CN109442171A - A kind of single eye stereo vision system and its application method - Google Patents
A kind of single eye stereo vision system and its application method Download PDFInfo
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Abstract
The invention discloses a kind of single eye stereo vision system and its application methods.The system mainly includes six-freedom parallel adjustment mechanism, video camera, gyroscope and control system.Adjustment mechanism in parallel realizes that the six-freedom degree pose of video camera is adjusted by six servo electric jar drivings.Video camera and gyroscope are separately mounted to the upper and lower planar central of adjustment mechanism moving platform in parallel, for obtaining the image information and video camera posture information of target.Control system is used to handle the generation and transmission of camera review information and pose regulating command.This system has many advantages, such as that at low cost, precision is high, applied widely, convenient for industry, agricultural, medical treatment, scientific research, in terms of application.
Description
Technical field
The present invention relates to single camera vision system and measurement control fields, are a kind of single eye stereo vision system and its user
Method, specifically a kind of six degree of freedom single eye stereo vision system and its application method driven by servo electric jar.
Background technique
With the development of electronic technology, control technology, sensing measurement technology, signal processing technology and computer technology, machine
Device vision is widely applied in agricultural, service trade, medical treatment, scientific research and industrial production.Robot is carried out to target
Need first to understand direction and range information of the target relative to robot before operation.Though monocular vision measure structure it is simple, at
This is low, but the physical size information of known target is needed just to be able to achieve ranging, restricted application.Binocular solid range-measurement system is not
Need known target dimension information can ranging, but structure is complicated, at high cost, calibration complex process and video camera installation are opposite
Error influences measurement accuracy big.
Summary of the invention
The above vision measurement system there are aiming at the problem that, the present invention provides that a kind of structure is simple, at low cost, measurement accuracy
High, adaptable single eye stereo vision system and its application method.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of single eye stereo vision system, including pose adjustment mechanism, video camera, gyroscope and control system；
The pose adjustment mechanism includes moving platform, silent flatform and multiple drive chains；Each drive chain passes through Hooke
Hinge is connected with moving platform and silent flatform respectively, multiple drive chains spatially uniform interlaced arrangement；The video camera setting exists
On moving platform at planar central, for obtaining image information；
The gyroscope is arranged at moving platform lower plane center, for obtaining video camera posture information；
The information control drive chain of the control system acquisition camera and gyroscope is realized to video camera on moving platform
Pose Control.
As a further improvement of the present invention, the drive chain is servo electric jar.
As a further improvement of the present invention, the drive chain be six, in pairs totally three groups be evenly arranged on platform circle
Zhou Shang, moving platform and silent flatform are 60 ° around axial opposite deflection angle in initial installation.
As a further improvement of the present invention, the control system includes:
Computer or image processing equipment, for handling the image information of video camera；
Motion controller obtains processing result image and gyroscope posture information, and control signal is output to each servo
The driver of electric cylinder, servo electric jar drive moving platform movement, to realize that the pose of video camera is adjusted.
As a further improvement of the present invention, the video camera is CCD camera or COMS video camera.
A kind of application method of single eye stereo vision system, comprising the following steps:
1) parameter calibration is carried out to video camera；
2) control system control drive chain is initialized；
3) image information that control system processing video camera obtains judges whether to find target by characteristic matching, if not having
It is found target and then controls moving platform and search for target outward by counter-clockwise helical in reachable tree, according to mesh if finding target
Position in the picture and gyroscope information are marked, drives each servo electric jar to adjust the pose of moving platform, makes video camera face mesh
Mark；
4) adjust each drive chain make moving platform vertical camera light axis direction respectively to left and right both sides translation it is certain away from
From L1And L2, and target is obtained in the image information and gyroscope information of left and right two positions；
5) according to processing result image, gyroscope posture information, camera parameters and L1And L2Value, solve and target and take the photograph
The distance between camera information is
Wherein, f is focal length of camera, XlAnd XrVideo camera is respectively represented in left and right two positions, target edge on the image
The coordinate value in camera translation direction, target are obtained relative to the directional information of platform from gyroscope.
As a further improvement of the present invention, control system needs basis to work as when controlling moving platform movement in step 3)
Preceding processing result image and gyroscope information solve the control instruction that will be sent to each servo electric jar driver, and assist
Adjustment video camera turns about the Z axis, to keep image upright, specific solution procedure are as follows:
Using moving platform center as origin, the direction for crossing wherein one group of Hooke's hinge node center is X-axis positive direction, and X-axis is positive
It is Y-axis positive direction around the direction that origin is rotated by 90 ° counterclockwise, is Z axis perpendicular to X-axis and Y-axis outwardly direction, establishes moving platform
Coordinate system OXYZ；Video camera is installed according to coordinate system, so that the center of camera review is overlapped with coordinate origin O, image
Horizontal direction is parallel with X-axis, and the direction of image upward and Y-axis are positive consistent when moving platform is horizontal positioned；In initial position, will move
The driven Platform center of platform coordinate system be moved to silent flatform center fixed coordinate system；
If α, β, γ are respectively the angle that moving platform is rotated around X, Y, Z axis,
Next control beat is calculated, coordinate of each hinge in fixed coordinate system on moving platform
Calculate next control beat, the length vector of drive chain
Active chain length are as follows:The elongation of servo electric jar is that active chain length subtracts both ends Hooke
The length of hinge；
Wherein, xI is solidIndicate x coordinate of i-th of Hooke's hinge in fixed coordinate system on moving platform；xI is dynamicIt indicates the on moving platform
X coordinate of the i Hooke's hinge in moving platform coordinate system；xO is solidIndicate x coordinate of the moving platform center in fixed coordinate system；XI is solidTable
Show x coordinate of i-th of Hooke's hinge in fixed coordinate system on silent flatform.
It as a further improvement of the present invention, further include that the angle turned about the Z axis when video camera exceeds pose in step 3)
When the adjustment limit of adjustment mechanism, supplement adjustment is carried out to camera review, so that camera review is shown as erected image
Step, specifically:
It takesFor moving platform inclination angle, the angle that camera review should currently rotate is determined according to the angle α and β that gyroscope obtains
Spend θ value；
θ value can be byWithJoint, which solves, to be determined.
L in step 4)1And L2It should keep as far as possible equal, can not also wait, but it is mobile from leftward position to must satisfy video camera
When to right positions, the pixel difference that the picture of target moves on the image at least accounts for the 1/5 of the total pixel of the direction.
It as a further improvement of the present invention, further include the storage size needed for dynamic changes according to angle, θ to be rotated
The step of, specifically:
Assuming that the pixel of video camera is m × n, memory space needed for saving rotated image is new_m × new_n, then
Assuming that the pixel coordinate value of certain point is (x, y) in original digital image data matrix, the coordinate value after rotating is (new_
X, new_y), then (new_x, new_y) can be determined by following formula:
Pixel coordinate value after image rotation calculates gained coordinate by above formula and carries out round processing, if original image
Different pixels point corresponds to same coordinate pixel value after rotation transformation is rounded as in, then is averaged this to these pixel values
The pixel value of coordinate points, for existing pixel cavity, by eight neighborhood around the pixel be averaging in the way of obtain cavity
Locate pixel number evidence.
As a further improvement of the present invention, when the counter-clockwise helical searches for target outward, two adjacent rings offset
The half of distance about camera coverage, obtains good compromise effect in effective search and not omit between moving target.
Compared with the existing technology, the invention has the following advantages:
Single eye stereo vision system of the invention can be realized the pose adjusting to video camera space six degree of freedom, greatly
Extend measurement range.Relative to existing single eye stereo vision measuring system, parallel institution is introduced monocular for the first time by the present invention
In stereo visual system, advantage flexible, that control precision is high, dynamic property is good is moved using six-degree-of-freedom parallel connection mechanism, is overcome
Existing single eye stereo vision system visual field is small, plane mirror lacks error with the presence of amplification, part system accumulated error etc.
Point is realized to a wide range of of extraterrestrial target, high Precision measurement.Moreover, single eye stereo vision system provided by the invention
Silent flatform can be not only fixed on to the azimuthal measurement for being used for target on static object, silent flatform can also be fixed on movement
The azimuthal measurement of target is used on platform or other telecontrol equipments (such as: robot)；In addition, the present invention does not have the pose of carrier
Harsh requirement greatly expands the applicable situation of system.It is provided for subsequent single eye stereo vision systematic research a kind of new
Thinking, have very important theoretical research value and realistic meaning.
Application method of the invention includes: camera parameters calibration；Adjustment mechanism pose initialization in parallel；It searches for and obtains
The image information and directional information of target, adjusting moving platform makes video camera face target；Moving platform is adjusted in vertical camera light
Both sides translate certain distance to axis direction to left and right respectively, and obtain target and believe in the image information and gyroscope of left and right two positions
Breath；Using the information of acquisition, camera parameters and translation distance, direction and the range information of target are solved.This system have at
This it is low, precision is high, applied widely the advantages that, convenient for industry, agricultural, medical treatment, scientific research, in terms of application.
Detailed description of the invention
Fig. 1 is single eye stereo vision system main view；
Fig. 2 is single eye stereo vision system oblique view；
Fig. 3 is the control circuit functional block diagram of single eye stereo vision system；
Fig. 4 is the flow chart of single eye stereo vision System Utilization Procedure；
Fig. 5 is moving platform coordinate system and camera arrangements schematic diagram；
The concrete meaning of figure label are as follows: 1. video cameras, 2. moving platforms, 3. gyroscopes, 4. servo electric jars, 5. is quiet flat
Platform.
Specific embodiment
The present invention will be further described in the following with reference to the drawings and specific embodiments, and the present invention is not limited to following embodiments.
Referring to Fig. 1 to Fig. 3, a kind of single eye stereo vision system, including moving platform 2, silent flatform 5, six roots of sensation drive chain and control
System processed；Video camera 1 is installed at the upper planar central of moving platform 2, for obtaining image information, lower plane is equipped at center
Gyroscope 3, for obtaining video camera posture；Drive chain is mainly made of servo electric jar 4, and six roots of sensation drive chain is hinged by Hooke
Moving platform 1 and silent flatform 5 are connect, and realizes and the pose of moving platform six degree of freedom is adjusted；Control system is by for handling video camera
The computer or special image processing equipment of image information, and for the controller composition of mechanism kinematic control, with realization pair
The processing of camera review information and the control of moving platform pose.
Wherein, such as Fig. 1 and with shown in Fig. 2, six drive chains spatially uniform interlaced arrangement, hinge is in moving platform and quiet
On platform in pairs, it is evenly arranged on platform circumference for three groups, moving platform and silent flatform are in initial installation, around the relatively inclined of axial direction
Gyration is 60 °, so that two neighboring drive chain constitutes triangle with moving platform or silent flatform, improves the stabilization of system
Property.
It certainly also can be achieved on the driving process of moving platform with the drive chain of other even numbers.Such as drive chain be 8,
10…。
The video camera 1 is arranged on moving platform 2 at planar central, for obtaining image information；The setting of gyroscope 3 exists
At 2 lower plane center of moving platform, for obtaining 1 posture information of video camera；
Control system includes:
Computer or image processing equipment, for handling the image information of video camera 1；
Motion controller obtains processing result image and 3 posture information of gyroscope, and control signal is output to each servo
The driver of electric cylinder 4, servo electric jar 4 drive moving platform 2 to move, to realize that the pose of video camera 1 is adjusted.
Preferably, control system acquisition camera 1 and the information of gyroscope 3 control drive chain are realized to taking the photograph on moving platform 2
The Pose Control of camera 1.
Motion controller obtains computer by serial ports or special image processing is set using control chip STM32F104ZET
Standby processing result image and gyroscope posture information, and control signal is output to six servo electric jar drivers, it uses
In controlling the movement of six servo electric jars, to adjust pose of camera, and finally realize single eye stereo vision system to mesh
Mark quick, high-precision azimuthal measurement.
Preferably, the video camera 1 can be CCD camera or COMS video camera.
As shown in Figure 4 and Figure 5, the application method of a kind of single eye stereo vision system of the invention, comprising the following steps:
1) parameter calibration is carried out to video camera 1；
2) control system control drive chain makes each servo electric jar 4 be elongated to the initial position of half stroke so that system obtains
Better dynamic property is obtained, at this point, moving platform 2 is located at outside position parallel with silent flatform 5；
3) image information that control system processing video camera 1 obtains judges whether to find target by characteristic matching, if not having
It is found target and then controls moving platform 2 and search for target outward by counter-clockwise helical in reachable tree, the basis if finding target
3 information of position and gyroscope of target in the picture drives each servo electric jar 4 to adjust the pose of moving platform 2, makes video camera just
To target；
4) adjust each drive chain make moving platform vertical camera light axis direction respectively to left and right both sides translation it is certain away from
From L1And L2, and target is obtained in 3 information of image information and gyroscope of left and right two positions；
5) according to processing result image, 3 posture information of gyroscope, camera parameters and L1And L2Value, solve and target and take the photograph
The distance between camera information isWherein, f is focal length of camera, XlAnd XrRespectively represent video camera it is left,
When right two positions, target on the image along the coordinate value in camera translation direction, target relative to platform directional information from top
Spiral shell instrument obtains.
Control system is needed when controlling the movement of moving platform 2 according to current processing result image and gyro in step 3)
Instrument information solves the control instruction that will be sent to each 4 driver of servo electric jar, and assists turning about the z axis for adjustment video camera 1
It is dynamic, to keep image upright, specific solution procedure are as follows:
Using 2 center of moving platform as origin, the direction for crossing wherein one group of Hooke's hinge node center is X-axis positive direction, and X-axis is positive
It is Y-axis positive direction around the direction that origin is rotated by 90 ° counterclockwise, is Z axis perpendicular to X-axis and Y-axis outwardly direction, establishes moving platform
Coordinate system OXYZ；Video camera 1 is installed according to coordinate system, so that the center of camera review is overlapped with coordinate origin O, image
Horizontal direction is parallel with X-axis, and the direction of image upward and Y-axis are positive consistent when moving platform is horizontal positioned；In initial position, will move
The driven Platform center of platform coordinate system be moved to silent flatform center fixed coordinate system；
If α, β, γ are respectively the angle that moving platform 2 is rotated around X, Y, Z axis,
Next control beat is calculated, coordinate of each hinge of moving platform 2 in fixed coordinate system:
Calculate next control beat, the length vector of drive chain
Active chain length are as follows:The elongation of servo electric jar 4 is that active chain length subtracts both ends tiger
Gram hinge length.
Wherein, xI is solidIndicate x coordinate of i-th of Hooke's hinge in fixed coordinate system on moving platform；xI is dynamicIt indicates the on moving platform
X coordinate of the i Hooke's hinge in moving platform coordinate system；Xo indicates x coordinate of the moving platform center in fixed coordinate system admittedly；XI is solid
Indicate x coordinate of i-th of Hooke's hinge in fixed coordinate system on silent flatform；
In addition, further including the adjustment limit that the angle turned about the Z axis when video camera 1 exceeds pose adjustment mechanism in step 3)
When, supplement adjustment is carried out to camera review, so that the step of camera review is shown as erected image, specifically:
It takesFor 2 inclination angle of moving platform, the angle that camera review should currently rotate is determined according to the angle α and β that gyroscope obtains
Spend θ value；θ value can be byWithJoint, which solves, to be determined.
L in step 41And L2It should keep as far as possible equal, can not also wait, but it is mobile from leftward position to must satisfy video camera 1
When to right positions, the pixel difference that the picture of target moves on the image at least accounts for the 1/5 of the total pixel of the direction.
It further include the step of dynamic changes required storage size according to angle, θ to be rotated, specifically:
Assuming that the pixel of video camera 1 is m × n, memory space needed for saving rotated image is new_m × new_n, then
Assuming that the pixel coordinate value of certain point is (x, y) in original digital image data matrix, the coordinate value after rotating is (new_
X, new_y), then (new_x, new_y) can be determined by following formula:
Pixel coordinate value after image rotation calculates gained coordinate by above formula and carries out round processing, if original image
Different pixels point corresponds to same coordinate pixel value after rotation transformation is rounded as in, then is averaged this to these pixel values
The pixel value of coordinate points, for existing pixel cavity, by eight neighborhood around the pixel be averaging in the way of obtain cavity
Locate pixel number evidence.
When counter-clockwise helical searches for target outward, two adjacent rings offset distance be about 1 visual field of video camera half, with
It effective search and does not omit and obtains good compromise effect between moving target.
Further, L in step 41And L2It should keep as far as possible equal, can not also wait, but must satisfy video camera from left lateral position
It sets when being moved to right positions, the pixel difference that the picture of target moves on the image at least accounts for the 1/5 of the total pixel of the direction.
Further, it needs when moving platform rotates, using the collected moving platform obliquity information of gyroscope, to video camera figure
As being adjusted in real time, so that upright image is shown in camera views, convenient for processing and observation, it is direct to be conducive to the mankind
Check camera views.
Further, according to angle, θ to be rotated, the size of memory space needed for dynamic changes, it is ensured that image rotation mistake
Integrality in journey, and memory space is saved as far as possible.
Embodiment
By taking the robot of orchard as an example, robot needs contexture by self walking path when orchard is walked, using of the invention
Single eye stereo vision system can obtain in real time the azimuth information of two sides fruit tree during traveling, and fit robot
It is expected that walking path.During picking fruit, single eye stereo vision system can obtain fruit relative to robot in real time
Azimuth information, to instruct picking mechanical arm to complete picking operation.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of single eye stereo vision system, which is characterized in that including pose adjustment mechanism, video camera (1), gyroscope (3) and
Control system；
The pose adjustment mechanism includes moving platform (2), silent flatform (5) and multiple drive chains；Each drive chain passes through tiger
Gram hinge is connected with moving platform (2) and silent flatform (5) respectively, multiple drive chains spatially uniform interlaced arrangement；The camera shooting
Machine (1) is arranged on moving platform (2) at planar central, for obtaining image information；
The gyroscope (3) is arranged at moving platform (2) lower plane center, for obtaining video camera (1) posture information；
The information control drive chain of the control system acquisition camera (1) and gyroscope (3) is realized to taking the photograph on moving platform (2)
The Pose Control of camera (1).
2. single eye stereo vision system according to claim 1, which is characterized in that the drive chain is servo electric jar
(4)。
3. single eye stereo vision system according to claim 1, which is characterized in that the drive chain is six, two-by-two
One group totally three groups be evenly arranged on platform circumference, moving platform and silent flatform are in initial installation, around axial opposite deflection angle
60°。
4. single eye stereo vision system according to claim 1, which is characterized in that the control system includes:
Computer or image processing equipment, for handling the image information of video camera (1)；
Motion controller obtains processing result image and gyroscope (3) posture information, and control signal is output to each servo electricity
The driver of dynamic cylinder (4), servo electric jar (4) drive moving platform (2) movement, to realize that the pose of video camera (1) is adjusted.
5. single eye stereo vision system according to claim 1, which is characterized in that the video camera (1) is CCD camera shooting
Machine or COMS video camera.
6. the application method of single eye stereo vision system as described in claim 1, which comprises the following steps:
1) parameter calibration is carried out to video camera (1)；
2) control system control drive chain is initialized；
3) image information that control system processing video camera (1) obtains judges whether to find target by characteristic matching, if not having
It was found that target then controls moving platform (2) searches for target by counter-clockwise helical in reachable tree outward, the basis if finding target
Target position in the picture and gyroscope (3) information drive each servo electric jar (4) to adjust the pose of moving platform (2), make to take the photograph
Camera face target；
4) adjust each drive chain make moving platform in vertical camera light axis direction both sides translate a certain distance L to left and right respectively1
And L2, and target is obtained in image information and gyroscope (3) information of left and right two positions；
5) according to processing result image, gyroscope (3) posture information, camera parameters and L1And L2Value, solve target and camera shooting
The distance between machine information is
Wherein, f is focal length of camera, XlAnd XrVideo camera is respectively represented in left and right two positions, target is on the image along camera shooting
The coordinate value of machine translation direction, target are obtained relative to the directional information of platform from gyroscope.
7. the application method of single eye stereo vision system according to claim 6, which is characterized in that control system in step 3)
For system when controlling moving platform (2) and moving, needing to be solved according to current processing result image and gyroscope information will be to respectively watching
The control instruction of electric cylinder (4) driver transmission is taken, and assists turning about the Z axis for adjustment video camera (1), to keep image just
It is vertical, specific solution procedure are as follows:
Using moving platform (2) center as origin, cross wherein one group of Hooke's hinge node center direction be X-axis positive direction, X-axis forward direction around
The direction that origin is rotated by 90 ° counterclockwise is Y-axis positive direction, is Z axis perpendicular to X-axis and Y-axis outwardly direction, establishes moving platform seat
Mark system OXYZ；Video camera (1) is installed according to coordinate system, so that the center of camera review is overlapped with coordinate origin O, image
Horizontal direction is parallel with X-axis, and the direction of image upward and Y-axis are positive consistent when moving platform is horizontal positioned；In initial position, will move
The driven Platform center of platform coordinate system be moved to silent flatform center fixed coordinate system；
If α, β, γ are respectively the angle that moving platform (2) is rotated around X, Y, Z axis,
Next control beat is calculated, coordinate of each hinge in fixed coordinate system on moving platform (2)
Calculate next control beat, the length vector of drive chain
Active chain length are as follows:The elongation of servo electric jar (4) is that active chain length subtracts both ends Hooke
The length of hinge；
Wherein, xI is solidIndicate x coordinate of i-th of Hooke's hinge in fixed coordinate system on moving platform；xI is dynamicIt indicates on moving platform i-th
X coordinate of the Hooke's hinge in moving platform coordinate system；xO is solidIndicate x coordinate of the moving platform center in fixed coordinate system；XI is solidIndicate quiet
X coordinate of i-th of Hooke's hinge in fixed coordinate system on platform.
8. the application method of single eye stereo vision system according to claim 7, which is characterized in that further include in step 3)
When the angle that video camera (1) turns about the Z axis exceeds the adjustment limit of pose adjustment mechanism, supplement tune is carried out to camera review
It is whole, so that the step of camera review is shown as erected image, specifically:
It takesFor moving platform (2) inclination angle, the angle that camera review should currently rotate is determined according to the angle α and β that gyroscope obtains
θ value；
θ value can be byWithJoint, which solves, to be determined；
L in step 4)1And L2It should keep as far as possible equal, can not also wait, but it is mobile from leftward position to must satisfy video camera (1)
When to right positions, the pixel difference that the picture of target moves on the image at least accounts for the 1/5 of the total pixel of the direction.
9. the application method of single eye stereo vision system according to claim 6, which is characterized in that further include according to wait revolve
The step of gyration θ, storage size needed for dynamic changes, specifically:
Assuming that the pixel of video camera (1) is m × n, memory space needed for saving rotated image is new_m × new_n, then
Assuming that the pixel coordinate value of certain point is (x, y) in original digital image data matrix, coordinate value after rotating be (new_x,
New_y), then (new_x, new_y) can be determined by following formula:
Pixel coordinate value after image rotation calculates gained coordinate by above formula and carries out round processing, if in original image
Different pixels point corresponds to same coordinate pixel value after rotation transformation is rounded, then is averaged to obtain the coordinate to these pixel values
The pixel value of point, for existing pixel cavity, by eight neighborhood around the pixel be averaging in the way of obtain picture at cavity
Vegetarian refreshments data.
10. the application method of single eye stereo vision system according to claim 6, which is characterized in that described is counterclockwise
When spiral searches for target outward, the distance of two adjacent rings offset is about the half in video camera (1) visual field, in effective search and not
It omits and obtains good compromise effect between moving target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456729.4A CN109442171B (en) | 2018-11-30 | 2018-11-30 | Monocular stereoscopic vision system and using method thereof |
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| CN110497413A (en) * | 2019-08-26 | 2019-11-26 | 西南交通大学 | A kind of method for inspecting and device based on image procossing |
| CN113059538A (en) * | 2020-10-26 | 2021-07-02 | 三江学院 | Horizontal compensation mechanism |
| CN114963993B (en) * | 2021-02-24 | 2023-02-21 | 中国科学院沈阳自动化研究所 | Method for measuring attitude and adjusting zero position of basic surface of aerospace engine |
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| CN113021293A (en) * | 2021-03-08 | 2021-06-25 | 北京玄马知能科技有限公司 | Six-wheel all-wheel drive inspection robot with auxiliary operation arm |
| CN113124819A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measuring method based on plane mirror |
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| CN113955134A (en) * | 2021-11-05 | 2022-01-21 | 深圳市鑫辉微电子有限公司 | Electric balancing device and balancing method |
| CN114894086A (en) * | 2022-04-24 | 2022-08-12 | 成都飞机工业（集团）有限责任公司 | Parallel mechanism calibration method based on laser tracker |
| CN114894086B (en) * | 2022-04-24 | 2023-08-04 | 成都飞机工业（集团）有限责任公司 | Parallel mechanism calibration method based on laser tracker |
| CN115870678A (en) * | 2023-03-02 | 2023-03-31 | 成都熊谷加世电器有限公司 | Posture adjusting system and method of internal welding machine, internal welding machine and storage medium |
| CN115870678B (en) * | 2023-03-02 | 2023-08-18 | 成都熊谷加世电器有限公司 | Posture adjusting system and method of internal welding machine, internal welding machine and storage medium |
| CN116071358A (en) * | 2023-03-07 | 2023-05-05 | 江西省智能产业技术创新研究院 | Automobile chassis detection method and readable storage medium |
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