CN201653373U - Triaxial non-contact image measuring system - Google Patents
Triaxial non-contact image measuring system Download PDFInfo
- Publication number
- CN201653373U CN201653373U CN 201020144042 CN201020144042U CN201653373U CN 201653373 U CN201653373 U CN 201653373U CN 201020144042 CN201020144042 CN 201020144042 CN 201020144042 U CN201020144042 U CN 201020144042U CN 201653373 U CN201653373 U CN 201653373U
- Authority
- CN
- China
- Prior art keywords
- guide rail
- axis
- axis guide
- rail
- work top
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 238000013481 data capture Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 26
- 238000000034 method Methods 0.000 description 15
- 238000011156 evaluation Methods 0.000 description 6
- 238000013507 mapping Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012854 evaluation process Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a triaxial non-contact image measuring system. The system comprises a workbench, a pick-up camera capable of moving in a three-dimensional manner, a laser displacement transducer, a triaxial grating bar, and a grating data acquisition card, wherein the pick-up camera and the laser sensor are connected with a Z-axis guide rail through a connecting beam, and vertically corresponds to the workbench; and a servomotor can drive a sliding block to move to make the pick-up camera vertically move. In the utility model, the pick-up camera acquires the image in an X-Y plane for plane surveying, and the laser displacement transducer measures the height of each positioning point near a pel to be measured in the Z direction, calculates the mean value, and defines the required moving distance when the pick-up camera focuses according to the mean value. The system can conveniently and quickly detect the complex workpiece, raise the measuring efficiency, enlarge the measuring area, and meet the measuring requirement of the image.
Description
Technical field
The utility model relates to a kind of measuring system that detects the workpiece tolerance, relates in particular to a kind of three non-contact image measuring systems.
Background technology
The radiographic measurement technology is based on contemporary optics, in conjunction with the modern surveying technology of science such as computer picture graphics, machine vision, information processing, optoelectronics and pattern-recognition.It has noncontact, adaptability by force, rapidly and efficiently, characteristics such as accurate, in the precision measurement field, obtained application more and more widely.
In the workpiece sensing of mass, traditional image detection method need manually be adopted point measurement, and detection efficiency is low.In recent years, the radiographic measurement technology has been carried out a large amount of research both at home and abroad.Existing automatic measurement technology mostly is based on the automatic identification of primitive features, and this method needs artificial aligning pel to be measured and calculated tolerances, the measurement that can only realize semi-automation on the one hand; Measure shape with it on the other hand and comparatively then usually produce during complex part, can only be used for detecting the comparatively simple workpiece of shape primitive shapes erroneous judgement and situation about can't discern.The edge extracting of this measuring technique mainly is that the method by mathematical morphology realizes, mostly can only be accurate to Pixel-level, and measuring accuracy improves comparatively difficulty.If ask not in same plane between two pels apart from the time do not have a good solution yet.
Laser measuring device for measuring is simple measuring height in the existing measuring system, does not make full use of its high precision.And existing measurement module is being provided with when height focusing certain value often, does not consider the complicated diversity of practical work piece.
The utility model content
At weak point of the prior art, the utility model provides three contactless measuring systems that a kind of applicability is strong, efficient is high, precision is high, adopts this system to solve the measurement difficult problem of complex part effectively.
Three non-contact image measuring systems that the utility model provides comprise three-dimensional working platform, image measuring device, laser ranging system, raster data harvester and motion control device;
Described three-dimensional working platform comprises the Y-axis guide rail that is provided with on work top, the work top, be set in parallel in work top top and can be along vertical X-axis guide rail that slides of Y-axis guide rail and the Z axis rail that can slide along the X-axis guide rail, and described Z axis rail is perpendicular to working face;
The video camera that described image measuring device comprises image pick-up card and is arranged on Z axis rail bottom and can moves up and down along the slide block of Z axis rail, the camera lens of video camera is vertical corresponding with work top, the signal output part of video camera and image acquisition card connection;
Described laser ranging system comprises laser displacement sensor and the control table that is connected with PC, and described laser displacement sensor is fixedly installed on the Z axis rail, the light beam that laser displacement sensor sends vertically downward, described laser displacement sensor is connected with control table;
Described raster data harvester comprise the X that is arranged on the X-axis guide rail to the grating chi, be arranged on Y on the Y-axis guide rail to the grating chi, be arranged on Z on the Z axis rail to the grating chi with read the raster data capture card of X to grating chi, Y data on the grating chi to grating chi and Z;
Described motion control device comprises driving governor and drives the servomotor that X-axis guide rail, Y-axis guide rail and Z axis rail slide that described servomotor is controlled by driving governor.
Further, also comprise light source control device, described light source control device comprises illuminating source and light source controller, described work top is the transparent body, illuminating source is arranged on the below of work top, and the light that illuminating source sends is vertical with work top, and described illuminating source is by light-source controller controls.
The beneficial effects of the utility model, the utility model utilizes the range finding property of laser displacement sensor, not only realize three-dimensional measurement, and near mapping unit of institute measuring height, thereby draw the height of video camera to workpiece, calculate the mean value of these height values, the distance that needs move when determining the video camera focusing according to these mean values, the reliability of the consistance of clear picture and focusing when having guaranteed image acquisition, and it only need create the one-shot measurement template to complex-shaped workpiece, access this measurement module at every turn when measuring this workpiece later on, and make up the benchmark of workpiece, can carry out automatic pel structure and tolerance evaluation workpiece.This contactless measuring system has characteristics such as adaptability is strong, efficient is high, precision height.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 treats the synoptic diagram that mapping unit chooses measurement point and anchor point;
Fig. 3 is the data list structure synoptic diagram;
Fig. 4 is automatic tolerance evaluation process synoptic diagram.
In the accompanying drawing, 1-work top 2-Y axis rail 3-X axis rail 4-Z axis rail 5-video camera 6-laser displacement sensor 7-camera lens 8-X to grating chi 9-Y to grating chi 10-Z to grating chi 11-illuminating source
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is done to describe in further detail.
Fig. 1 is a structural representation of the present utility model, and as shown in the figure, three non-contact image measuring systems comprise three-dimensional working platform, image measuring device, laser ranging system, raster data harvester and motion control device.Three-dimensional working platform comprises on work top 1, the work top 1 the Y-axis guide rail 2 that is provided with, be set in parallel in work top 1 top and the X-axis guide rail 3 that can slide along Y-axis guide rail 2 vertical direction and perpendicular to the Z axis rail 4 of working face.The video camera 5 that image measuring device comprises image pick-up card and is arranged on Z axis rail 4 bottoms and can moves up and down along Z axis rail 4, the camera lens 7 of video camera 5 is vertical corresponding with work top 1, the signal output part of video camera 5 and image acquisition card connection.Laser ranging system comprises laser displacement sensor 6 and the control table that is connected with PC, and described laser displacement sensor 6 is fixedly installed on the Z axis rail 4, the light beam that laser displacement sensor 6 sends vertically downward, described laser displacement sensor 6 is connected with control table.The raster data harvester comprise the X that is arranged on the X-axis guide rail 3 to grating chi 8, be arranged on Y on the Y-axis guide rail 2 to grating chi 9, be arranged on Z on the Z axis rail 4 to grating chi 10 with can read the raster data capture card of X respectively to grating chi 8, Y data on grating chi 10 to grating chi 9 and Z.Light source control device comprises illuminating source 11 (illuminating source 11 in the present embodiment is the LED cold light source) and light source controller, on make table top 1 and be the transparent body, described LED cold light source is arranged on the below of work top 1, the light that the LED cold light source sends is vertical with work top 1, and the LED cold light source is controlled by controller.
In the present embodiment, various controllers can adopt the control module template in the computing machine, and the data-signal that laser displacement sensor 6 detects, the data of raster data capture card collection and video camera 5 are adopted a little data all can import control module template in the computing machine.Control module template in the computing machine can be respectively by the one drive circuit choosing connect the servomotor that drives X axis, Y-axis to servomotor and the axial servomotor of Z, realizes three mobile automatically.
The method step that uses these three contactless measuring systems to measure is as follows:
(1) sets up measurement module.Open the DXF drawing, work ID number, security plane, reference field are set, workpiece coordinate system is set then, choose mapping unit of institute, adopt as required a little on pel, selected shape tolerance, position of related features and dimensional tolerence are surveyed element and are surveyed element eventually for needed when selecting calculated tolerances.Read in the drawing of measured workpiece, on drawing, specify the tested point that to measure, the primitive types that tested point is formed, adopt number a little, the anchor point of focusing needs and the distance of focusing and deposit in the template of computing machine.The method of determining the focusing anchor point according to the type of mapping unit of institute in the workpiece is: according to not on same straight line 3 determine plane geometry characteristics, generally getting at 3 is advisable, so both determined the plane at pel place, being unlikely to again to adopt a little too much wastes the unnecessary time.Certainly make suitable change according to the complicacy of workpiece.Can select near the position mid point of line segment and the two-end-point for straight line, for circle can select circle arbitrarily in connect or three summits of circumscribed equilateral triangle.Should select to fix a point for all primitive edge lines with a side of edge line coplanar.Here mainly be to determine the focusing anchor point, that is to say that pel that needs to survey on the workpiece, will determine according to above-mentioned method at that pel and near that pel at pel.
(2) import template, adopt point measurement.At first set a security plane and reference field, security plane is advisable than the high 30mm～100mm of workpiece to be measured, and reference field compares the high 5mm～15mm in pel position that is surveyed is advisable, and can be provided with in setting up template.Utilizing the axial driven by servomotor slide block movement of Z to drive video camera earlier moves on the security plane, anchor point is found range to pairing reference field according to the control of the anchor point in template laser displacement sensor, calculate the mean value of several distances of surveying then, and then calculate the distance of video camera mapping unit of institute to the workpiece, calculate the distance that video camera moves at last and judge the direction that moves.Displacement and direction determination process by: according to top this height value of 3 of three fixed point measurements, ask the mean value of the height value of surveying to be made as H, the position height difference of establishing video camera and laser displacement sensor is H
1, the height value H of video camera when image is the most clear
2, then the height that video camera moved is:
H＝|H-H
2-H
1|
Here work as | H-H
1|≤H
2The time video camera move up, | H-H
1|＞H
2The time video camera move down.Behind the mobile camera, keep video camera motionless on the Z axle, adopt a little, adopted until a required point of pel according to the point that will adopt in the template.For safety, the driven by servomotor slide block movement drive video camera axial by control Z returns on the security plane, uses the same method and carries out adopting a little of next pel, adopts a little until all pels to finish.Then the coordinate figure of the tested point in the template is converted to the coordinate figure of corresponding measurement point on the actual measurement worktable, adopts one-dimensional sub pixel edge detection algorithm to adopt a little, obtain the coordinate of actual spot of measurement.
(3) obtain measurement result.Adopted as two-point method by primitive types that each point is corresponding in the coordinate figure of a plurality of points of adopting and the template, some conventional methods such as three-point circle construct each pel automatically.Then adopt least square method to simulate tolerance value to be measured automatically by pel, carry out the tolerance evaluation, at first find the tolerance of this workpiece needs structure, find a plurality of pels of its correspondence then at each tolerance, number find a plurality of points of each pel correspondence again according to pel according to workpiece numbering.When asking tolerance, with last process conversely, at first by the coordinate structure pel of the point of having found, obtain tolerance by the pel that constructs again, the output measurement result is printed the evaluation form.
Below be example with Fig. 2, suppose that cylindrical center is to the horizontal range of straight line on the needs survey workpiece, before measuring, at first set up template, open the DXF drawing, work ID number, security plane and reference field are set, this security plane is advisable than the high 30mm～100mm of workpiece, reference field compares the high 5mm～15mm in pel position that is surveyed and is advisable, workpiece coordinate system is set then, chooses mapping unit of institute, on pel, adopt as required a little, select type to be generally form tolerance, position of related features and dimensional tolerence, survey element and survey element eventually for needed when selecting calculated tolerances.Read in the drawing of measured workpiece, on drawing, specify the tested point that to measure, the primitive types that tested point is formed, adopt number a little, the anchor point of focusing needs and the distance of focusing and deposit in the template.Setting the relation between pel and the measurement point, generally is to comprise primitive types, the number of the measurement point that pel is included, and the coordinate of these measurement points, and promptly constructing a certain pel needs which measurement point and anchor point.In Fig. 2, need survey two pels, first primitive types is circle, if circle is circular hole then selects 1,2,3 to be anchor point.If circle is cylinder, then 4,5,6 is anchor point, is made as cylinder herein, and it is straight line that anchor point is got 4,5,6, the second primitive types, and anchor point as shown in the figure.Then, set the relation between tolerance and the pel, institute's tolerance of asking needs two pels, and the tolerance type is a dimensional tolerence.
Begin then to measure, utilizing the driven by servomotor slide block of Z on axially to drive video camera earlier moves on the security plane, anchor point is found range to pairing reference field according to the control of the anchor point in template laser displacement sensor 6, because be made as cylinder herein, anchor point is 4,5,6 three points, calculate 4,5,6 three the mean value of surveying then, and then calculate distance and the mobile direction of judgement that video camera moves.Behind the mobile camera, keep video camera motionless on the Z axle, adopt a little, adopted until measuring three required points of this cylinder according to needed point in the template.For the purpose of the safety, driving video camera by the driven by servomotor slide block of control Z on axially returns on the security plane, anchor point control laser displacement sensor 6 according to the straight line in the template is found range to anchor point to pairing reference field, anchor point is three anchor points of straight line as shown in Figure 2, calculate 3 the mean value of surveying then, and then calculate distance and the mobile direction of judgement that video camera moves.Behind the mobile camera, keep video camera motionless on the Z axle, adopt a little, adopted until measuring two required points of this straight line according to needed point in the template.Then adopt one-dimensional sub pixel edge detection algorithm to adopt a little, with the coordinate conversion of the point that collects for the coordinate of following of drawing coordinate system and deposit in the corresponding table.
Automatically the tolerance evaluation need inquiry structure of data table as shown in Figure 3, measurement point table, pel table and the table of limits have been stored automatic tolerance and have been evaluated needed data.As shown in Figure 4, at first find the tolerance of this workpiece needs structure, find a plurality of pels of tolerance correspondence then at each tolerance, number find a plurality of points of each pel correspondence again according to pel according to workpiece numbering.In Fig. 2, be altogether two pels, be respectively round, straight line.Wherein circle has three points, and straight line has two points.When asking tolerance, with last process conversely, at first, obtain tolerance by the pel that constructs again by the coordinate structure pel of the point of having found.Utilize the coordinate figure of three points of the circle of being adopted to obtain round central coordinate of circle and radius with the three-point circle method.Utilize the coordinate figure of two points of the straight line of being adopted to ask the equation of straight line again, thereby obtain the distance of the center of circle to straight line with two-point method.Carry out the tolerance evaluation at last.All said process all are provided with according to template by Survey Software and finish inquiry and calculating automatically.Therefore, realized full automatic measurement and evaluation to complex part.
Explanation is at last, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (2)
1. three non-contact image measuring systems is characterized in that: comprise three-dimensional working platform, image measuring device, laser ranging system, raster data harvester and motion control device;
Described three-dimensional working platform comprises that work top (1), work top (1) go up the Y-axis guide rail (2) that is provided with, be set in parallel in work top (1) top and can be along the vertical X-axis guide rail (3) that slides of Y-axis guide rail (2) and can be along the Z axis rail (4) of X-axis guide rail (3) slip, and described Z axis rail (4) is perpendicular to working face (1);
The video camera (5) that described image measuring device comprises image pick-up card and is arranged on Z axis rail (4) bottom and can moves up and down along Z axis rail (4), the camera lens (7) of video camera (5) is vertical corresponding with work top (1), the signal output part of video camera (5) and image acquisition card connection;
Described laser ranging system comprises laser displacement sensor (6) and the control table that is connected with PC, described laser displacement sensor (6) is fixedly installed on the Z axis rail (4), the light beam that laser displacement sensor (6) sends vertically downward, described laser displacement sensor (6) is connected with control table;
Described raster data harvester comprise the X that is arranged on the X-axis guide rail (3) to grating chi (8), be arranged on Y on the Y-axis guide rail (2) to grating chi (9), be arranged on Z on the Z axis rail (4) to grating chi (10) with read X goes up data to grating chi (10) to grating chi (9) and Z to grating chi (8), Y raster data capture card;
Described motion control device comprises driving governor and drives the servomotor that X-axis guide rail (3), Y-axis guide rail (2) and Z axis rail (4) slide that described servomotor is controlled by driving governor.
2. three non-contact image measuring systems according to claim 1, it is characterized in that: also comprise light source control device, described light source control device comprises illuminating source (11) and light source controller, described work top (1) is the transparent body, illuminating source (11) is arranged on the below of work top (1), the light that illuminating source (11) sends is vertical with work top (1), and described illuminating source (11) is by light-source controller controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020144042 CN201653373U (en) | 2010-03-29 | 2010-03-29 | Triaxial non-contact image measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020144042 CN201653373U (en) | 2010-03-29 | 2010-03-29 | Triaxial non-contact image measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201653373U true CN201653373U (en) | 2010-11-24 |
Family
ID=43118614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201020144042 Expired - Fee Related CN201653373U (en) | 2010-03-29 | 2010-03-29 | Triaxial non-contact image measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201653373U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101839700A (en) * | 2010-03-29 | 2010-09-22 | 重庆建设工业(集团)有限责任公司 | Non-contact image measuring system |
| CN103512495A (en) * | 2013-06-04 | 2014-01-15 | 国家电网公司 | Device and method for automatically detecting boundary dimension of intelligent power meter |
| CN103615974A (en) * | 2013-11-26 | 2014-03-05 | 苏州晓炎自动化设备有限公司 | Feeding detection mechanism |
| TWI457535B (en) * | 2013-01-18 | 2014-10-21 | Univ Nat Formosa | Measurement method and device of irregular object size |
| CN104296666A (en) * | 2014-10-31 | 2015-01-21 | 太原科技大学 | Crane displacement automatic measuring gauge based on simulation |
| TWI480514B (en) * | 2011-01-28 | 2015-04-11 | Hon Hai Prec Ind Co Ltd | Image measuring apparatus |
| CN104019749B (en) * | 2014-06-20 | 2016-08-24 | 哈尔滨工业大学 | A kind of cursor type measurement apparatus for the vertical servo control mechanism of high accuracy and measuring method |
| CN107121093A (en) * | 2017-06-13 | 2017-09-01 | 电子科技大学 | A kind of gear measurement device and measuring method based on active vision |
| WO2017157043A1 (en) * | 2016-03-16 | 2017-09-21 | 苏州富强科技有限公司 | Measurement system based on point laser imaging |
| WO2017157044A1 (en) * | 2016-03-16 | 2017-09-21 | 苏州富强科技有限公司 | Measurement system based on line laser imaging |
| CN109072881A (en) * | 2016-04-01 | 2018-12-21 | 乌本产权有限公司 | For measuring the measuring system on the surface of the rotor blade of wind energy plant |
| CN109238151A (en) * | 2018-06-29 | 2019-01-18 | 苏州富强科技有限公司 | A kind of detection device localization method |
| CN110186376A (en) * | 2019-06-18 | 2019-08-30 | 易视智瞳科技（深圳）有限公司 | A kind of three-dimensional position pick-up method and device |
| CN112629414A (en) * | 2020-12-29 | 2021-04-09 | 桂林量具刃具有限责任公司 | Non-contact gear radial run-out detection equipment and method |
| CN113109307A (en) * | 2021-04-01 | 2021-07-13 | 南京超维景生物科技有限公司 | Displacement control method and device, electronic equipment and multi-photon fluorescence imaging equipment |
-
2010
- 2010-03-29 CN CN 201020144042 patent/CN201653373U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101839700A (en) * | 2010-03-29 | 2010-09-22 | 重庆建设工业(集团)有限责任公司 | Non-contact image measuring system |
| TWI480514B (en) * | 2011-01-28 | 2015-04-11 | Hon Hai Prec Ind Co Ltd | Image measuring apparatus |
| TWI457535B (en) * | 2013-01-18 | 2014-10-21 | Univ Nat Formosa | Measurement method and device of irregular object size |
| CN103512495A (en) * | 2013-06-04 | 2014-01-15 | 国家电网公司 | Device and method for automatically detecting boundary dimension of intelligent power meter |
| CN103615974A (en) * | 2013-11-26 | 2014-03-05 | 苏州晓炎自动化设备有限公司 | Feeding detection mechanism |
| CN104019749B (en) * | 2014-06-20 | 2016-08-24 | 哈尔滨工业大学 | A kind of cursor type measurement apparatus for the vertical servo control mechanism of high accuracy and measuring method |
| CN104296666A (en) * | 2014-10-31 | 2015-01-21 | 太原科技大学 | Crane displacement automatic measuring gauge based on simulation |
| WO2017157043A1 (en) * | 2016-03-16 | 2017-09-21 | 苏州富强科技有限公司 | Measurement system based on point laser imaging |
| WO2017157044A1 (en) * | 2016-03-16 | 2017-09-21 | 苏州富强科技有限公司 | Measurement system based on line laser imaging |
| CN109072881A (en) * | 2016-04-01 | 2018-12-21 | 乌本产权有限公司 | For measuring the measuring system on the surface of the rotor blade of wind energy plant |
| CN107121093A (en) * | 2017-06-13 | 2017-09-01 | 电子科技大学 | A kind of gear measurement device and measuring method based on active vision |
| CN107121093B (en) * | 2017-06-13 | 2019-12-17 | 电子科技大学 | A gear measuring device and measuring method based on active vision |
| CN109238151A (en) * | 2018-06-29 | 2019-01-18 | 苏州富强科技有限公司 | A kind of detection device localization method |
| CN110186376A (en) * | 2019-06-18 | 2019-08-30 | 易视智瞳科技（深圳）有限公司 | A kind of three-dimensional position pick-up method and device |
| CN112629414A (en) * | 2020-12-29 | 2021-04-09 | 桂林量具刃具有限责任公司 | Non-contact gear radial run-out detection equipment and method |
| CN113109307A (en) * | 2021-04-01 | 2021-07-13 | 南京超维景生物科技有限公司 | Displacement control method and device, electronic equipment and multi-photon fluorescence imaging equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201653373U (en) | Triaxial non-contact image measuring system | |
| CN101839700A (en) | Non-contact image measuring system | |
| CN100587392C (en) | High-precision pose detection method and device based on light curtain laser | |
| CN106249694B (en) | Automatic machinery, the method for auto-control machine and machine readable media | |
| CN201133812Y (en) | Bullet or tools trace measuring apparatus | |
| CN103064417A (en) | Global localization guiding system and method based on multiple sensors | |
| CN113674345B (en) | Two-dimensional pixel-level three-dimensional positioning system and positioning method | |
| CN112945137B (en) | Storage ore heap scanning method based on single-line laser radar and range finder equipment | |
| US20170003113A1 (en) | Coordinate measuring machine having a camera | |
| CN207472215U (en) | A kind of objects' contour detecting system | |
| CN103217100A (en) | Online binocular vision measuring device of large bus compartment | |
| CN106017312B (en) | Structured light triangulation automatic calibration system and calibration method | |
| CN104515487B (en) | Two-in-one full-automatic three Z axis measuring instrument | |
| CN113155047B (en) | Long-distance hole distance measuring device and method, storage medium, equipment and rail vehicle | |
| CN108871307B (en) | Y waveguide chip direct coupling device based on image recognition and optical power feedback | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| CN209310743U (en) | Height measuring device | |
| CN105269403A (en) | Detecting system and detecting method | |
| CN109458949A (en) | A kind of object surface appearance scanning reconstructing arrangement | |
| CN117433430A (en) | System and method for detecting size of steel plate cutting part | |
| CN202109888U (en) | Multi-laser sensing measuring apparatus | |
| CN106276285A (en) | Group material buttress position automatic testing method | |
| CN109990734A (en) | Depth information camera module precision automatic checkout system and its accuracy checking method | |
| CN113976471B (en) | Glue amount detection marking device and method based on 3D line confocal sensor | |
| CN106001847A (en) | Steel plate edge scanning and cutting control system based on laser distance measuring sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20120329 |