CN205940454U - Three -dimensional combined type measuring apparatu of two dimension - Google Patents
Three -dimensional combined type measuring apparatu of two dimension Download PDFInfo
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- CN205940454U CN205940454U CN201620558742.0U CN201620558742U CN205940454U CN 205940454 U CN205940454 U CN 205940454U CN 201620558742 U CN201620558742 U CN 201620558742U CN 205940454 U CN205940454 U CN 205940454U
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Abstract
The utility model belongs to the technical field of the two dimension, three -dimensional measurement is technological and specifically relates to a three -dimensional combined type measuring apparatu of two dimension is disclosed, including the objective table, can gather the active image acquisition module of the object profile information that awaits measuring, connect the control and the data processor of active image acquisition module, the objective table has the printing opacity that is used for settling the object that awaits measuring and carries the object plane, and active image acquisition module lies in the parallel backlight under the objective table including lieing in the image acquisition module directly over the objective table to and 4 or 4 above even number even slantly distributed in image gathering module outlying structured light projectors, parallel backlight can send the parallel light of perpendicular to objective table, and the structured light projector can send the structured light that is certain contained angle with the image gathering module optical axis. The utility model discloses can measure testee surface two dimension, three -dimensional information in all -round, no dead angle, the measuring is fast, and the accuracy is high, especially can carry out the accurate measurement to the surface characteristics who has deep hole, deep trouth class.
Description
Technical field
The utility model is related to two dimension, three-dimensional measurement technical field, especially relates to a kind of two dimension three-dimensional combined type measurement
Instrument.
Background technology
Three-dimensional measurement technology is applied to numerous neck such as industrial automatic detection, control of product quality, reverse engineer, virtual reality
Domain.Huge application market demand, has promoted the fast development of various method for three-dimensional measurement and technology, the business measurement emerging
Instrument includes three coordinate measuring machine and the joint coordinates measuring machine of contact, and based on acoustics, optics and electromagnetic non-connects
Touch measuring apparatus.With the development of computer vision, digital image acquisition technology and precision optics, increasing three
Dimension optical measuring technique rapidly enters the business application stage.And the measuring three-dimensional profile based on structure light due to have contactless,
High precision, speed is fast and the feature of high degree of automation, in robot navigation, Making mold, 3D printing and online quality examination
Obtain extensive concern in field and developed.
It is currently based on the three-dimensional measurement instrument of structure light or sensor adopts industrial camera to install perpendicular to objective table, light
The vertical optical axis of source and industrial camera camera lens are in that certain angle is installed, and the part surface that so can cause testee cannot be by
Light source irradiates, and then the surface profile information of this part cannot obtain.Although being capable of part by way of rotating testee
Overcome such defect, but be so that complicated integral structure, the coupling data splicing calculating consuming time of characteristic point simultaneously can not
Evitable bring larger error, and due to rotation platform instead of planar movement platform it is impossible to measure larger-size thing
Body.What is more important, existing contourgraph cannot measure for deep hole, the common structural form such as deep trouth.
Utility model content
The utility model, in order to overcome the deficiencies in the prior art, provides a kind of measurement accuracy high, speed is fast, especially can be right
The two dimension three-dimensional combined type measuring instrument that deep hole, deep trouth measure.
To achieve these goals, the utility model employs the following technical solutions：A kind of two dimension three-dimensional combined type measuring instrument,
Including objective table, the active IMAQ module of object under test profile information can be gathered, connect described active IMAQ
The control of module and data processor and support；At described active IMAQ module, objective table and control and data
All on support, described objective table has the printing opacity loading plane for disposing object under test, described active image to reason device
The image capture module that collection module includes directly over objective table, the collimated backlight source immediately below objective table, and 4
Individual or more than 4 even number uniform pitch are distributed in the peripheral structured light projector of image capture module；Collimated backlight source energy
Send the directional light perpendicular to objective table, described structured light projector can send in a certain angle with image capture module optical axis
Structure light., located at image capture module periphery, irradiated area is big, scope is wide, energy for several structured light projector of the utility model
Carrying out no dead angle, omnibearing measurement to testee surface tri-dimensional profile；Collimated backlight source direction from objective table simultaneously
Upper projection directional light irradiates testee, and testee accurate two-dimensional silhouette image information is gathered by image capture module, phase
Ratio, in three-dimensional measurement, is easier to be accurately obtained deep hole by two-dimensional measurement, the two-dimensional silhouette letter of the common structural form such as deep trouth
Breath.Because the structure light that structured light projector sends immobilizes with respect to the launching position of image capture module and orientation, with
When testee accurately read when X-axis, Y-axis and Z axis displacement are in IMAQ, the fusion of two-dimentional three-dimensional data and
The splicing of three-dimensional data calculates very convenient.The utility model compact conformation, measuring speed is fast, the discontinuous change to surface profile
Testee there is good adaptability, the surface characteristics having deep hole, deep trouth class all can be measured.
Further, the angle of inclination of described image acquisition module is 30-45 °.So both can ensure that integrally-built
Compact it is also ensured that structure luminous energy is irradiated to the curved surface that can produce big rise and fall during object under test surface completely, be easy to obtain
Detection object under test surface profile information.
Further, described structured light projector includes from the top down the first light source of tilt distribution successively, liquid crystal grating
And parallel light path lens group.Structured light projector is lighted successively by the first light source, and adjusts structure using liquid crystal grating
The form of light projects testee surface successively from multiple angles, expands irradiated area further.
Further, described image acquisition module includes industrial camera, the doubly telecentric light Reuter setting gradually from the top down
Mirror.Using bilateral telecentric beam path so that the depth of parallelism of light greatly enhances, the fusion of two-dimentional three-dimensional data can significantly improve three
Dimension profile measurement precision.
Further, described objective table is can to adjust the X-Y-Z in X-axis, Y-axis and Z-direction position for the object under test respectively
Three-axis moving objective table.Objective table can move in X-axis, Y-axis and Z axis, to improve the measurement range of measuring instrument.
Further, described X-Y-Z three-axis moving objective table includes：X-axis platform and drive the motion of described X-axis platform
First power set；Y-axis platform and the second power set driving described Y-axis platform motion；Z axis platform and driving are described
3rd power set of Z axis platform motion；X-axis platform and the first power set are arranged on Y-axis platform jointly, Y-axis platform and
Second power set arrange on Z axis platform jointly, and Z axis platform is installed on support by a fixed plate, and makes described image
The optical axis of acquisition module is vertical with the printing opacity loading plane of X-axis platform；Pass through slide rail and slide block between Z axis platform and fixed plate
Cooperation is slidably connected.This setting structure is simple, easy to control, accurate, easily realizes.
Further, also include a grating scale that can measure X-axis platform, Y-axis platform and Z axis platform displacement, described
Grating scale, the first power set, the second power set, the 3rd power set are all connected with described control and data processor.X-axis is put down
The actual displacement of platform, Y-axis platform and Z axis platform is accurately read by grating scale, and feeds back to control and data processor
Realize the precise control of translation distance.
Further, also include a calibrating block, described calibrating block includes the main body of pyramid, located at bottom part body periphery
Frame, is uniformly distributed along frame, vertical square through hole, circumferentially located at the waveform step of body side and located at main body
The table top on top, positioned at the manhole at table top center；The side quantity of described main body is equal with the quantity of structured light projector；
Each waveform step is connected in sequence by some monomers, and each monomer all includes a left side elevational, the Gao Shui being sequentially connected
Plane, right side facade and low level.Table top contributes to the foundation to coordinate system during calibrating block accurate measurement, and manhole is permissible
Whether auxiliary observation objective table is vertical with optical axis.Vertical square opening is used for gathering bidimensional image data, and waveform step both may be used
To produce many points being crossed by facet, thus improving the precision of demarcation, and it is unlikely to right because of corrugated design
Light produces and stops, the effect of waveform step increases three-dimensional scaling data point in the Z-axis direction, thus ensureing measuring instrument
The precision of the demarcation in its gamut scope.
In addition, a kind of the invention also discloses data fusion demarcation side of above-mentioned two dimension three-dimensional combined type measuring instrument
Method, comprises the steps：
（a）Set up the three-dimensional system of coordinate of calibrating block, determine the origin of coordinates, record calibrating block using calibration instrument all square
Four vertex plane coordinates of through hole, four apex coordinate value sets of all square through holes are designated as Rxy；Measure all monomers
Left side elevational, the XYZ coordinate of upper level, right side facade and low level junction, and record its collection and be combined into Rxy；
（b）Calibrating block is positioned on the objective table of described two dimension three-dimensional combined type measuring instrument so that calibrating block outline
Within the field range of described active image processing module, each side of calibrating block is just thrown to a structure light respectively
Emitter；
（c）Owned with collimated backlight source described in data processor controlled and image capture module collection calibrating block by controlling
Square through hole apex coordinate, is designated as Mxy；Then pass through again to control and data processor controlled structured light projector and IMAQ
Module gathers the left side elevational of all monomers of calibrating block, the coordinate set of upper level, right side facade and low level junction,
It is designated as Mxy；
（d）Solving equations：Mxy*U=Rxy；Mxyz*V=Rxyz, solve equation can get calibrating block measurement data with true
Transformation matrix U, V, W between data, completes to demarcate.
Above-mentioned scaling method is that clear data drives, it is to avoid because model structure that the difference between hardware causes is brought
Error, and calibration process is simple, easily realizes, and accuracy is high.
In sum, the utility model can be comprehensive, no dead angle measurement testee surface two dimension, three-dimensional information, surveys
The speed of amount is fast, and accuracy is high, especially the surface characteristics that have deep hole, deep trouth class accurately can be measured.
Brief description
Fig. 1 is the structural representation of the utility model embodiment 1；
Fig. 2 is the active image processing module structural representation of the utility model embodiment 1；
Fig. 3 is that the active image processing module of the utility model embodiment 1 is illustrated with one of structure light-source structure
Figure；
Fig. 4 is the X-Y-Z three-axis moving carrier structure schematic diagram of the utility model embodiment 1；
Fig. 5 is the calibrating block structural representation of the utility model embodiment 1.
Specific embodiment
In order that those skilled in the art are better understood from the utility model scheme, real below in conjunction with the utility model
Apply the accompanying drawing in example, clear, complete description is carried out to the technical scheme in the utility model embodiment.
As Figure 1-5, a kind of two dimension three-dimensional combined type measuring instrument, including objective table, active IMAQ module 1,
Control and data processor 3 and support.Described objective table has the printing opacity loading plane for disposing object under test, Jin Erbao
Card light can pass through this printing opacity loading plane.Active IMAQ module 1 can gather object under test profile information, controls and number
Connect described active IMAQ module 1 and objective table 2 according to processor 3.Described active IMAQ module 1, objective table
And control with data processor 3 all on support.Described support includes supporting construction 4 and is connected in supporting construction 4
Base 5.Support can be played a supporting role to whole measuring instrument.
Specifically, described active IMAQ module 1 includes image capture module 13, collimated backlight source 12 and structure
Light source module 11,
Described structure light source module 11 includes 4 structured light projector 111, certainly described structure light in other embodiments
The projector 111 can also be the even number of more than 4.Described image acquisition module 13 is located at directly over objective table, collimated backlight
Source 12 is located at immediately below objective table, and structured light projector 111 uniform pitch is distributed in image capture module 13 periphery, and this structure
Light projector 111 and angle of inclination be 30-45 °, and described structured light projector 111 around industrial camera 131 optical axis periphery
360 ° are evenly arranged.Collimated backlight source 12 can send the directional light perpendicular to objective table, and described structured light projector 111 can send
Structure light, structure light is in a certain angle with image capture module 13 optical axis, and the optical axis of image capture module 13 is put down with directional light
Row setting.Angle of inclination because of structured light projector 111 is 30-45 °.I.e. structured light projector 111 and image capture module 13
Between angle be 30-45 °, thus the angle between described structure light and optical axis also be 30-45 °.
Furthermore, described structured light projector 111 includes from the top down the first light source 1111 of tilt distribution successively, liquid crystal light
Grid 1112 and parallel light path lens group 1113.And described image acquisition module 13 includes the industrial phase setting gradually from the top down
Machine 131, doubly telecentric light path lens 132, described doubly telecentric light path lens 132 are near described objective table.Structured light projector 111 is thrown
The structure light penetrated and industrial camera 131 optical axis assume certain angle so that ensure can be illuminated in testee all directions.And
The directional light that collimated backlight source 12 projects from bottom to top is parallel with industrial camera 131 optical axis.Described first light source 111 is LED light
Source, may also be other existing light sources.
As shown in figure 4, described objective table is X-Y-Z three-axis moving objective table 2, X-Y-Z three-axis moving objective table 2 can be distinguished
Adjustment object under test is in X-axis, Y-axis and Z-direction position.I.e. described X-Y-Z three-axis moving objective table 2 includes：X-axis platform 21 with
And drive the first power set 211 of described X-axis platform motion 21；Y-axis platform 22 and drive the motion of described Y-axis platform 22
Second power set 221；Z axis platform 23 and the 3rd power set 231 driving described Z axis platform 23 motion；X-axis platform 21
Jointly it is arranged on Y-axis platform 22 with the first power set 211, Y-axis platform 22 and the second power set 221 arrange Z axis jointly
On platform 23, Z axis platform 23 is installed on support by a fixed plate 24, and make the optical axis of described image acquisition module 13 with
The printing opacity loading plane of X-axis platform 21 is vertical；The cooperation passing through slide rail 241 between Z axis platform 23 and fixed plate 24 with slide block is slided
It is dynamically connected.In the present embodiment, described first power set 211, the second power set 221 and the 3rd power set 231 are electricity
Machine, in other embodiments, can be with other power parts such as cylinder.
Furthermore, the testee placement region of described X-Y-Z tri- axle objective table 2 is glass loading surface 25, that is, described transparent
Region is glass loading surface 25.Glass loading surface 25 has good translucency, X-Y-Z tri- axle objective table 2 parallel beneath backlight
The directional light that source 12 projects upwards can unobstructedly pass through doubly telecentric light path lens group 132 and enter industrial camera 131.
Preferably, the utility model also includes a grating scale, and grating scale can measure X-axis platform 21, Y-axis platform 22 and Z axis
Platform 23 displacement, described grating scale, the first power set 211, the second power set 221, the 3rd power set 231 all connect
Connect described control and data processor 3.
The translational movement of X-axis platform 21, Y-axis platform 22 and Z axis platform 23 controls X-axis with data processor 3 respectively by controlling
Motor 211, Y-axis motor 221 and Z axis motor 231 are realized, and the actual translation distance of each axle is by grating scale essence
Really read, and feed back to and control the precise control realizing translation distance with data processor 3.
During use, testee is positioned on X-Y-Z three-axis moving objective table 2, controls with data processor 3 according to behaviour
The instruction of work person controls the movement of objective table, and four different structure light projectors 111 of structure light source module 11 send knot successively
Structure light, image capture module 13 gathers the testee surface information through structure light modulation, and collimated backlight source 12 sends and carries
The vertical collimated light beam of thing platform, image capture module 13 collects the two-dimentional outline information of testee, image capture module
Information collected by 13 is passed through to control the process with data processor 3, obtains the surface two dimension of the diverse location of testee
Three-D profile information.
Described active IMAQ module 1 lights and gathers image according to the instruction of control and data processor 3, according to
Image obtains testee surface two dimension three-D profile information by method set in advance, controls and data processor 3 basis
The setting measurement task computation of operator goes out measurement result, exports display device.
Pass through the first light source 1111 around 360 ° of many structured light projector 11 being evenly arranged of industrial camera 131 optical axis
Light, and controlled the form of structure light used by liquid crystal grating 1112, by parallel light path lens group 1113 with certain angle successively
It is irradiated to testee, testee surface image information is adopted by industrial camera 131 one by one by doubly telecentric light path lens group 132
Collection.Control the accurate movement controlling objective table with data processor 3, the surface image information at the multiple visual angle of diverse location can be obtained
And complete calculating and the process of two-dimentional three-dimensional data.The two dimension that the utility model can obtain the bottom surface projection of testee is high-precision
Degree profile information, and can achieve to testee surface tri-dimensional profile almost without the comprehensive measurement in dead angle.The two dimension three merging
Dimension measurement data has good adaptability to the testee of the discontinuous change of surface profile, and measuring instrument possesses compact conformation,
Measuring speed is fast, the features such as high precision.
As shown in figure 5, the utility model is also provided with a calibrating block 6, described calibrating block 6 include pyramid main body 61,
Frame, vertical square through hole 62, waveform step, table top 64 and manhole 65.Described table top 64 is located at main body 61
Top middle, the length of side quantity of table top 64 is equal with main body 61 side quantity, and corresponds setting.Described manhole 65
Located at table top 64 middle, and run through whole main body 61., located at main body 61 bottom periphery, square through hole 62 is along frame for described frame
Length direction is uniformly distributed, and waveform step is circumferentially on main body 61 side, and this waveform step is vertically raised in master
The side of body 61.The side quantity of described main body 61 is equal with the quantity of structured light projector 111；I.e. in the present embodiment, tie
The quantity of structure light projector 111 is 4, and just for pyramid shape, this main body 61 has 4 sides to described main body 61.And each ripple
Shape wave step is connected in sequence by some monomers, and each monomer all includes a left side elevational 631, the upper level being sequentially connected
634th, right side facade 632 and low level 633.In the present embodiment, the waveform step in described main body 61 is 3, and
Can also be 1-2 or more than 3 in other embodiment.Described shape wave number of steps is more, and accuracy is also higher, but cost is got over
High；On the contrary, and step book is fewer, cost is lower, but precision is lower.
Embodiment 2
The present embodiment is a kind of data fusion scaling method of two dimension three-dimensional combined type measuring instrument described in utilization embodiment 1,
Comprise the steps：
（a）Set up the three-dimensional system of coordinate of calibrating block, determine the origin of coordinates, record all sides of calibrating block 6 using calibration instrument
Four vertex plane coordinates of shape through hole 62, four apex coordinate value sets of all square through holes 62 are designated as Rxy；Measurement is demarcated
The left side elevational 631 of all monomers of block 6, the XYZ coordinate of upper level 634, right side facade 632 and low level 633 junction,
And record its collection and be combined into Rxy.
（b）Calibrating block 6 is positioned on the objective table of described two dimension three-dimensional combined type measuring instrument so that calibrating block 6 outer
Profile is fully located within the field range of described active image processing module 1, and each side of calibrating block 6 is respectively just to one
Individual structured light projector 111, described calibrating block is pyramid shape in the present embodiment, and described structured light projector 111 is 4,
And then can be by the four of calibrating block 6 side respectively just to described 4 structured light projector 111.
（c）Described collimated backlight source 12 and image capture module 13 collection is controlled to demarcate by controlling with data processor 3
On block 6, all square through hole 62 apex coordinates, are designated as Mxy；Then pass through again to control and data processor 3 control structure light projection
The left side elevational 631 of device 111 and the image capture module 13 collection all monomers of calibrating block 6, upper level 634, right side facade 632
And the coordinate set of low level 633 junction, it is designated as Mxy；
（d）Solving equations：Mxy*U=Rxy；Mxyz*V=Rxyz, solve equation can get calibrating block 6 measurement data with true
Transformation matrix U, V, W between data, completes to demarcate.
Obviously, described embodiment is only a part of embodiment of the present utility model, rather than whole embodiments.
Based on the embodiment in the utility model, those of ordinary skill in the art are obtained under the premise of not making creative work
Every other embodiment, all should belong to the scope of the utility model protection.
Claims (8)
1. a kind of two dimension three-dimensional combined type measuring instrument, including objective table, can gather the active image of object under test profile information
Collection module (1), connects control and data processor (3) and the support of described active IMAQ module (1)；Described master
, with data processor (3) all on support, described objective table has for dynamic formula IMAQ module (1), objective table and control
For dispose object under test printing opacity loading plane it is characterised in that：Described active IMAQ module (1) is included positioned at load
Image capture module (13) directly over thing platform, the collimated backlight source (12) immediately below objective table, and 4 or 4
Above even number uniform pitch is distributed in the structured light projector (111) of image capture module (13) periphery；Collimated backlight source
(12) directional light perpendicular to objective table can be sent, described structured light projector (111) can send and image capture module (13)
Optical axis structure light in a certain angle.
2. according to claim 1 two dimension three-dimensional combined type measuring instrument it is characterised in that：Described image acquisition module (13)
Angle of inclination be 30-45 °.
3. according to claim 1 two dimension three-dimensional combined type measuring instrument it is characterised in that：Described structured light projector
(111) first light source (1111) of tilt distribution, liquid crystal grating (1112) and parallel light path lens successively are included from the top down
Group (1113).
4. according to claim 1 two dimension three-dimensional combined type measuring instrument it is characterised in that：Described image acquisition module (13)
Including the industrial camera (131) setting gradually from the top down, doubly telecentric light path lens (132).
5. according to claim 1 two dimension three-dimensional combined type measuring instrument it is characterised in that：Described objective table is to adjust respectively
Whole object under test is in X-Y-Z three-axis moving objective table (2) of X-axis, Y-axis and Z-direction position.
6. according to claim 5 two dimension three-dimensional combined type measuring instrument it is characterised in that：Described X-Y-Z three-axis moving carries
Thing platform (2) includes：X-axis platform (21) and drive the first power set (211) of moving of described X-axis platform (21)；Y-axis platform
And drive the second power set (221) of moving of described Y-axis platform (22) (22)；Z axis platform (23) and the described Z axis of driving
The 3rd power set (231) that platform (23) moves；X-axis platform (21) and the first power set (211) are jointly arranged at Y-axis and put down
On platform (22), on Y-axis platform (22) and the second power set (221) common setting Z axis platform (23), Z axis platform (23) passes through
One fixed plate (24) is installed on support, and makes the optical axis of described image acquisition module (13) and the printing opacity of X-axis platform (21)
Loading plane is vertical；It is slidably connected by the cooperation of slide rail (241) and slide block between Z axis platform (23) and fixed plate (24).
7. according to claim 1 two dimension three-dimensional combined type measuring instrument it is characterised in that：Also include one can measure X-axis put down
The grating scale of platform (21), Y-axis platform (22) and Z axis platform (23) displacement, described grating scale, the first power set (211),
Second power set (221), the 3rd power set (231) are all connected with described control and data processor (3).
8. according to claim 1 two dimension three-dimensional combined type measuring instrument it is characterised in that：Also include a calibrating block (6), institute
State the main body (61) that calibrating block (6) includes pyramid, located at the frame of main body (61) bottom periphery, be uniformly distributed along frame, erect
Straight square through hole (62), the circumferentially waveform step located at main body (61) side and the table top located at main body (61) top
(64), positioned at the manhole (65) at table top (64) center；The side quantity of described main body (61) and structured light projector (111)
Quantity equal；Each waveform step is connected in sequence by some monomers, and each monomer all includes the left side being sequentially connected
Side elevation (631), upper level (634), right side facade (632) and low level (633).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620558742.0U CN205940454U (en) | 2016-06-08 | 2016-06-08 | Three -dimensional combined type measuring apparatu of two dimension |
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| CN201620558742.0U CN205940454U (en) | 2016-06-08 | 2016-06-08 | Three -dimensional combined type measuring apparatu of two dimension |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841618A (en) * | 2016-06-08 | 2016-08-10 | 杭州汉振科技有限公司 | Two-dimensional and three-dimensional combined measuring instrument and data fusion calibration method thereof |
| CN107421466A (en) * | 2017-06-22 | 2017-12-01 | 上海弼智仿生高科技有限公司 | A kind of synchronous acquisition device and acquisition method of two and three dimensions image |
| CN110645911A (en) * | 2019-09-18 | 2020-01-03 | 重庆市光学机械研究所 | Device and method for obtaining complete outer surface 3D contour through rotary scanning |
| CN112325735A (en) * | 2020-11-05 | 2021-02-05 | 吉林大学 | Visual measuring device and method for three-dimensional space distribution of seedbed soil blocks |
| CN112692833A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Calibration block, robot calibration method, calibration device and storage medium |
-
2016
- 2016-06-08 CN CN201620558742.0U patent/CN205940454U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841618A (en) * | 2016-06-08 | 2016-08-10 | 杭州汉振科技有限公司 | Two-dimensional and three-dimensional combined measuring instrument and data fusion calibration method thereof |
| CN105841618B (en) * | 2016-06-08 | 2019-05-10 | 浙江汉振智能技术有限公司 | Two-dimentional three-dimensional combined type measuring instrument and its data fusion scaling method |
| CN107421466A (en) * | 2017-06-22 | 2017-12-01 | 上海弼智仿生高科技有限公司 | A kind of synchronous acquisition device and acquisition method of two and three dimensions image |
| CN110645911A (en) * | 2019-09-18 | 2020-01-03 | 重庆市光学机械研究所 | Device and method for obtaining complete outer surface 3D contour through rotary scanning |
| CN112325735A (en) * | 2020-11-05 | 2021-02-05 | 吉林大学 | Visual measuring device and method for three-dimensional space distribution of seedbed soil blocks |
| CN112325735B (en) * | 2020-11-05 | 2021-08-03 | 吉林大学 | Visual measuring device and method for three-dimensional space distribution of seedbed soil blocks |
| CN112692833A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Calibration block, robot calibration method, calibration device and storage medium |
| CN112692833B (en) * | 2020-12-31 | 2022-04-15 | 广东美的白色家电技术创新中心有限公司 | Calibration block, robot calibration method, calibration device and storage medium |
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