CN204854659U - Novel light arm enlargies formula high accuracy angle sensor - Google Patents
Novel light arm enlargies formula high accuracy angle sensor Download PDFInfo
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- CN204854659U CN204854659U CN201520348958.XU CN201520348958U CN204854659U CN 204854659 U CN204854659 U CN 204854659U CN 201520348958 U CN201520348958 U CN 201520348958U CN 204854659 U CN204854659 U CN 204854659U
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Abstract
The utility model discloses a novel light arm enlargies formula high accuracy angle sensor, this angle sensor includes the laser source for laser beam, reflection part, reflection part are used for installing the testee, and the reflection part is rotatable and be equipped with at least one plane of reflection, and the plane of reflection is used for reflecting the laser beam that swashs light source emission, photoelectric detector for laser beam after the plane of reflection reflection of receive reflection part, processing system converts into the photoelectric detector received of institute laser beam position change value the rotation angle value of reflection part. This angle sensor is through installing the reflection part on the object that awaits measuring, and laser entry is on to the plane of reflection surface back reflection of reflection part to the photoelectric detector component, calculates the change value that corresponds the angle through the sensitization position change of measuring photoelectric detector, and this sensor structure is simple, is applicable to the measurement low -angle object rotation angle that awaits measuring, easily realizes batch manufacture.
Description
Technical field
The utility model relates to a kind of Precision Inspection and instrument field, particularly the novel smooth arm amplifying type high-precision angle sensor of one.
Background technology
Angular transducer is a kind of conventional geometric sense sensor, has and use widely in a lot of field such as Aero-Space, commercial production, machine-building and military science.The angle-sensing sensors of main flow has photoelectric encoder, rotary transformer and disc type inductosyn in the market.
Photoelectric encoder is commonly called as Circular gratings, and angle information exports with the form of pulsed quantity by its Moire fringe utilizing Circular gratings to produce and photoelectric conversion technique.Compared with other angle-sensing sensors, Circular gratings has the advantages such as volume is little, lightweight, angle measurement accuracy is high, fast response time, antijamming capability are strong, easy to use, is used widely in field of precision measurement.But because Circular gratings manufacturing process adopts photoetching process, circumference groove number is more, and measuring accuracy is also higher, and its manufacture difficulty is large, and cost is high, causes Circular gratings to hold at high price.Special for miniature precision instrument, be difficult to the measuring accuracy improving Circular gratings when radius is little.
Rotary transformer is commonly called as and revolves change, is the angle measurement element that a kind of output voltage changes with the change of rotor turns angle.It has the advantages such as firm, heat-resisting, shock-resistant, antijamming capability is strong, fast response time, low cost of manufacture, is widely used in each field of commercial production.The kind of rotary transformer is a lot, and wherein most widely used is sine and cosine resolver.Its principle is equivalent to a transformer that can rotate, along with angle change exports the cosine and sine signal relevant with rotor turns angle between stator to rotor.The angle measurement accuracy of such rotary transformer is usually 5 rads to 10 rads magnitudes.
Disc type inductosyn is a kind of angular transducer based on electromagnetic induction principle.The rotor of disc type inductosyn has N number of guide card.When rotor turns over angle θ, stator winding A and B responds to the corresponding induction electromotive force of output respectively.Inductosyn has amplitude discrimination type and phase demodulating type two kinds of working methods.Disc type inductosyn has degree of precision and resolving power, antijamming capability is strong, long service life, cost are lower, safeguard the features such as simple.
In three class angular transducers, the advantage of Circular gratings is that the dynamic measured is good, antijamming capability is strong, angle measurement accuracy is high, and shortcoming requires high to the machining precision of mechanical axis and installation accuracy, and its price is also relatively high.The advantage of rotary transformer is that cost is low, machining precision and installation accuracy low, shortcoming is that measuring accuracy is relatively low.Disc type inductosyn surveys that advantage is that low cost of manufacture, measuring accuracy are higher, machining precision and the low feature of installation accuracy.
In three class angular transducers of current measuring angle, what precision was the highest is Circular gratings, and its precision is in rad magnitude, and the RESR Series Precision Circular gratings that such as Britain Renishaw company produces, its system accuracy of the Circular gratings of external diameter 75mm is 3.9 rads.But due to the restriction of photoetching process, cause Circular gratings angle measurement accuracy to be difficult to there is lifting again, particularly for minor radius Circular gratings, its angle measurement accuracy cannot further improve, and has become the key factor of restriction accuracy of instrument in a lot of fine measuring instrument.
Utility model content
The purpose of this utility model is to overcome existing angular transducer due to its manufacturing process, structure, cost limits the deficiency that the precision caused is difficult to improve further, a kind of novel smooth arm amplifying type high-precision angle sensor is provided, this angular transducer is using reflection part axis as sensor rotation axis, the laser that laser instrument is launched incides the reflective surface surface back reflection of reflection part on photodetector components, corresponding angle changing value is obtained by the photosensitive length variations measuring photodetector, this sensor construction is simple, angle measurement accuracy is high, be easy to realize batch micro operations.
In order to realize above-mentioned utility model object, the utility model provides following technical scheme:
A kind of novel smooth arm amplifying type high-precision angle sensor, comprising:
Lasing light emitter one, for Emission Lasers bundle;
Reflection part, described reflection part is for installing testee, and described reflection part is rotatable and be provided with at least one reflecting surface, and described reflecting surface is used for the laser beam that described lasing light emitter one is launched to reflect;
Photodetector one, for receive described reflection part reflective surface after laser beam;
Disposal system, is converted into the rotation angle value of described reflection part by the laser beam position changing value received by photodetector one.
This novel smooth arm amplifying type high-precision angle sensor, by reflection part is arranged on object under test, laser reflexes on photodetector components after inciding the reflecting surface of reflection part again, when object under test rotates, reflection part rotates thereupon together, go out laser beam by the reflective surface measured in rotary course and be positioned at change in location on photodetector one, disposal system can calculate the changing value of corresponding angle by the change of this laser beam reflection position, this sensor construction is simple, be applicable to measure the low-angle object under test anglec of rotation, be easy to realize batch micro operations.
Photodetector one can adopt a kind of photoelectric device to light spot position sensitivity, can measure the rectangle device of the one-dimensional coordinate of light spot position.Such as, photodetector can selected shape be the photodetector of one-dimensional linear, also may be selected to the photodetector of two dimensional surface.
Preferably, described photodetector is one dimension photodetector.
Preferably, described photodetector is 2 D photoelectric detector.
Preferably, the reflecting surface of described reflection part is the plane of reflection, and the reflecting surface of reflection part adopts plane reflection, is easier to detect and calculate.
Preferably, described reflection part is provided with the mounting hole being convenient to install testee.
The turning axle of this reflection part arranges coaxial inner, as the mounting hole of object under test, realizes the installation of measured workpiece.
Preferably, described reflection part is provided with at least two described reflectings surface.
Preferably, described reflection part is regular polygon column, and each side of described regular polygon column is described reflecting surface.
Preferably, also comprise photodetector two, spectroscope and at least one reflective mirror, described spectroscope is between described lasing light emitter one and described reflection part; Incident beam is reflexed to described reflective mirror by described spectroscope, and described reflective mirror is by beam reflection other reflectings surface to described reflection part, and the light beam of this reflective surface is received by described photodetector two.
Preferably, also comprise lasing light emitter two and photodetector two, the incident beam of described lasing light emitter two incides other reflectings surface on described reflection part, and the light beam of this reflective surface is received by described photodetector two.
Preferably, described photodetector two is arranged in parallel with described photodetector one.
The utility model additionally provides a kind of measuring method of novel smooth arm amplifying type high-precision angle sensor, and comprise the novel smooth arm amplifying type high-precision angle sensor of above-mentioned one, its measuring method comprises the steps:
Step one, described reflection part is arranged on object under test;
The position relationship of step 2, adjustment lasing light emitter one, reflection part, photodetector one, makes it mutually adaptive, photodetector one and disposal system is communicated to connect;
Step 3, startup lasing light emitter one, the laser beam one that described lasing light emitter one is launched is after the reflective surface of described reflection part, and described photodetector one detects the position of this folded light beam;
Step 4, object under test rotate, and in rotary course, laser beam one by one straight hair penetrates laser beam, and this laser beam is after the reflective surface always rotated, and described photodetector one detects the change of the reflection position of this folded light beam;
Step 5, disposal system are by the change in location to the reflection lasering beam of the laser beam one detected by photodetector one described in described step 3, step 4, and process obtains the anglec of rotation of described object under test.
Preferably, above-mentioned measuring method also comprises step 6: described reflective mirror, dichroic mirror go out another laser beam two, or launch another laser beam two by lasing light emitter two, adopt described step one to the method for step 5, incide after described reflection part reflected, the reflection position change of laser beam two detected by described photodetector two, obtain another anglec of rotation of this object under test, average with the anglec of rotation in described step 5, as the anglec of rotation of this object under test.
By arranging reflective mirror, spectroscope, photodetector two between lasing light emitter one and reflection part, or directly arranging lasing light emitter two, photodetector two, is average to adopt double light path to realize measurement.Wherein, the laser beam of lasing light emitter one be divide into laser beam one, laser beam two by the former, penetrates mirror and reflective mirror because this increasing light splitting.Under the former initial position lasing light emitter at spectroscopical transmitted light as laser beam one, laser beam one incidence point is at one of them reflecting surface of reflection part, lasing light emitter is at spectroscopical reflected light as laser beam two, and laser beam two incidence point is at another reflecting surface of reflection part.Under the latter's initial position, lasing light emitter one incidence point is at a reflecting surface of reflection part, and lasing light emitter two incidence point is at another reflecting surface of reflection part.When object under test rotates, its anglec of rotation measured respectively by two photodetectors, then averages, and to obtain object under test rotational value more accurately, improves measuring accuracy.
Compared with prior art, the beneficial effects of the utility model:
1, this novel smooth arm amplifying type high-precision angle sensor, by reflection part is arranged on object under test, laser reflexes on photodetector components after inciding the reflecting surface of reflection part again, when object under test rotates, reflection part rotates thereupon together, the change that laser beam is positioned at position on photodetector one is gone out by the reflective surface measured in rotary course, disposal system can calculate the changing value of corresponding angle by the change of this reflection lasering beam position, this sensor construction is simple, be applicable to measure the low-angle object under test anglec of rotation, be easy to realize batch micro operations,
2, between lasing light emitter one and reflection part, arranging reflective mirror, spectroscope, photodetector two, or directly arrange lasing light emitter two, photodetector two, is average to adopt double light path to realize measurement.When object under test rotates, its anglec of rotation measured respectively by two photodetectors, then averages, and to obtain object under test rotational value more accurately, improves measuring accuracy.
Accompanying drawing illustrates:
Fig. 1 is single lasing light emitter instrumentation plan that novel smooth arm amplifying type high-precision angle sensor described in the utility model adopts;
Fig. 2 be in Fig. 1 reflection part rotate to an angle after single lasing light emitter measurement of angle schematic diagram;
Fig. 3 is the structural representation of reflection part in Fig. 1;
Fig. 4 is that in Fig. 1, single lasing light emitter adopts reflective mirror and spectroscope to form the schematic diagram of double light path measurement of angle;
Fig. 5 be in Fig. 4 reflection part rotate to an angle after single lasing light emitter measurement of angle schematic diagram;
Fig. 6 is the bidifly light source measurement of angle schematic diagram that novel smooth arm amplifying type high-precision angle sensor described in the utility model adopts;
Fig. 7 be in Fig. 6 reflection part rotate to an angle after bidifly light source measurement of angle schematic diagram;
Fig. 8 is that in Fig. 1, reflection part rotates forward and backward single lasing light emitter incident beam and folded light beam schematic diagram;
Fig. 8 a is schematic diagram when laser beam incidence point to be positioned on reflection part on reflecting surface center line in Fig. 8;
Fig. 8 b is that in Fig. 8, laser beam incidence point is the schematic diagram on reflection part on the right side of reflecting surface during intersecting lens;
Fig. 8 c is that in Fig. 8, laser beam incidence point is positioned at the schematic diagram on reflection part on the left of reflecting surface during intersecting lens;
Fig. 9 is single lasing light emitter incident beam in Fig. 8 after photodetector relative level face tilt certain angle and folded light beam schematic diagram.
Mark in figure:
1, lasing light emitter one, 2, lasing light emitter two, 3, laser beam one, 4, laser beam two, 5, reflection part, 6, reflecting surface, 7, photodetector one, 8, photodetector two, 9, reflective mirror, 10, spectroscope, 11, mounting hole.
Embodiment
Below in conjunction with test example and embodiment, the utility model is described in further detail.But this should be interpreted as that the scope of the above-mentioned theme of the utility model is only limitted to following embodiment, all technology realized based on the utility model content all belong to scope of the present utility model.
Embodiment 1
As shown in Figure 1, a kind of novel smooth arm amplifying type high-precision angle sensor, lasing light emitter one, for Emission Lasers bundle;
Reflection part 5, for being arranged on testee, reflection part 5 is rotatable and be provided with at least one reflecting surface 6, and reflecting surface 6 reflects for the laser beam of being launched by lasing light emitter 1;
Photodetector 1, the laser beam after the reflecting surface 6 for receiving reflection part 5 reflects;
Disposal system, is converted into the rotation angle value of reflection part 5 by the laser beam position changing value received by photodetector 1.
Reflection part 5 selects regular polygon column, and its inside is provided with axis hole, and as shown in Figure 3, i.e. the mounting hole 11 of regular polygon column, the workpiece coaxial rotatings when rotated such as realization and measured axis system, the side of this regular polygon column is reflective surface.This novel smooth arm amplifying type high-precision angle sensor puts the principle of wide-angle variations based on optical arm, realize measurement of angle by the photosensitive sites change of measuring photodetector.Its measuring principle as shown in Figure 1.With Fig. 1, Fig. 2 for explanation, the laser incidence point of photodetector 1 correspondence is regular polygon mid point, suppose that α is the incident angle of laser beam 1 reflecting surface 6 on reflection part 5 before testee rotates, β is the incident angle of laser beam 1 this reflecting surface 6 on reflection part 5 after testee anglec of rotation γ, θ is the half angle value (or angle value of center line on reflecting surface and hypotenuse) of the corresponding angle of a reflecting surface on regular polygon column, after regular polygon reflecting element angular rotation alpha-β angle, can get Ke get by Fig. 8, Fig. 9:
γ=alpha-beta (formula 1)
L
aB=(r × tan (α))-h-(r+L
oo'× cos (α)) × tan (2 β-α) (formula 4)
Wherein L
aBfor length variations amount measured by photodetector 1 element, r
1for polygon center is to the distance on polygon limit, r
2for polygon center is to the distance of polygon vertex.R is the distance of polygon central point to photodetector 1.Pass through L
aBlength variations can obtain the angle variable quantity of regular polygon column.Angle change direction can be obtained by the length variations of SA, and SA increases, and regular polygon column turns clockwise, and when SA reduces, then regular polygon column is rotated counterclockwise.
Select different regular polygon columns and incident angle, then the length of corresponding photodetector 1 needs to carry out corresponding design with fixed position, and design concept is as shown in Fig. 8,8a, 8b, 8c.Can computing formula be obtained as follows:
β=θ-∠
oO " O'(formula 8)
EF=r
1+ L
oo'× sin (α)+(r+L
oo'× cos (α)) × tan (α-2 β) (formula 9)
EG=r
1+ L
oo'× sin (α)+(r+L
oo'× cos (α)) × tan (α+2 β) (formula 10)
FG=(r+L
oo'× cos (α)) × (tan (α+2 β)-tan (α-2 β)) (formula 11)
For formula of reduction, simultaneously for ensureing that laser reflection point can well be received by photodetector 1, F point and G point suitably being amplified, according to Fig. 8,8a, 8b, 8c, following approximate formula can be used.
EF=r
2+ (r+L
oo') × tan (α-2 θ) (formula 12)
EG=r
2+ (r+L
oo') × tan (α+2 θ) (formula 13)
FG=(r+L
oo') × (tan (α+2 θ)-tan (α-2 θ)) (formula 14)
Require under any circumstance can reflect light on photodetector 1.
The reflecting surface number n=36 of regular polygon column is supposed, r=30mm, r in the present embodiment
2=20mm, r
1=19.924mm.
Under initial position, lasing light emitter 1 incidence point is at the middle part of regular polygon column, and incident angle is 70 degree, and lasing light emitter 22 incidence point is at the mid point of regular polygon, and incident angle is 70 degree.Photodetector 1 is vertically installed, and the distance of regular polygon column axial line distance photodetector 1 is 30mm.During the change of regular polygon column angle, lasing light emitter 1 and lasing light emitter 22 incidence point in the position of regular polygon also along with change, as shown in Figures 6 and 7.Along with the angle of regular polygon column changes, laser beam 1 change in location adopting photodetector 1 to detect carries out angle calculation.
Length and the fixed position of photodetector 1 need to carry out corresponding design, can obtain according to Fig. 8,8a, 8b, 8c:
EF＝r
2+(r+L
oo')×tan(α-2θ)＝25.328mm
EG＝r
2+(r+L
oo')×tan(α+2θ)＝37.447mm
FG＝(r+L
oo')×(tan(α+2θ)-tan(α-2θ))＝12.119mm
Length and angle corresponding relation can be changed according to formula 4.
Embodiment 2
As shown in Figure 4,5, when adopting double light path to realize measuring, spectroscope 10 is provided with between above-mentioned lasing light emitter 1 and regular polygon column, the laser beam arrival light splitting that lasing light emitter 1 is launched is penetrated mirror 10 after transmittance and reflectance divides, is formed laser beam 1, laser beam 24 respectively, laser beam 1 incides photodetector 1 after described regular polygon column reflection, after laser beam 24 incides at least one reflective mirror 9, then reflex to photodetector 28.Laser beam 24 after spectroscope 10 reflects incides photodetector 28 successively after two reflective mirrors 9.Photodetector 1 and photodetector 28 arranged in parallel in described regular polygon column the same side.
Laser beam 1, laser beam 24 is divide into, because this increasing spectroscope 10 and reflective mirror 9 in the laser beam of lasing light emitter 1.Under initial position lasing light emitter at the transmitted light of spectroscope 10 as laser beam 1, the incidence point of laser beam 1 is at the mid point of regular polygon column one reflective surface, lasing light emitter 1 at the reflected light of spectroscope 10 as laser beam 24, the incidence point of laser beam 24 is at the mid point of another reflecting surface 6 of regular polygon column, and wherein laser beam 1, laser beam 24 incide on two reflectings surface 6 of regular polygon column respectively.When regular polygon column rotates an angle, the incidence point of the transmitted light laser beam 1 of lasing light emitter 1 and the incidence point of reflected light laser beam 24 in the position on the limit of regular polygon column also along with change.Angle according to regular polygon column changes, photodetector 1 and photodetector 28 is adopted to measure the change in location of laser beam 1, laser beam 24 respectively, calculate its angle value respectively to measuring two change in location obtained, then angle value is averaged as the rotation angle value of measured workpiece.
Select different regular polygon columns and incident angle, then the length of two corresponding photodetectors needs to carry out corresponding design with fixed position, and design formula is with reference to formula 5 to formula 14.
Embodiment 3
As shown in Figure 9, be vertical direction in photodetector 1 is not as embodiment 1, but the angle angled with horizontal line
after regular polygon reflecting element angle rotates γ angle, suppose that change in location detected on photodetector is L
aB ', can be obtained by formula 4:
When
time, photodetector 1 is in horizontality, and in this condition, measuring principle is identical with embodiment 1, and at identical interior axially bored line under the distance of photodetector, installing space reduces greatly; When
time, photodetector 1 is in vertical state, as described in Example 1, at identical interior axially bored line under the distance of photodetector, and accuracy of detection ratio
shi Gao, but installing space increases.During actual use, it is suitable to select according to installing space and accuracy requirement
angle is designed.
Select different regular polygon columns and incident angle, then the length of two corresponding photodetectors needs to carry out corresponding design with fixed position.
Embodiment 4
As shown in Figure 6,7, this novel smooth arm amplifying type high-precision angle sensor also adopts the double light path of two lasing light emitters to realize measuring.The i.e. corresponding photodetector of each lasing light emitter, the corresponding photodetector 1 of lasing light emitter 1, the corresponding photodetector 28 of lasing light emitter 22.Specifically under initial position, lasing light emitter 1 incidence point is at the middle part of regular polygon column one reflecting surface 6, and lasing light emitter 22 incidence point is at the middle part of another reflecting surface 6 of regular polygon column.When regular polygon column angle changes, lasing light emitter 1 and lasing light emitter 22 incidence point in the position of two reflectings surface 6 of regular polygon column all along with change.Along with the angle of regular polygon column changes, two laser beam position adopting photodetector 1 and photodetector 28 simultaneously to record change carries out angle calculation and averages.
Select different regular polygon columns and incident angle, then the length of two corresponding photodetectors needs to carry out corresponding design with fixed position, and design formula is with reference to formula 5 to formula 14.
Above embodiment only in order to the utility model is described and and technical scheme described by unrestricted the utility model, although this instructions has been described in detail the utility model with reference to each above-mentioned embodiment, but the utility model is not limited to above-mentioned embodiment, therefore anyly the utility model is modified or equivalent to replace; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (8)
1. a novel smooth arm amplifying type high-precision angle sensor, is characterized in that, comprising:
Lasing light emitter one (1), for Emission Lasers bundle;
Reflection part (5), described reflection part (5) is for installing testee, described reflection part (5) is rotatable and be provided with at least one reflecting surface (6), and described reflecting surface (6) reflects for the laser beam of being launched by described lasing light emitter one (1);
Photodetector one (7), the laser beam after the reflecting surface (6) for receiving described reflection part (5) reflects;
Disposal system, is converted into the rotation angle value of described reflection part (5) by the laser beam position changing value received by photodetector one (7).
2. novel smooth arm amplifying type high-precision angle sensor according to claim 1, it is characterized in that, the reflecting surface (6) of described reflection part (5) is the plane of reflection.
3. novel smooth arm amplifying type high-precision angle sensor according to claim 1, is characterized in that, described reflection part (5) is provided with the mounting hole (11) being convenient to install testee.
4., according to the arbitrary described novel smooth arm amplifying type high-precision angle sensor of claim 1-3, it is characterized in that, described reflection part (5) is provided with at least two described reflectings surface (6).
5. novel smooth arm amplifying type high-precision angle sensor according to claim 4, it is characterized in that, described reflection part (5) is regular polygon column, and each side of described regular polygon column is described reflecting surface (6).
6. novel smooth arm amplifying type high-precision angle sensor according to claim 4, it is characterized in that, also comprise photodetector two (8), spectroscope and at least one reflective mirror (9), described spectroscope (10) is positioned between described lasing light emitter one (1) and described reflection part (5); Incident beam is reflexed to described reflective mirror (9) by described spectroscope (10), described reflective mirror (9) is by beam reflection other reflectings surface (6) to described reflection part (5), and the light beam that this reflecting surface (6) reflects is received by described photodetector two (8).
7. novel smooth arm amplifying type high-precision angle sensor according to claim 4, it is characterized in that, also comprise lasing light emitter two (2) and photodetector two (8), the incident beam of described lasing light emitter two (2) incides other reflectings surface (6) on described reflection part (5), and the light beam that this reflecting surface (6) reflects is received by described photodetector two (8).
8. the novel smooth arm amplifying type high-precision angle sensor according to claim 6 or 7, is characterized in that, described photodetector two (8) is arranged in parallel with described photodetector one (7).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105180842A (en) * | 2015-05-26 | 2015-12-23 | 张白 | Novel optical arm amplified high-precision angle sensor and measurement method |
| CN108556781A (en) * | 2018-03-02 | 2018-09-21 | 浙江福林国润汽车零部件有限公司 | The device of intelligent closed door after a kind of vehicle start |
| CN109945805A (en) * | 2019-04-09 | 2019-06-28 | 北方民族大学 | A kind of high-precision angle sensor |
| CN110579339A (en) * | 2019-08-30 | 2019-12-17 | 歌尔股份有限公司 | polarization angle calibration method, device, equipment, optical system and storage medium |
-
2015
- 2015-05-26 CN CN201520348958.XU patent/CN204854659U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105180842A (en) * | 2015-05-26 | 2015-12-23 | 张白 | Novel optical arm amplified high-precision angle sensor and measurement method |
| CN105180842B (en) * | 2015-05-26 | 2018-08-28 | 张白 | A kind of smooth arm amplifying type high-precision angle sensor and measurement method |
| CN108556781A (en) * | 2018-03-02 | 2018-09-21 | 浙江福林国润汽车零部件有限公司 | The device of intelligent closed door after a kind of vehicle start |
| CN109945805A (en) * | 2019-04-09 | 2019-06-28 | 北方民族大学 | A kind of high-precision angle sensor |
| CN110579339A (en) * | 2019-08-30 | 2019-12-17 | 歌尔股份有限公司 | polarization angle calibration method, device, equipment, optical system and storage medium |
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Granted publication date: 20151209 Termination date: 20210526 |