CN107462160B - Method and device for calibrating image displacement measuring instrument - Google Patents
Method and device for calibrating image displacement measuring instrument Download PDFInfo
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- CN107462160B CN107462160B CN201710450726.9A CN201710450726A CN107462160B CN 107462160 B CN107462160 B CN 107462160B CN 201710450726 A CN201710450726 A CN 201710450726A CN 107462160 B CN107462160 B CN 107462160B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 137
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 abstract description 16
- 238000012795 verification Methods 0.000 abstract 1
- 230000003068 static effect Effects 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A method and a device for calibrating an image displacement measuring instrument belong to bridge deflection detector industry standards and verification regulations. The device comprises a motor controller, a transmission module consisting of a motor and a shaft, a recording belt control module, a light source conversion module, a controller, a recording belt and a light source; the 3 transmission modules and the 1 recording belt control module are distributed in rectangular vertexes; the recording tape control module comprises a recording tape input module consisting of a motor and a shaft, a recording tape output module consisting of the motor and the shaft, the rotation directions of the recording tape input module and the recording tape output module are opposite, and the recording tape is wound on the shafts of the recording tape input module and the recording tape output module; the controller controls the opening and closing of the light source; controlling the motor to drive the shaft to rotate; the recording belt control module cooperates with the 3 drive modules. The invention realizes the calibration of the dynamic measurement performance of the image displacement measuring instrument, has excellent controllability, very accurate displacement and controllable displacement speed.
Description
Technical Field
The invention belongs to the technical field of instrument metering.
Background
The digital image technology enters the era of leaping development from the end of the 20 th century, and the image method is also applied to various industries, so that the method has become an important non-contact measurement method in the displacement measurement field, can avoid the difficulties faced by the traditional contact method, and has the characteristics of high precision, convenience in use and the like.
Along with the rapid development of Chinese economy, the construction quantity of road, bridge and tunnel construction is increased, and the variety of road and bridge engineering detection equipment is increased. In road and bridge engineering detection equipment, a plurality of equipment measures displacement by using an image method. Calibration of such devices is an important element in relation to the accuracy of the device measurement.
At present, two calibration methods for an image method displacement measuring instrument exist, namely, a standard plate such as a standard resolution plate is adopted to calibrate the resolution of the instrument, and the dynamic characteristics of displacement are ignored; secondly, a motor is adopted to drive the screw rod to generate displacement, so that the motor drives the screw rod to rotate, and a moving platform fixed on the screw rod generates a certain displacement. And measuring the motion condition of the mobile platform by using an image displacement measuring instrument for calibration.
At present, the existing calibration methods have certain limitations, and cannot be economically, conveniently and effectively calibrated.
Image method displacement measuring instrument: and an imaging module such as a camera and an industrial camera is adopted to collect images of the measured object, and a PC, an MCU and the like are used for processing to obtain displacement data of the measured object, such as an image type non-contact dynamic and static displacement measuring instrument, a photoelectric bridge deflection instrument and the like.
Dynamic displacement: the object to be measured is subjected to reciprocating displacement for a plurality of times, the displacement is a distance array, and the displacement direction changes along with the movement direction of the object to be measured.
Static displacement: the single-way displacement of the measured object is that the displacement is the linear distance from the starting point to the stopping point of the measured object, and the displacement direction points to the end point from the starting point of the measured object.
1) Calibration with standard plate
And calibrating the resolution of the instrument by adopting a standard plate such as a standard resolution plate.
2) Calibration by adopting motor screw rod structure
The motor is adopted to drive the screw rod to generate displacement, so that the motor drives the screw rod to rotate, and a moving platform fixed on the screw rod generates a certain displacement. And measuring the motion condition of the mobile platform by using an image displacement measuring instrument for calibration.
The prior art has the following disadvantages:
1) And cannot be accurately calibrated. The standard board can only calibrate the resolution, and the actual calibration content is the performance of the imaging unit (CCD or CMOS), and the performance of the instrument such as the response speed of the instrument in dynamic measurement, the accuracy of data processing and the like cannot be calibrated.
2) Expensive. The motor is used for driving the mobile platform to calibrate, the requirements on the precision, response speed and other performances of the motor and the screw rod are extremely high, and the cost is high.
3) The controllability is poor. The motor is adopted to drive the mobile platform to calibrate, the displacement and the moving speed are difficult to control, and the repeatability of the device is difficult to meet the requirements.
Disclosure of Invention
The invention realizes the calibration of the dynamic measurement performance of the image displacement measuring instrument, has excellent controllability, very accurate displacement quantity and controllable displacement speed.
1. An apparatus for calibrating an image-wise displacement measuring instrument, characterized by: the device comprises a motor controller, a transmission module consisting of a motor and a shaft, a recording tape control module, a light source conversion module, a controller, a recording tape and a light source. The 3 transmission modules and the 1 recording belt control module are distributed in rectangular vertexes.
The recording tape control module comprises a recording tape input module consisting of a motor and a shaft, a recording tape output module consisting of the motor and the shaft, the rotation directions of the recording tape input module and the recording tape output module are opposite, and the recording tape is wound on the shafts of the recording tape input module and the recording tape output module;
the light source is mounted above the controller. The controller controls the light source, the motor controller and the recording tape control module. The recording tape is transferred from one side of the recording tape transferring module of the recording tape control module, sequentially bypasses the 3 transmission modules and is transferred from the recording tape transferring module of the recording tape control module. The light source conversion module is fixed in front of the light source and adjusts the light beam into a straight line perpendicular to the bottom surface.
2. The method for applying the device is characterized by comprising the following steps:
(1) The recording tape is mounted on a device for calibrating an image-based displacement measuring instrument, hereinafter referred to as a calibration device.
(2) The instrument to be calibrated is placed directly in front of the calibration device such that the camera of the instrument to be calibrated is aligned with the recording tape of the calibration device.
(3) And starting the calibrated instrument.
(4) And starting the calibration device, namely starting the light source, and starting the recording tape control module and the 3 transmission modules. The controller controls the opening and closing of the light source; the motor controller is controlled to output corresponding instructions, and the motor is controlled to drive the shaft to rotate; the control recording tape control module is used for controlling the recording tape to be transferred in and out, so that the recording tape control module and the 3 transmission modules work cooperatively to drive the recording tape to move. The recording tape is made of an opaque material, a preset displacement curve is carved on the upper surface of the recording tape in a hollowed-out mode, and light rays only pass through the curve. When the light source is turned on, a bright spot on the displacement curve of the recording tape can be seen from the front view of the calibration device.
(5) The calibrated instrument shoots the movement of the bright spots on the recording tape and records the data.
(6) And reading displacement data output by the calibrated instrument, comparing the displacement data with standard data of a recording tape, and calculating errors of the displacement data and the standard data.
(7) Stopping calibration, closing the calibrated instrument, closing the calibration device, and taking down the recording tape.
More specifically, the device required by the calibration method of the present patent mainly comprises a controller, a motor, a light source conversion module, a recording tape and other parts, and the hardware connection diagram is shown in fig. 1.
In the figure, 1 is a shell, 2 is a motor controller, 3 is a transmission module, and consists of a motor and a shaft, 4 is a recording tape control module, 5 is a light source conversion module, 6 is a controller, 7 is a recording tape, and 8 is a light source.
The 3 transmission modules and the 1 recording belt control module are distributed in rectangular vertexes.
The motor controller is commonly known as a motor driver. The light source conversion module can adopt a cylindrical lens group, and the controller adopts a computer or uses a microcontroller. The tape control module is a combination of a tape in module and a tape out module.
In fig. 2, 4-1 is a base of a recording tape control module, 4-2 is a recording tape in-coming module composed of a motor and a shaft, 4-3 is a recording tape out-coming module composed of a motor and a shaft, and 7 is a recording tape. The direction of rotation of the tape in-coming module 4-2 and the tape out-coming module 4-3 are opposite, wherein 4-2 controls the in-coming of the tape and 4-3 controls the out-coming of the tape. The recording tape is wound on the shafts of 4-2 and 4-3. A tape outgoing position and a tape incoming position on the tape control module.
The light source is mounted above the controller. The controller is connected with the light source, the motor controller and the recording tape control module. The recording tape is transferred from the recording tape transferring module side of the recording tape control module, sequentially bypasses 3 transmission modules and is transferred from the recording tape transferring module of the recording tape control module. The light source conversion module is fixed in front of the light source and adjusts the light beam into a straight line perpendicular to the bottom surface. The recording tape is hollowed out with a continuous displacement curve as shown in fig. 3.
The flow chart of the technical scheme of the calibrating device is shown in fig. 4.
The main functions of the controller of the calibrating device are as follows: controlling the on-off of the light source; the motor controller is controlled to output corresponding instructions, and the motor is controlled to drive the shaft to rotate; the control module of the control recording tape is transmitted into and out of the recording tape, so that the control module of the recording tape works together with 3 motors and shafts to drive the recording tape to move. The two sides, the back and the upper and lower surfaces of the calibrating device are surrounded by the shell, the front of the device is provided with a window, and the displacement curve on the recording tape can be seen through the window.
The recording tape of the calibrating device is made of opaque materials, a preset displacement curve is carved on the recording tape in a hollowed-out mode, and light rays can only pass through the curve. When the light source is turned on, a bright spot on the displacement curve of the recording tape can be seen from the front view of the calibration device.
Drawings
FIG. 1 is a schematic diagram of a hardware connection of a quasi-device
In the figure, 1 is a shell, 2 is a motor controller, 3 is a motor and shaft, 4 is a recording tape control module, 5 is a light source conversion module, 6 is a controller, 7 is a recording tape, and 8 is a light source.
FIG. 2 is a schematic diagram of a tape controller
FIG. 3 is a schematic diagram of a recording tape
FIG. 4 is a flow chart of a calibration apparatus
FIG. 5 is a flowchart of embodiment 1
FIG. 6 is a flowchart of embodiment 2
Detailed Description
The present patent can be used for calibrating the dynamic displacement measurement capability of an image type non-contact dynamic and static displacement measuring instrument (hereinafter referred to as "displacement measuring instrument"), and the flow chart is shown in fig. 5:
5.3.1.2 example 1 implementation procedure
Referring to the flowchart of example 1 shown in fig. 5, the implementation process of the technical scheme of example 1 is as follows:
(1) A recording tape suitable for dynamic displacement calibration is mounted on the calibration device.
(2) The displacement gauge is placed directly in front of the calibration device such that the camera of the displacement gauge is aligned with the recording tape of the calibration device.
(3) And starting the displacement measuring instrument, finishing initialization and calibration, and switching to a dynamic displacement measuring program.
(4) The light source is turned on, the control module of the recording tape, the matched motor and the shaft are started, and the initial position of the displacement curve on the recording tape is adjusted to the emitting surface of the linear light source, so that the initial position is a bright point.
(5) The controller controls the recording belt control module, the matched motor and the shaft, so that the recording belt rotates at a constant speed, and the position of a bright spot on the recording belt can be seen to move up and down according to a displacement curve.
(6) The displacement measuring instrument records the displacement condition of the bright spots on the recording tape in real time.
(7) When the displacement curve on the recording tape disappears, the bright point disappears, and the displacement measuring instrument is stopped.
(8) And outputting dynamic displacement curve data of the displacement measuring instrument, comparing the dynamic displacement curve data with data of the recording tape, and calculating the difference between the dynamic displacement curve data and the data of the recording tape.
(9) If the data between the two are inconsistent, adjusting the parameters of the displacement measuring instrument, and repeating the steps (1) - (7); if the two data are consistent, the calibration is passed.
Example 2
1) Implementation example 2 hardware connection diagram, technical flow diagram
This patent can be used to calibrate the static displacement measurement capability of a displacement meter, and the flow chart is shown in fig. 6:
2) The detailed implementation process of the technical solution of embodiment 2 is described with reference to fig. 6.
Example 2 the implementation of the technical scheme is as follows:
(1) A recording tape suitable for static displacement calibration is mounted on the calibration device (the recording tape image for static displacement calibration is a slope-fixed diagonal line).
(2) The displacement gauge is placed directly in front of the calibration device such that the camera of the displacement gauge is aligned with the recording tape of the calibration device.
(3) And starting the displacement measuring instrument, finishing initialization and calibration, and switching to a dynamic displacement measuring program.
(4) The light source is turned on, the control module of the recording tape, the matched motor and the shaft are started, and the initial position of the displacement curve on the recording tape is adjusted to the emitting surface of the linear light source, so that the initial position is a bright point.
(5) The controller controls the recording belt control module, the matched motor and the shaft, so that the recording belt rotates at a constant speed, and the position of a bright spot on the recording belt can be seen to move up and down according to a displacement curve.
(6) The displacement measuring instrument records the displacement condition of the bright spots on the recording tape in real time.
(7) When the displacement curve on the recording tape disappears, the bright point disappears, and the displacement measuring instrument is stopped.
(8) And outputting static displacement curve data of the displacement measuring instrument, comparing the static displacement curve data with data of the recording tape, and calculating a difference value between the static displacement curve data and the data of the recording tape.
(9) If the data between the two are inconsistent, adjusting the parameters of the displacement measuring instrument, and repeating the steps (1) - (7); if the two data are consistent, the calibration is passed.
The method realizes the calibration of the image displacement measuring instrument on the displacement measuring capacity, ensures the accuracy of the calibration result, and provides technical support for the calibration of various image displacement detection devices.
The method has excellent applicability and can be applied to and is not limited to calibration of dynamic and static displacement measurement capacity of the image type non-contact dynamic and static displacement measuring instrument.
This patent can control the travel speed of displacement, realizes accurate calibration.
See example 1. This patent can let the rotation of recording area keep invariable speed through the cooperative control to recording area control module and supporting motor, and the speed is controllable.
The displacement curve of single point can be reappeared to this patent.
This patent is carved on the record area and is moved the curve, only has the displacement curve to be can the light of permeating on the record area, does not carved the part of displacement curve and shelters from light completely.
The light source is changed into a linear light perpendicular to the bottom surface and the recording tape through the light source conversion module, so that the linear light penetrates the recording tape to form a bright spot on the recording tape.
By controlling the record belt to move at a constant speed, the position of the bright point moves, and the moving path is consistent with the displacement curve on the record belt.
The cost of the patent is lower than that of the current common method.
The patent realizes the reproduction of the single-point displacement curve.
The displacement curve is carved in the fretwork on the record area, only displacement curve can see through light on the record area, and the part that does not fretwork is carved displacement curve shelters from light completely.
The light source is changed into a linear light perpendicular to the bottom surface and the recording tape through the light source conversion module, so that the linear light penetrates through the recording tape and then crosses the displacement curve of the recording tape, and a bright spot is formed on the recording tape.
The control module of the recording tape and the matched motor are cooperatively controlled, so that the rotation of the recording tape can be kept at a constant speed, and the speed is controllable. Along with the movement of the recording belt, the position of the bright point moves at a uniform speed, and the moving path is consistent with the displacement curve on the recording belt.
The displacement curve accuracy that this patent was repeated is higher. Because the displacement curve on the recording tape is a continuous curve, the displacement value is continuously changed, and the accurate reproduction of the displacement quantity on the time axis can be realized by matching with the adjustment of the moving speed of the recording tape. From the results of this patent, it can be analyzed that the accuracy of the displacement curve reproduction depends on the curve on the recording tape and the speed of the recording tape movement. Let y=f (x) be the displacement curve on the recording tape, y be the vertical axis of the curve on the recording tape, x be the horizontal axis of the curve on the recording tape, h=g (l) be the displacement curve to be reproduced, h be the actual displacement amplitude, l be the distance interval of the actual displacement, v be the recording tape moving linear velocity, and let x/l=n, y=h, then y=g (vt/n). When the requirement of the displacement speed of the recording tape is higher, the transverse axis of the curve on the recording tape can be shortened according to a certain proportion, and the requirement of the displacement speed of the recording tape can be reduced. Meanwhile, the motor and the shaft used in the patent only need to rotate in one direction, so that the phenomenon that return difference is introduced into a repeated curve due to reciprocating motion of the motor and the shaft is avoided, and the accuracy of curve reproduction is improved.
The displacement reproduction system adopting the motor screw rod combination reproduces single-point displacement, and calibrates an image method displacement measuring instrument, and the measuring model is delta D i ＝D i -D 0 Wherein DeltaD i For the ith displacement indication value error, D i For the ith displacement measured value, D 0 And (5) the ith displacement standard value. Each influence factor of the measurement model is independent, and the synthetic variance is obtained as follows:and C 1 ＝1，C 2 = -1. Repeated experiments show that the maximum allowable error of the displacement measuring system of the motor screw rod combination for reproducing the static displacement +.>Is + -0.05 mm; the reproduction dynamic displacement has a return error with a maximum allowable error +.>Is + -1.3 mm. U (D) of image displacement measuring instrument t ) =0.05mm. The resultant standard uncertainty of the static displacement measurement is +.>The uncertainty of the synthesis standard of the dynamic displacement measurement result is +.>Taking k=2, the expansion uncertainty of the static displacement measurement result is 0.142mm, the expansion uncertainty of the dynamic displacement measurement result is 2.602mm, and the expansion uncertainty of the measurement result of the displacement reproduction system adopting the motor screw combination is 2.602mm.
The patent is adopted to reproduce single-point displacement, and the image method displacement measuring instrument is calibrated, and the model is the same as that above. Maximum allowable error (including static displacement and dynamic displacement) u (D) 0 ) Is + -0.05 mm, the uncertainty of the synthesis standard isTaking k=2, the extended uncertainty of the measurement results using this patent is 0.142mm.
When the dynamic displacement is recovered, the expansion uncertainty of the measurement result is 1/18 of the expansion uncertainty of the motor screw rod combination, and obviously, the performance of the dynamic displacement recovery system is far better than that of a displacement recovery system adopting the motor screw rod combination.
Claims (2)
1. An apparatus for calibrating an image-wise displacement measuring instrument, characterized by: the device comprises a motor controller, a transmission module consisting of a motor and a shaft, a recording tape control module, a light source conversion module, a controller, a recording tape and a light source; the 3 transmission modules and the 1 recording belt control module are distributed in rectangular vertexes;
the recording tape control module comprises a recording tape input module consisting of a motor and a shaft, a recording tape output module consisting of the motor and the shaft, the rotation directions of the recording tape input module and the recording tape output module are opposite, and the recording tape is wound on the shafts of the recording tape input module and the recording tape output module;
the light source is arranged above the controller; the controller controls the light source, the motor controller and the recording tape control module; the recording tape is transferred from one side of a recording tape transferring module of the recording tape control module, sequentially bypasses 3 transmission modules and is transferred from a recording tape transferring module of the recording tape control module; the light source conversion module is fixed in front of the light source and adjusts the light beam into a straight line perpendicular to the bottom surface; the recording tape is made of an opaque material, a preset displacement curve is carved on the upper surface of the recording tape in a hollowed-out mode, and light rays only pass through the curve.
2. A method of using the apparatus of claim 1, comprising the steps of:
the recording tape is arranged on a device for calibrating an image displacement measuring instrument, which is hereinafter referred to as a calibrating device;
placing the calibrated instrument right in front of the calibrating device, so that a camera of the calibrated instrument is aligned with a recording belt of the calibrating device;
starting a calibrated instrument;
starting a calibration device, namely starting a light source, starting a recording tape control module and 3 transmission modules; the controller controls the opening and closing of the light source; the motor controller is controlled to output corresponding instructions, and the motor is controlled to drive the shaft to rotate; the control module of the control recording tape is used for controlling the transmission of the recording tape to the transmission belt, so that the control module of the recording tape and the 3 transmission modules work cooperatively to drive the recording tape to move; the recording belt is made of an opaque material, a preset displacement curve is carved on the recording belt in a hollowed-out mode, and light rays only pass through the curve; when the light source is turned on, a bright point exists on the displacement curve of the recording belt can be seen from the front of the calibration device;
the calibrated instrument shoots the moving condition of the bright spots on the recording tape and records data;
reading displacement data output by a calibrated instrument, comparing the displacement data with standard data of a recording tape, and calculating errors of the displacement data and the standard data;
stopping calibration, closing the calibrated instrument, closing the calibration device, and taking down the recording tape.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710450726.9A CN107462160B (en) | 2017-06-15 | 2017-06-15 | Method and device for calibrating image displacement measuring instrument |
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| CN201710450726.9A CN107462160B (en) | 2017-06-15 | 2017-06-15 | Method and device for calibrating image displacement measuring instrument |
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| CN107462160B true CN107462160B (en) | 2023-11-17 |
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|---|---|---|---|---|
| DE3305129A1 (en) * | 1982-02-16 | 1983-09-01 | Osakeyhtiö Decon AB, 02201 Espoo | Method and device for calibrating a measuring device which serves to measure a dimension of a body |
| CN1539074A (en) * | 2001-08-08 | 2004-10-20 | ���µ�����ҵ��ʽ���� | Displacement detecting method, displacement detecting device and calibrating method thereof, and recording device of information recording medium original disk |
| CN102612634A (en) * | 2010-09-13 | 2012-07-25 | 株式会社理光 | A calibration apparatus, a distance measurement system, a calibration method and a calibration program |
| CN106197518A (en) * | 2016-08-29 | 2016-12-07 | 交通运输部公路科学研究所 | A kind of displacement and traveling time synchronous calibration method and device |
| CN106441108A (en) * | 2016-09-14 | 2017-02-22 | 苏州市建筑科学研究院集团股份有限公司 | Vision displacement measurement system and method |
-
2017
- 2017-06-15 CN CN201710450726.9A patent/CN107462160B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3305129A1 (en) * | 1982-02-16 | 1983-09-01 | Osakeyhtiö Decon AB, 02201 Espoo | Method and device for calibrating a measuring device which serves to measure a dimension of a body |
| CN1539074A (en) * | 2001-08-08 | 2004-10-20 | ���µ�����ҵ��ʽ���� | Displacement detecting method, displacement detecting device and calibrating method thereof, and recording device of information recording medium original disk |
| CN102612634A (en) * | 2010-09-13 | 2012-07-25 | 株式会社理光 | A calibration apparatus, a distance measurement system, a calibration method and a calibration program |
| CN106197518A (en) * | 2016-08-29 | 2016-12-07 | 交通运输部公路科学研究所 | A kind of displacement and traveling time synchronous calibration method and device |
| CN106441108A (en) * | 2016-09-14 | 2017-02-22 | 苏州市建筑科学研究院集团股份有限公司 | Vision displacement measurement system and method |
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