility model is, it comprises the Projection Division that the measuring object area illumination is had to the light of prescribed model, the shoot part that described measuring object zone is taken and the base portion that described Projection Division and described shoot part are installed, a side in described Projection Division and described shoot part is fixedly mounted on described base portion, the opposing party can rotate centered by the pivot center of himself, and, there is the optical axis spacing between the optical axis of described shoot part and the optical axis of described Projection Division, thereby, described shoot part can be taken described measuring object zone from the angle different from described Projection Division.In the side along described pivot center, look up, the distance between the described pivot center of the described side in described Projection Division and described shoot part and its optical centre described optical axis spacing below 10% or below 2% or the two coincide (consistent).
Due to the pivot center of Projection Division, shoot part (self) and the distance between optical centre the optical axis spacing of the optical axis of shoot part and Projection Division below 10% or below 2% or coincide, thereby, consistent in the measuring object location with the shooting area of shoot part at the irradiation area in order to make Projection Division, thereby when adjusting shoot part and making shoot part or photography section with its mechanical rotation axis rotation with the angle of the optical axis of photography section, its optical centre is less with respect to the distance change in measuring object zone, thereby is easy to guarantee measuring accuracy.
The utility model is preferred, and described Projection Division and described shoot part are arranged on the installed surface of described base portion, thereby can relatively move between the two, described optical axis spacing is changed.
So, due to the optical axis spacing between the optical axis that can adjust Projection Division and shoot part, field range that can be by adjusting range of exposures that the optical axis spacing realizes Projection Division and shoot part consistent, reduce the rotating operation amount to Projection Division and shoot part, even for example when measuring distance is far away, also can guarantee measuring accuracy.
The utility model is preferred, on the installed surface of described base portion, is provided with gathering sill, in the side along described pivot center, looks up, and described gathering sill is circular-arc centered by described pivot center.On described Projection Division or described shoot part, be provided with for the fixing angular setting bolt of turned position, this angular setting is arranged in described gathering sill with bolt.
So, can easily carry out angular setting.
The utility model is preferred, and for described Projection Division and described shoot part self, described angular setting is positioned at the inboard of its optical axis with bolt.
So, can reduce the size of three-dimensional measuring apparatus (base portion) on the optical axis spacing direction, make equipment miniaturization.
The utility model is preferred, is provided with one heart mutually the described gathering sill of two.So, can carry out angular setting with better simply structure.
The utility model is preferred, and described Projection Division or described shoot part are arranged on described base portion by erection bolt, and the hole that described erection bolt runs through is arranged to along the long trough of base portion length direction, so that described optical axis spacing changes.
So, can realize with better simply structure the adjustment of optical axis spacing, improve measuring accuracy.
In addition, for achieving the above object, the three-dimensional measuring apparatus of another way of the present utility model is, it comprises the Projection Division that the measuring object area illumination is had to the light of prescribed model, the shoot part that described measuring object zone is taken and the base portion that described Projection Division and described shoot part are installed, described Projection Division and described shoot part can rotate centered by the pivot center of himself, and, there is the optical axis spacing between the optical axis of described shoot part and the optical axis of described Projection Division, thereby, described shoot part can be taken described measuring object zone from the angle different from described Projection Division.In the side along described pivot center, look up, the distance between the described pivot center of described Projection Division and described shoot part self and its optical centre described optical axis spacing below 10% or below 2% or the two coincide.Adopt in such a way, rotate with respect to base portion by making both, reduced the change of optical centre, can further improve measuring accuracy.
In addition, the utility model also relates to robot controller, it has control part, this control part is measured arriving the distance that captures target object by three-dimensional measuring apparatus, according to the measurement result to this distance, robot is controlled the three-dimensional measuring apparatus that described three-dimensional measuring apparatus is above-mentioned arbitrary structure.
As mentioned above, robot controller is measured the distance that captures target object by the three-dimensional measuring apparatus with said structure, the precision of measurement result can be improved, according to the action of this measurement result control, and then the control accuracy to the action of robot can be improved.
The accompanying drawing explanation
The oblique view that Fig. 1 is the three-dimensional measuring apparatus that relates to of the utility model embodiment;
The front view that Fig. 2 is above-mentioned three-dimensional measuring apparatus;
The upward view that Fig. 3 is above-mentioned three-dimensional measuring apparatus;
The key diagram that concerns that Fig. 4 is the optical axis for Projection Division, camera section are described, coverage etc.;
Fig. 5 is for for illustrating the accompanying drawing of the relation that measuring distance and optical axis are adjusted, wherein (a) be measuring distance than hour situation, (b) be the situation of measuring distance when larger;
The rear view that Fig. 6 is a kind of three-dimensional measuring apparatus of the prior art;
Fig. 7 is the oblique view of the robot system of use three-dimensional measuring apparatus.
Embodiment
With reference to the accompanying drawings embodiment of the present utility model is described in detail.As shown in Figure 1, 2, three-dimensional measuring apparatus 100 has Projection Division 1, camera section (shoot part) 2, base portion 3.Wherein, base portion 3 is formed by sheet material, and its upper surface is installed surface 3f, and Projection Division 1 is arranged on this installed surface 3f with camera section 2.
In the present embodiment, as shown in Figure 3, camera section 2 is fixedly mounted on base portion 3 by four erection bolt 3a.This camera section 2 has the 2a of taking lens section, the optical axis that the mark 2b in figure in 3 is this camera section 2, and the 2c in Fig. 4 is its optical centre (can be imaginary), and 2d is that it takes angle, and 2e is coverage (visual field).With reference to Fig. 3,4, base portion 3 has the side portion 3g of pair of parallel, and the state that camera section 2 is parallel to side portion 3g with its optical axis 2b is fixed.
In the present embodiment, as shown in Figure 2, Projection Division 1 has illumination window 1a, in this illumination window 1a, can add the mask with predetermined pattern, thereby makes Projection Division 1 send the light with prescribed model.Mark 1b in Fig. 3 is depicted as the optical axis of the light sent Projection Division 1, and in Fig. 4,1c is its optical centre (can be imaginary), and 1d is illumination angle, and 1e is range of exposures.
In addition, in the present embodiment, Projection Division 1 can be rotated centered by the mechanical rotation axis perpendicular to installed surface 3f, particularly, as shown in Figure 3,4, Projection Division 1 is by a 3b of the bolt as above-mentioned mechanical rotation axis and two angular setting with being arranged on base portion 3 with bolt 3c, can take the axis of bolt 3b and rotated as the mechanical rotation axis in Projection Division 1.In addition, equally as shown in Figure 3,4, carry out opening and form two angular setting gathering sill 3d on base portion 3, in the side along above-mentioned mechanical rotation axis 3b, look up, these two gathering sill 3d are circular-arc centered by this pivot center 3b, and above-mentioned two angular setting lay respectively in these two gathering sill 3d with bolt 3c.When Projection Division 1 is rotated centered by its mechanical rotation axis 3b, two angular setting move along gathering sill 3d respectively with bolt 3c, when turning to desired position, these two angular setting are tightened with bolt 3c, thereby can be fixed up in the turned position of Projection Division 1.
In addition, as shown in Figure 3, three level measuring arrangements 100 in the present embodiment are when original state, described Projection Division 1 optical axis 1b parallel with the optical axis 2b of camera section 2, there is optical axis spacing 3e(between the two, the length of the vertical line of the two when the optical axis 1b of Projection Division 1 is parallel to optical axis 2b).
Referring to 5 pairs, accompanying drawing, have said structure present embodiment three level measuring arrangements 100 use-pattern with and effect describe.
When three-dimensional measuring apparatus is worked, the range of exposures 1e that need to make Projection Division 1 and the coverage 2e of camera section 2 at measuring object 5a, 5b(referring to Fig. 5) residing location is consistent, afterwards, 1 pair of the Projection Division residing area illumination of measuring object 5a, 5b has the light of prescribed model, camera section 2 is taken measuring object 5a, 5b from the angle that is different from Projection Division 1, thereby now, as shown in (a) in Fig. 5, between the optical axis 1b of Projection Division 1 and the optical axis 2b of camera section 2, there is optical axis included angle θ.Camera section 2 sends taken image to unshowned processing unit, by this processing unit, carries out corresponding computing in the hope of three-dimensional distance distribution of measuring object 5a, 5b etc.The concrete mode of the computing that the pattern of the light sent about Projection Division 1 and processing unit carry out, for example can adopt the mode of putting down in writing in above-mentioned patent documentation 1, do not do special change in the utility model, thereby omitted detailed description thereof.
Fig. 5 is the accompanying drawing of the relation for measuring distance and optical axis adjustment are described, wherein, than the situation shown in (a), (b) in the situation shown in, camera section 2 is far away to the distance 7 that is placed with the table top 6 of measuring object, the benchmark that this distance 7 for example, is used while carrying out computing for the processing unit of three-dimensional measuring apparatus (computing machine), thereby referred to here as reference range 7.For reference range 7 is long and more in short-term, the range of exposures 1e of Projection Division 1 is consistent in the residing location of measuring object 5a with the coverage 2e of camera section 2, can only make Projection Division 1 rotate, adjust the size of optical axis included angle θ.
In the example shown in Fig. 4, the mechanical rotation axis 3b of Projection Division 1 is by its optical centre 1c, that is, while looking up (looking up from the side perpendicular to installed surface 3f in other words) in the side along the mechanical rotation axis, the optical centre 1e of Projection Division 1 and mechanical rotation axis 3b position consistency.The words of the optical centre 1e of Projection Division 1 and mechanical rotation axis 3b position consistency, when the angle (adjusting optical axis included angle θ) of the optical axis 1b that changes Projection Division 1, the position of optical centre 1e can not produce change, can not make it arrive the distance of measuring object 5a and produce change, thereby can guarantee measuring accuracy.
But, reason due to mismachining tolerance etc., even and consider when rotate Projection Division 1 optical centre 1b its actual influence degree that measuring accuracy is brought that changes, generally speaking, when above-mentioned optical axis spacing 3e is larger, distance between the optical centre 1e of Projection Division 1 and mechanical rotation axis 3b also can be correspondingly larger, in the present embodiment, when the side along the mechanical rotation axis looks up, distance between the optical centre 1e of Projection Division 1 and mechanical rotation axis can be at below 10% of optical axis spacing 3e, better again is below 2%, now, for example, when optical axis spacing 3e is 100mm, distance between the optical centre 1e of Projection Division 1 and mechanical rotation axis can be for below 2mm.So, even when only angular setting being carried out in Projection Division 1, the shift in position of the optical centre 1b of Projection Division 1 is also very little, also very little on the impact of measuring accuracy, thereby is easy to guarantee measuring accuracy.
In addition, in the present embodiment, as shown in Figure 3,4, under original state, that is, the optical axis 1b of Projection Division 1 is parallel under the state of optical axis 2b of camera section 2, and two angular setting are arranged in the optical axis 1b(extended line of Projection Division 1 with bolt 3c) inboard (Fig. 3,4 right sides).In order to guarantee that Projection Division 1 has sufficient rotational angle range, gathering sill 3d should have the above length of specified degree, and, due to when adjusting the rotational angle position of Projection Division 1, general is all that Projection Division 1 is rotated to the direction (i.e. clockwise direction figure) that makes its illumination window 1a approach camera section 2 from original state, thereby, under original state, two angular setting are positioned at the optical axis 1b(extended line of Projection Division 1 with bolt 3c) inboard, can avoid gathering sill 3d to optical axis 1b(extended line) outside development length larger, cause device (base portion 3) perpendicular to optical axis 1b, size on the direction of 2b is larger.
Fig. 7 is the oblique view of the robot system of use three-dimensional measuring apparatus.; the three-dimensional measuring apparatus 100 of present embodiment can be applied in robot system; as shown in Figure 7; three-dimensional measuring apparatus 100 is arranged on the front portion of mechanical hand 200; for measuring the three-dimensional distance of piling up object (crawl target object) 400, distribute; according to its measurement result, the control part of the robot controller that robot system has (all not shown) is controlled the action that mechanical hand 200 is captured object, afterwards the object grabbed is placed on travelling belt 300.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
For example, in the above-described embodiment, with camera section 2, be fixedly mounted on base portion 3, take the mode that can rotate and be arranged on base portion 3 as example and be illustrated in Projection Division 1, for example, yet the utility model is not limited to this,, also can make camera section 2 be arranged on base portion 3 in the mode that can rotate, Projection Division 1 is fixedly mounted on base portion 3.Perhaps, also can so that section of projector 1 and camera section 2 both all can in rotating mode, install with respect to base portion 3, adopt in such a way, by making both, with respect to base portion, rotate, reduce the change of optical centre, can further improve measuring accuracy.
In addition, in the above-described embodiment, optical axis spacing 3e between the optical axis 1b of Projection Division 1 and the optical axis 2b of camera section 2 fixes, yet, the utility model is not limited to this, can be the adjustable structure of optical axis spacing 3e: for example, can make camera section 2 can be along installed surface 3f on the direction perpendicular to its optical axis 2b (being left and right directions in Fig. 3,4) slide, thereby change optical axis spacing 3e.Particularly, for example, the hole that erection bolt 3a can be run through is arranged to along the long trough of base portion 3 length directions (perpendicular to the direction of optical axis 2b), thereby makes camera section 2 can adjust in the position of above-mentioned length direction.
In addition, the structure that optical axis spacing 3e is adjustable can be also, base portion 3 is formed to a minute body component, make Projection Division 1 with camera section 2 can relative base portion 3 being rotatably mounted, again the base portion of split is arranged in addition on the mounting bracket of measurement mechanism 100, and makes base portion 3 can be equivalent to this mounting bracket to slide.The mechanism of sliding like this is known structure, for example on mounting bracket, slide rail is set, and makes each base portion 3 coordinate with this slide rail and slides thereon.
Owing to can regulating optical axis spacing 3e, thereby can guarantee consistent in the measuring object location of Projection Division 1 and camera section 2 by adjusting optical axis spacing 3e, reduce the adjustment amount of the rotational angle of Projection Division 1, reduce the shift in position of the optical centre 1c of Projection Division 1, thereby, for example, at reference range 7(measuring distance) when larger, also can guarantee measuring accuracy.
In the situation that optical axis spacing 3e is adjustable, the distance between the optical centre 1e of Projection Division 1 and mechanical rotation axis is preferably set according to the minimum value of optical axis spacing 3e, but, according to its maximal value or middle certain value setting, also can.
Claims (10)
1. a three-dimensional measuring apparatus,
It comprises to the measuring object area illumination is had Projection Division (1), the shoot part (2) that described measuring object zone is taken of the light of prescribed model and described Projection Division (1) is installed and the base portion (3) of described shoot part (2),
Described Projection Division (1) is fixedly mounted on described base portion (3) with the side in described shoot part (2), the opposing party can rotate centered by the pivot center of himself, and, there is optical axis spacing (3e) between the optical axis (2b) of described shoot part (2) and the optical axis of described Projection Division (1b), thereby, described shoot part (2) can be taken described measuring object zone from the angle different from described Projection Division (1), it is characterized in that
In the side along described pivot center, look up, the distance between the described pivot center of the described side in described Projection Division (1) and described shoot part (2) and its optical centre is at below 10% of described optical axis spacing (3e).
2. three-dimensional measuring apparatus according to claim 1, it is characterized in that, in the side along described pivot center, look up, the distance between the described pivot center of the described side in described Projection Division (1) and described shoot part (2) and its optical centre is at below 2% of described optical axis spacing (3e).
3. three-dimensional measuring apparatus according to claim 2, is characterized in that, in the side along described pivot center, looks up, and the described pivot center of the described side in described Projection Division (1) and described shoot part (2) overlaps with its optical centre.
4. according to the described three-dimensional measuring apparatus of any one in claims 1 to 3, it is characterized in that,
Described Projection Division (1) and described shoot part (2) are arranged on the installed surface (3f) of described base portion (3), thereby can relatively move between the two, described optical axis spacing (3e) are changed.
5. three-dimensional measuring apparatus according to claim 4, it is characterized in that, on the installed surface (3f) of described base portion (3), be provided with gathering sill (3d), look up in the side along described pivot center, described gathering sill (3d) is circular-arc centered by described pivot center
On described Projection Division (1) or described shoot part (2), be provided with for the fixing bolt for angular setting (3c) of turned position, this for angular setting bolt (3c) be arranged in described gathering sill (3d).
6. three-dimensional measuring apparatus according to claim 5, is characterized in that,
For described Projection Division (1) and described shoot part (2) self, described for angular setting bolt (3c) be positioned at the inboard of its optical axis (1b, 2b).
7. three-dimensional measuring apparatus according to claim 5, is characterized in that, is provided with one heart mutually the described gathering sill (3d) of two.
8. three-dimensional measuring apparatus according to claim 4, is characterized in that,
Described Projection Division (1) or described shoot part (2) are arranged on described base portion (3) by erection bolt (3a), the hole that described erection bolt (3a) runs through is arranged to along the long trough of base portion (3) length direction, so that described optical axis spacing (3e) changes.
9. a three-dimensional measuring apparatus,
It comprises to the measuring object area illumination is had Projection Division (1), the shoot part (2) that described measuring object zone is taken of the light of prescribed model and described Projection Division (1) is installed and the base portion (3) of described shoot part (2),
Described Projection Division (1) can be rotated with described shoot part (2) centered by the pivot center of himself, and, there is optical axis spacing (3e) between the optical axis (2b) of described shoot part (2) and the optical axis of described Projection Division (1b), thereby, described shoot part (2) can be taken described measuring object zone from the angle different from described Projection Division (1), it is characterized in that
In the side along described pivot center, look up, the distance between the described pivot center of described Projection Division (1) and described shoot part (2) self and its optical centre is at below 10% of described optical axis spacing (3e).
10. a robot controller, it is characterized in that, it has control part, this control part is measured arriving the distance that captures target object by three-dimensional measuring apparatus, according to the measurement result to this distance, robot is controlled, described three-dimensional measuring apparatus is the described three-dimensional measuring apparatus of any one in claim 1～9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203834881U CN203337112U (en) | 2013-06-28 | 2013-06-28 | Three-dimensional measuring device and robot control device using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203834881U CN203337112U (en) | 2013-06-28 | 2013-06-28 | Three-dimensional measuring device and robot control device using the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203337112U true CN203337112U (en) | 2013-12-11 |
Family
ID=49705782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203834881U Expired - Lifetime CN203337112U (en) | 2013-06-28 | 2013-06-28 | Three-dimensional measuring device and robot control device using the same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203337112U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270817A (en) * | 2017-08-15 | 2017-10-20 | 深圳市威富智能设备有限公司 | The screw mounting device and screw installation method of view-based access control model processing |
| CN113834446A (en) * | 2021-11-25 | 2021-12-24 | 南京万生华态科技有限公司 | Acquisition device and acquisition method for fringe projection image |
-
2013
- 2013-06-28 CN CN2013203834881U patent/CN203337112U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270817A (en) * | 2017-08-15 | 2017-10-20 | 深圳市威富智能设备有限公司 | The screw mounting device and screw installation method of view-based access control model processing |
| CN113834446A (en) * | 2021-11-25 | 2021-12-24 | 南京万生华态科技有限公司 | Acquisition device and acquisition method for fringe projection image |
| CN113834446B (en) * | 2021-11-25 | 2022-02-15 | 南京万生华态科技有限公司 | Acquisition device and acquisition method for fringe projection image |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203337112U (en) | Three-dimensional measuring device and robot control device using the same | |
| KR100597066B1 (en) | X-ray fluoroscopic apparatus | |
| US20210286236A1 (en) | Full periphery image of subject taking device for forming 3d image profile therefor | |
| CN109462752A (en) | A kind of camera module optical center location measurement method and device | |
| JP6442929B2 (en) | Laser distance meter fixing device for angle measuring machine | |
| CN103969922A (en) | Camera oblique capturing method and oblique capturing camera | |
| CN104765235A (en) | Lens adjustment module and projection device | |
| CN103884272B (en) | A kind of object space determines method, device and mobile electronic device | |
| US20090066323A1 (en) | Antenna Orientation Sensor and Method for Determining Orientation | |
| CN206773763U (en) | Caliberating device for camera module | |
| CN110657961B (en) | Method for measuring optical axis shaking amount of zoom camera | |
| CN206938198U (en) | Spray printing mechanism shower nozzle adjusting means and regulating system | |
| CN101294685B (en) | Focusing compensation device of projector lamp | |
| CN104458198B (en) | Smooth hole wall wind-tunnel Double-visual angle light path device | |
| CN107053310B (en) | A kind of molded fiber plate precise positioning method | |
| JP3165386U (en) | Floor-projection sumiking machine | |
| CN106705941A (en) | Binocular vision navigation device | |
| CN206818161U (en) | A kind of 2.5D Mobile phone screens detection means | |
| CN112611379A (en) | Inertial navigation stable platform and calibration and installation method thereof | |
| CN111023904A (en) | Spherical motion detection active implementation method | |
| CN212463331U (en) | Three-heart adjusting support and camera with same | |
| JPS61258108A (en) | Remote control type indoor use level | |
| JPH09229649A (en) | Three-dimensional image measuring machine | |
| WO2018172592A3 (en) | Optical device for painters | |
| CN106331551B (en) | Projection image control system and projection image control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131211 |
|
| CX01 | Expiry of patent term |