CN210089637U - Ball hinge space corner detection device - Google Patents
Ball hinge space corner detection device Download PDFInfo
- Publication number
- CN210089637U CN210089637U CN201921287438.7U CN201921287438U CN210089637U CN 210089637 U CN210089637 U CN 210089637U CN 201921287438 U CN201921287438 U CN 201921287438U CN 210089637 U CN210089637 U CN 210089637U
- Authority
- CN
- China
- Prior art keywords
- quadrant
- photoelectric detector
- quadrant photoelectric
- ball
- hemispherical shell
- 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.)
- Active
Links
Images
Abstract
The utility model discloses a ball hinge space corner detection device. Currently, optical goniometers are limited. The hemispherical shell of the utility model is fixed on the ball head output rod; the hemispherical shell is concentric with the ball head and faces the ball head; the laser emitter is fixed on the ball socket; n four-quadrant photoelectric detector groups distributed along the warp direction are arranged on the spherical surface in the hemispherical shell, and each four-quadrant photoelectric detector group consists of N four-quadrant photoelectric detectors which are uniformly distributed and fixed on the spherical surface in the hemispherical shell along the weft direction; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the longitude direction symmetric center lines of all the four quadrant photodetectors aligned on one longitude line are all the sides of the inscribed regular polygon of the longitude line. The utility model discloses an arrange a laser emitter and a plurality of four-quadrant photoelectric detector, realize the measurement of ball hinge deflection angle and azimuth, and resolution ratio and measurement accuracy height.
Description
Technical Field
The utility model belongs to the technical field of measure, concretely relates to ball hinge space corner detection device based on four-quadrant photoelectric detector.
Background
The ball hinge is a commonly used three-degree-of-freedom mechanical joint, has the advantages of compact structure, flexible movement, strong bearing capacity and the like, and becomes a key component in mechanical equipment such as parallel mechanisms, industrial robots (mechanical arms), automobile parts and the like. For example, a parallel machine tool is used as novel numerical control machining equipment, each branched chain is connected with a movable platform and a static platform through a hinge, the quasi-static error of a system has about 70% of influence on the precision of the machine tool, and the error of a ball hinge has an important influence on the alignment of the static error. Because the motion of the spherical hinge is limited by the joint clearance of the hinge, the structural rigidity and the like, and the caused motion error influences the transmission precision of the system, the detection of the spatial rotation angle of the spherical hinge is very necessary for the prediction analysis, feedback and compensation of the system error, and is beneficial to the optimization of the control of a motion mechanism.
The traditional angle measurement is mainly based on a single-degree-of-freedom moving object, and generally comprises mechanical angle measurement, electromagnetic angle measurement, optical angle measurement and the like. The research and application of the optical measurement technology are rapidly developed, and the detection instruments are various, for example, the detection instruments adopting a photoelectric encoder method, a circular grating method, a laser interference method, a ring laser method and the like are mostly applied to the precise measurement of small angles, and can obtain higher resolution and measurement precisionDegrees, however, suitable improvements are still needed for 360 ° full-circle angular measurements. For example, shin-gaku corporation of momhowa seiko, japan proposes a detection apparatus using a method of measuring an absolute angle of a sphere, wherein the sphere is made of a transparent material or a material capable of transmitting an electromagnetic wave recognized by an image recognition device, and a surface of the sphere is sprayed with a pattern QR
Two-dimensional or one-dimensional bar codes record information such as position in the code. The image recognition device is arranged outside the sphere, and the detected pattern is processed to obtain the angle information of the sphere, however, the detection instrument is not found in practical application occasions, and the actual effect of the detection instrument is not questioned.
Disclosure of Invention
The utility model aims at prior art not enough, provide a ball hinge space corner detection device based on four-quadrant photoelectric detector, realize the measurement of ball hinge deflection angle and azimuth.
The utility model comprises a laser emitter, a hemispherical shell, a ball head output rod, a ball socket and a four-quadrant photoelectric detector group; the hemispherical shell is fixed on the ball head output rod; the hemispherical shell is concentric with the ball head and faces towards the ball head. The laser emitter is fixed on the ball socket. N four-quadrant photoelectric detector groups distributed along the warp direction are arranged on the inner spherical surface of the hemispherical shell, N is more than or equal to 8, each four-quadrant photoelectric detector group consists of N four-quadrant photoelectric detectors which are uniformly distributed and fixed on the inner spherical surface of the hemispherical shell along the weft direction, and N is more than or equal to 20; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the length of the overlapped edges of two adjacent four-quadrant photoelectric detectors aligned along the same meridian in each four-quadrant photoelectric detector group is equal; the longitude direction symmetric center lines of all the four quadrant photodetectors aligned on one longitude line are all the sides of the inscribed regular polygon of the longitude line.
Furthermore, the numbering sequence of each four-quadrant photoelectric detector in the four-quadrant photoelectric detector group with the lowest latitude is 1 to N in sequence, the numbering sequence of N four-quadrant photoelectric detector groups is 1 to N in sequence from low to high according to the latitude, the number of the four-quadrant photoelectric detector in the ith four-quadrant photoelectric detector group aligned with the jth four-quadrant photoelectric detector in the first four-quadrant photoelectric detector group with the lowest latitude along the meridian direction is j + (i-1) N, j is more than or equal to 1 and less than or equal to N, and i is more than or equal to 2 and less than or equal to N.
Furthermore, the four-quadrant photodetectors of the same four-quadrant photodetector group have the same size.
Furthermore, the distance between adjacent four-quadrant photodetectors in the same four-quadrant photodetector group is less than 0.05 mm.
Furthermore, the four-quadrant photoelectric detector group is not distributed on the inner spherical surface of the whole hemispherical shell.
The utility model has the advantages that:
1. the utility model discloses an arrange a laser emitter and a plurality of four-quadrant photoelectric detector, the space two dimension corner of detectable bulb, deflection angle and azimuth promptly to the mounted position requirement to laser emitter is not high, and implementation is comparatively simple.
2. The utility model discloses can realize non-contact measurement, obtain higher resolution ratio and measurement accuracy.
3. The utility model discloses the cost is lower, and is not high to the equipment requirement, and the practicality is big.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the arrangement of a four-quadrant photodetector in the hemispherical shell according to the present invention;
FIG. 3 is a schematic diagram of the deflection angle and the azimuth angle of the ball head of the present invention;
FIG. 4 shows the measurement of the spatial angle P of the present invention1Schematic diagram of the four-quadrant photoelectric detector;
FIG. 5 shows the measurement of the spatial angle P of the present invention2Schematic diagram of the four-quadrant photoelectric detector;
FIG. 6 is P1And P2Schematic diagram for measuring azimuth angle when two four-quadrant photoelectric detectors are positioned at adjacent longitude lines；
FIG. 7 is P1And P2Measuring an azimuth angle schematic diagram when the two four-quadrant photoelectric detectors are not adjacent to the longitude line;
FIG. 8 is P1And P2The schematic diagram of the deflection angle is measured when the two four-quadrant photodetectors are in the two adjacent four-quadrant photodetector groups;
FIG. 9 is P1And P2And the schematic diagram of the deflection angle is measured when the two four-quadrant photodetectors are not arranged in the two adjacent four-quadrant photodetector groups.
Detailed Description
The present invention will be further explained with reference to the drawings and the embodiments.
As shown in fig. 1, a ball hinge space corner detection device comprises a laser emitter 2, a hemispherical shell 3, a ball head 4, a ball head output rod 1, a ball socket 5 and a four-quadrant photoelectric detector group; the ball head 4 and the ball socket 5 form a ball hinge; the ball head output rod 1 is fixed on the ball head 4; the hemispherical shell 3 is fixed on the ball head output rod 1, the hemispherical shell 3 is concentric with the ball head 4, and the hemispherical shell 3 faces the ball head 4. The laser emitter 2 is fixed to the ball socket 5.
As shown in fig. 2, N four-quadrant photoelectric detector groups are arranged on the inner spherical surface of the hemispherical shell 3 along the warp direction, N is greater than or equal to 8, each four-quadrant photoelectric detector group consists of N four-quadrant photoelectric detectors 6 uniformly distributed and fixed on the inner spherical surface of the hemispherical shell 3 along the weft direction, and N is greater than or equal to 20; the four-quadrant photoelectric detectors of the same four-quadrant photoelectric detector group have the same size; the distance between adjacent four-quadrant photoelectric detectors in the same four-quadrant photoelectric detector group is less than 0.05mm, which can be approximate to 0, and the receiving of emergent light of the laser emitter 2 is not influenced; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the length of the overlapped edges of two adjacent four-quadrant photoelectric detectors aligned along the same meridian in each four-quadrant photoelectric detector group is equal; the symmetrical center lines in the warp direction of all the four quadrant photodetectors aligned on one warp are the sides of the inscribed regular polygon of the warp; the four-quadrant photoelectric detector group does not need to be fully distributed on the inner spherical surface of the whole hemispherical shell 3, and only the laser emitted by the laser emitter 2 in the rotating process of the hemispherical shell 3 can be shot on the arranged four-quadrant photoelectric detector 6.
The four-quadrant photoelectric detector 6 is sequentially numbered and used as the identifier of the four-quadrant photoelectric detector, which specifically comprises the following steps: the numbering sequence of each four-quadrant photoelectric detector in the four-quadrant photoelectric detector group with the lowest latitude is 1 to N in sequence, the numbering sequence of N four-quadrant photoelectric detector groups is 1 to N in sequence from low to high according to the latitude, the number of the four-quadrant photoelectric detector in the ith four-quadrant photoelectric detector group aligned with the jth four-quadrant photoelectric detector in the first four-quadrant photoelectric detector group with the lowest latitude along the longitude direction is j + (i-1) N, j is more than or equal to 1 and less than or equal to N, and i is more than or equal to 2 and less than or equal to N.
It is right that the utility model discloses ball hinge space corner detection device's concrete structure has been elucidated, and all four-quadrant photoelectric detector 6's latitudinal direction limit length and warp direction limit length are all known after the processing, consequently, handle all four-quadrant photoelectric detector 6 in this structure for the rectangle approximately, can be used to space corner detection work, nevertheless the utility model discloses ball hinge space corner detection device's working process is not the utility model discloses the scope of protection is only to how to use below the utility model discloses ball hinge space corner detection device detects the space corner and explains.
The working principle of the spherical hinge space corner detection device is as follows:
1) as shown in fig. 3, in a cartesian coordinate system O-XYZ, the origin O of the coordinate system is set at the center of the ball 4, the plane XY formed by the X axis and the Y axis is parallel to the plane of the latitude line, which is parallel to the bottom surface of the ball socket 5; the Z axis is perpendicular to the plane XY; the coordinate of the point M on the central axis of the ball-head output rod 1 in the cartesian coordinate system O-XYZ is:
wherein the content of the first and second substances,
is an azimuth angle, theta is a yaw angle, and R is the distance between the point M and the origin O of the coordinate system; according to the above formula, R is determined directly after the point M is selected, and thus the azimuth angle is measured
And the yaw angle theta, the space rotation angle (azimuth angle) of the ball hinge can be solved
And yaw angle θ collectively referred to as a space rotation angle).
2) When a point M on the center axis of the ball output shaft 1 is rotated to a point M', the ball 4 is rotated to the front and over the azimuth angle, as shown in FIGS. 3, 4 and 5
The laser emitted by the rear laser emitter 2 is irradiated on the two four-quadrant photoelectric detectors 6, and the imaging facula energy center P of the emergent light of the laser emitter 2 on one four-quadrant photoelectric detector 6 is measured according to the measuring principle of the four-quadrant photoelectric detector 61From the geometric center O of the four-quadrant photodetector 61Latitudinal offset d of pointsx1And a warp offset dy1And the imaging spot energy center P of the light emitted by the laser emitter 2 on the other four-quadrant photoelectric detector 62From the geometric center O of the four-quadrant photodetector 62Latitudinal offset d of pointsx2And a warp offset dy2，dx1And dy1And dx2And dy2The solving process according to the measurement principle of the four-quadrant photodetector 6 is a mature algorithm in the four-quadrant photodetector 6, such as the solving process from pages 7 to 11 in the paper "research on fast and precise detection technology based on QD laser visual axis" published by Wangqian in 2008 at Changchun university of science. In FIG. 4, S1、S2、S3And S4Are respectively P1The areas of a first quadrant, a second quadrant, a third quadrant and a fourth quadrant of the four-quadrant photoelectric detector are all the same; in FIG. 5, S5、S6、S7And S8Are respectively P2The areas of a first quadrant, a second quadrant, a third quadrant and a fourth quadrant of the four-quadrant photoelectric detector are consistent with the division modes of the four quadrants in a plane coordinate system. Setting P1In the first and fourth quadrant dx1Is positive, in the second and third quadrant dx1Is negative, P1In the first and second boundaries dy1Is positive, in the third and fourth quadrant dy1Is negative; setting P2In the first and fourth quadrant dx2Is positive, in the second and third quadrant dx2Is negative, P2In the first and second boundaries dy2Is positive, in the third and fourth quadrant dy2Is negative.
3) As shown in fig. 6 and 7, the interior angle ω of the regular N-sided shape enclosed by the edges of the four quadrant photodetectors in the same four quadrant photodetector group along the latitudinal direction is solved as follows:
4) when P is present, as shown in FIGS. 6 and 71And P2The two four-quadrant photoelectric detectors 6 are positioned at the rotating azimuth angles of the adjacent longitude lines (which may not be in the same four-quadrant photoelectric detector group)
Calculated according to the formula (2), when P is1And P2When the two four-quadrant photoelectric detectors 6 are not adjacent to the longitude line, the rotating azimuth angle
Calculating according to the formula (3) (when two four-quadrant photoelectric detectors are not in the same four-quadrant photoelectric detector group,
and
the solution should be separately solved in two different regular N-polygons, but fig. 6 and 7 only draw one regular N-polygon for the sake of simplifying the schematic diagram);
in the formula (3), m1Is P1And P2The number of the four-quadrant photoelectric detectors is equal to the number of the four-quadrant photoelectric detectors spaced along the weft direction between the two four-quadrant photoelectric detectors; because the utility model discloses treat all four-quadrant photoelectric detector 6 for the rectangle is approximate (four-quadrant photoelectric detector 6 is isosceles trapezoid, nevertheless because four-quadrant photoelectric detector 6 size is not big, is approximate for the rectangle to the precision influence in allowed range), so no matter P1And P2Where the four quadrant photo-detectors are located, P1On the four-quadrant photoelectric detector passing through P1And the lengths of the straight lines along the weft direction are all equal to the lengths of the latitudinal sides of the four-quadrant photoelectric detector, P2On the four-quadrant photoelectric detector passing through P2The length of the straight line along the weft direction is equal to the length of the latitudinal edge of the four-quadrant photoelectric detector; setting P1The latitudinal edge length of the four-quadrant photoelectric detector is k, P2The length v of the latitudinal edge of the four-quadrant photoelectric detector is k +/-c1×p，P2The four-quadrant photoelectric detector is positioned at P1When the detector is above the four-quadrant photoelectric detector, taking a positive sign, otherwise, taking a negative sign, c1Taking the value in the range of 0.02-0.05, wherein the unit of the length of the latitudinal edge is mm, and P is P1And P2The number difference of the four quadrant photoelectric detector groups; p1The four-quadrant photoelectric detector is close to P2The latitudinal edge of the four-quadrant photoelectric detector is set as E1，P2The four-quadrant photoelectric detector is close to P1The latitudinal edge of the four-quadrant photoelectric detector is set as E2Then P is1To E1A distance of 0.5k-dx1，P2To E2Distance b is 0.5v-dx2。P1And the latitudinal edge E1Point of intersection, P1And a coordinate system origin O, wherein the angle corresponding to the side length with the length a is
P2And the latitudinal edge E2Point of intersection, P2And the coordinate system origin O, the angle corresponding to the side length with the length b is
Regardless of P1And P2Whether the two four quadrant photodetectors are located at adjacent meridian lines,and
the following processes are adopted:
solving the origin O to P of the coordinate system according to the formula (4) according to the cosine theorem1Distance L of1Solving the origin O to P of the coordinate system according to the formula (5) according to the cosine theorem2Distance L of2(ii) a Then, the solution is obtained according to the formula (6) based on the sine theorem
Solving according to the sine theorem and the formula (7)
In equations (4) and (5), r is the inner spherical radius of the hemispherical shell 3.
5) As shown in fig. 8 and 9, if the length of the warp side of all the four-quadrant photodetectors 6 is set to t, the included angle between two adjacent four-quadrant photodetectors along the warp direction is 180 ° - α, and is solved according to the formula (8):
6) when P is present, as shown in FIGS. 8 and 91And P2When the two four-quadrant photoelectric detectors 6 are in the two adjacent four-quadrant photoelectric detector groups (which may not be in the positions of the adjacent meridians), the rotated yaw angle theta is calculated according to the formula (9), and when P is1And P2When the two four-quadrant photodetectors 6 are in the two non-adjacent four-quadrant photodetector groups, the rotated yaw angle theta is calculated according to the formula (10) (when the two four-quadrant photodetectors are in the two non-adjacent four-quadrant photodetector groups, the theta is1And theta2The solution should be separately solved in two different regular T-polygons, but fig. 8 and 9 only draw n sides of one regular T-polygon for simplifying the schematic diagram);
θ＝θ1+θ2(9)
in the formula (10), m2Is P1And P2The number of four-quadrant photoelectric detectors spaced along the meridian direction between the two four-quadrant photoelectric detectors is, T is the number of edges of a regular polygon where the meridian direction symmetric center lines of all the four-quadrant photoelectric detectors aligned on one meridian are located, and the solution of T is as follows:
by
Push out
P1The four-quadrant photoelectric detector is close to P2The radial edge of the four quadrant photoelectric detector is set as E3，P2The four-quadrant photoelectric detector is close to P1The radial edge of the four-quadrant photoelectric detector is set as E4Then P is1To E3C is 0.5t-dx2，P2To E2D is 0.5t-dy2。P1And the latitudinal edge E3Point of intersection, P1And the coordinate system origin O, the angle corresponding to the side length with the length c is theta1；P2And the latitudinal edge E4Point of intersection, P2And a coordinate system origin O, wherein the angle corresponding to the side length with the length d is theta2。
Regardless of P1And P2Two four-quadrant photodetectors 6 are located in two adjacent four-quadrant photodetector groups, theta1And theta2The following processes are adopted:
solving the origin O to P of the coordinate system according to the cosine theorem and the formula (11)1Distance L of3Solving the origin O to P of the coordinate system according to the formula (12) according to the cosine theorem2Distance L of4(ii) a Then, the theta is solved according to the formula (13) based on the sine theorem1Solving for theta according to the sine theorem and equation (14)2。
Claims (5)
1. The utility model provides a ball hinge space corner detection device, includes bulb, bulb output lever and ball socket, its characterized in that: the device also comprises a laser emitter, a hemispherical shell and a four-quadrant photoelectric detector group; the hemispherical shell is fixed on the ball head output rod; the hemispherical shell is concentric with the ball head and faces the ball head; the laser emitter is fixed on the ball socket; n four-quadrant photoelectric detector groups distributed along the warp direction are arranged on the inner spherical surface of the hemispherical shell, N is more than or equal to 8, each four-quadrant photoelectric detector group consists of N four-quadrant photoelectric detectors which are uniformly distributed and fixed on the inner spherical surface of the hemispherical shell along the weft direction, and N is more than or equal to 20; four-quadrant photoelectric detectors of adjacent four-quadrant photoelectric detector groups are aligned one by one along the longitude direction; the length of the overlapped edges of two adjacent four-quadrant photoelectric detectors aligned along the same meridian in each four-quadrant photoelectric detector group is equal; the longitude direction symmetric center lines of all the four quadrant photodetectors aligned on one longitude line are all the sides of the inscribed regular polygon of the longitude line.
2. The ball hinge space rotation angle detecting device according to claim 1, wherein: the numbering sequence of each four-quadrant photoelectric detector in the four-quadrant photoelectric detector group with the lowest latitude is 1 to N in sequence, the numbering sequence of N four-quadrant photoelectric detector groups is 1 to N in sequence from low to high according to the latitude, the number of the four-quadrant photoelectric detector in the ith four-quadrant photoelectric detector group aligned with the jth four-quadrant photoelectric detector in the first four-quadrant photoelectric detector group with the lowest latitude along the longitude direction is j + (i-1) N, j is more than or equal to 1 and less than or equal to N, and i is more than or equal to 2 and less than or equal to N.
3. The ball hinge space rotation angle detecting device according to claim 1, wherein: the four-quadrant photodetectors of the same four-quadrant photodetector group have the same size.
4. The ball hinge space rotation angle detecting device according to claim 1, wherein: the distance between adjacent four-quadrant photodetectors in the same four-quadrant photodetector group is less than 0.05 mm.
5. The ball hinge space rotation angle detecting device according to claim 1, wherein: the four-quadrant photoelectric detector group is not fully distributed on the inner spherical surface of the whole hemispherical shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921287438.7U CN210089637U (en) | 2019-08-09 | 2019-08-09 | Ball hinge space corner detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921287438.7U CN210089637U (en) | 2019-08-09 | 2019-08-09 | Ball hinge space corner detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210089637U true CN210089637U (en) | 2020-02-18 |
Family
ID=69485991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921287438.7U Active CN210089637U (en) | 2019-08-09 | 2019-08-09 | Ball hinge space corner detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210089637U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112033331A (en) * | 2020-07-28 | 2020-12-04 | 成都飞机工业（集团）有限责任公司 | Group hole measurement swing angle planning method based on three-coordinate measuring needle |
-
2019
- 2019-08-09 CN CN201921287438.7U patent/CN210089637U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112033331A (en) * | 2020-07-28 | 2020-12-04 | 成都飞机工业（集团）有限责任公司 | Group hole measurement swing angle planning method based on three-coordinate measuring needle |
| CN112033331B (en) * | 2020-07-28 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Group hole measurement swing angle planning method based on three-coordinate measuring needle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103453848B (en) | Device and method for measuring shape, position and dimension features of machine elements | |
| CN106441117B (en) | Turntable error detection method based on multi-station etalon laser tracking system | |
| US7576847B2 (en) | Camera based six degree-of-freedom target measuring and target tracking device with rotatable mirror | |
| CN109357631A (en) | A kind of measuring system center scaling method based on laser displacement sensor | |
| CN101363716B (en) | Combination space precision measurement system | |
| CN103308028B (en) | Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform | |
| CN111982019B (en) | High-precision blade section contour detection method based on line-structured light sensor | |
| CN109458958A (en) | A kind of scaling method of turntable center position in four axis vision measurement device | |
| CN112932665B (en) | A two position operation positioning scaleplates for X-ray imaging | |
| CN109341601A (en) | A kind of Space locality establishment method of revolving platform central axis in vision measurement device | |
| CN1160654C (en) | Laser scannning and tracking instrument with six feedom measurement function | |
| CN108507466A (en) | The method that three-dimensional precise information is obtained using two-dimentional line laser scanner | |
| CN102654387A (en) | Online industrial robot calibration device based on spatial curved surface restraint | |
| CN105698700A (en) | Tabletop-type three-dimensional laser scanning device with high degree of freedom | |
| CN110487210A (en) | Honeycomb core surface profile measurement method | |
| CN210089637U (en) | Ball hinge space corner detection device | |
| CN111637851A (en) | Aruco code-based visual measurement method and device for plane rotation angle | |
| CN112013797A (en) | Method for calibrating spatial revolution axis based on cylinder and line structured light and application thereof | |
| CN104807433B (en) | Spherical spinner space two-dimensional angle detection method based on optical autocollimating principle | |
| CN210461374U (en) | Novel ball hinge based on space graduation location | |
| CN110487217B (en) | Ball hinge space corner detection method | |
| Zexiao et al. | A novel approach for the field calibration of line structured-light sensors | |
| CN110455188A (en) | Single-axis translation platform and structure light 3 D sensor combined measurement scaling method | |
| JPH05164525A (en) | Measuring head for laser type coordinate measuring apparatus | |
| US6737632B2 (en) | Control device with mobile component mounted on a ball pivot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |