CN107063082B - A balance loading head posture detection device - Google Patents

Abstract

The invention discloses a device for detecting the position and posture of a loading head of a balance. The device includes: an indicating light source and a position detecting structure, the indicating light source is installed on the upper surface of the loading head of a balance to be detected, and the position detecting structure includes: indicating light spot irradiation A target surface, an optical imaging system, and a position detector, the target surface irradiated by the indicated light spot is provided with a central hole, the end surface of the position detector is provided with an opening, the centerline of the opening coincides with the centerline of the central hole, and the The position detector is fixed on the back of the target surface irradiated by the indicated light spot, and the optical imaging system is located in front of the front of the target surface irradiated by the indicated light spot, which realizes the monitoring and monitoring of the large-scale change of the position and posture of the loading head using the device in this application. The high-precision detection near the reset position and attitude can be carried out at the same time, and it meets the large-scale and high-precision measurement requirements of the position and attitude detection of the loading head.

Description

A balance loading head posture detection device

technical field

The invention relates to the field of balance correction systems used in wind tunnel tests, in particular to a position and posture detection device for a load head of a balance.

Background technique

The mechanical balance is an important measuring instrument used in wind tunnel experiments to measure the force and deformation of objects in the wind tunnel. Before the experiment, it generally needs to be calibrated to obtain the relationship between the output signal and the force and deformation. , so as to study the aerodynamic properties of the object in the wind tunnel. There are various structures and system forms for calibrating the balance, one of which is a reset calibrating system. The characteristic of this correction system is to put the loading head in a balanced state (or initial state), and then apply various forces on the force-bearing device of the balance to imitate the possible force of the object, and require the balance to be adjusted at this time. The position and posture of the balance are restored to the initial balance state with high precision requirements, and the various forces finally applied to the balance represent the state of the force, and the various output signals of the balance are corrected accordingly. In this process, it is also required not to have additional influence on the reset work of the loading head, and it is best to use a non-contact method. In this process, since the application of force and the reset process are a complex change process, and the reset process is a dynamic attitude measurement and feedback control process, there may be insufficient adjustment ability and control errors, which will lead to the balance’s attitude. The change is even very large, and it exceeds the conventional measurement range. Therefore, how to detect the position and posture of the balance loading head in a large range and achieve high detection accuracy requirements has become an important issue.

To sum up, in the process of realizing the technical solution of the invention of the present application, the inventor of the present application found that the above-mentioned technology has at least the following technical problems:

In the prior art, the existing horizontal loading head position and posture detection device has the technical problem of being unable to monitor the large-scale change of the loading head position and posture and the high-precision detection near the reset position and posture at the same time.

Contents of the invention

The invention provides a balance loading head position and posture detection device, which solves the problem that the existing balance loading head position and posture detection device cannot simultaneously monitor the large-scale change of the position and posture of the loading head and high-precision detection near the reset position and posture The technical problem is to realize the large-scale change monitoring of the position and posture of the loading head of the balance device in this application and the high-precision detection near the reset position and posture can be carried out simultaneously, and to meet the large-scale and high-precision measurement requirements of the position and posture detection of the loading head .

In order to solve the above technical problems, the application provides a balance loading head position and posture detection device, the device includes:

An indication light source and a position detection structure, the indication light source is installed on the upper surface of the loading head of the balance to be detected, the position detection structure includes: the indication light spot irradiates the target surface, an optical imaging system, and a position detector, and the indication light spot irradiates the target surface There is a central hole, the end face of the position detector is provided with an opening, the center line of the opening coincides with the center line of the central hole, the position detector is fixed on the back of the target surface irradiated by the indicating light spot, and the optical imaging The system is located in front of the target surface irradiated by the indicated light spot.

Among them, when the indicator light source installed on the loading head of the balance to be tested emits light and then irradiates the indicator spot on the target surface, when it irradiates the non-center hole area of the indicator spot on the target surface, the optical imaging system uses the light to illuminate the target surface. The reflected light is used for imaging, and the large-scale change measurement and monitoring of the position and posture of the loading head is completed by processing the spot image; when the light passes through the central hole, it will be directly imaged on the position detector, due to the high resolution of the detector Force, so that the position detector can be used to meet the requirements of high-precision detection of the reset position and attitude.

The measurement and control of the balance loading head in this application proposes such a measurement and control requirement: when the position and attitude of the balance loading head are far away from the equilibrium position, the requirements for the measurement accuracy of the position and attitude can be greatly reduced, but it is hoped that the control mechanism can quickly change the It resets to the vicinity of the balance position; when the position and posture of the balance loading head is near the balance position, the measurement accuracy of the position and posture is required to reach a higher level, and it is hoped that the control mechanism will gradually adjust the position of the balance loading head with high precision. The posture is reset to a balanced state. In order to meet the requirements of large-scale and high-precision reset of the attitude detection of the balance loading head, a solution is proposed: when the attitude of the balance loading head deviates greatly from the equilibrium state, a coarse adjustment system is used, including a large-scale displacement measurement (It can be as high as ±30cm or a larger measurement range) and reset control technology; when the attitude of the balance loading head deviates from the balance position, a sophisticated detection and control system is enabled, including a small-scale precision displacement measurement system and high-precision feedback Control System. This is based on the idea that the measurement range is large, the measurement accuracy is low, the reset adjustment principle can be simplified, and the control process can be accelerated. When the state of adjustment enters the state of fine reset, the precise detection and reset mode is enabled, and then the loading head can be gradually approached to the balance state of the loading head with high measurement accuracy and reset accuracy, and the reset of the loading head is finally completed. Such a form of combining different measurement methods in two ranges solves the comprehensive measurement requirements of large range and high precision.

Due to the limitations of existing position detectors, if the technical route of direct position detection by the detector is used, such as using an area array CCD or other two-dimensional position measuring devices, it can only achieve high-precision position within an area of about 20mm*20mm Measurement, unable to take into account the requirements of the above-mentioned large-scale measurement. However, if the location information in a large range is converted into a smaller and more reasonable range for measurement in this application, although the measurement accuracy may be reduced, it can meet the requirement for measurement in a wide range.

This application uses a large-scale position detection system based on imaging optical system and image information processing method to construct a detection device that meets the attitude of the balance loading head, which can meet the requirements of position measurement in a large range but with low precision requirements. Require. Use the CCD camera and imaging optical system to obtain the image of the indicator light source irradiated on the target surface. Due to the relationship between the imaging ratio, this method can easily image a large range of information on a smaller CCD chip, thereby Obtain relevant information in a wide range; in view of the characteristics of low measurement accuracy in a wide range, image data processing (such as the maximum value method) can be simply performed on the image characteristics of the light source spot to obtain the position information indicating the light source, so as to obtain the loading head Results of preliminary measurements of pose. This application uses a small-scale position detection and image data processing method based on direct detection by a position detector to construct a detection device that meets the attitude of the balance loading head, and meets the requirements for high-precision measurement of position in a small range. When the position and attitude of the loading head of the balance enters the range of fine measurement and adjustment, at this time, the indicating light source is directly irradiated on the CCD chip used for fine measurement, and the precise position of the light spot on the CCD can be obtained by using the precise spot processing technology, so as to obtain The attitude data of the loading head during fine reset is used for feedback control. Through the structural design of the indicator light source illuminating the target surface and the layout design of the detector and optical imaging system, the indicator light source formed on the target surface can be shared by the measurement methods in the two states, and the position measurement information can be obtained through different processing methods , improving the compactness of the position detection system.

Wherein, the optical imaging system includes: a CCD camera and a lens; the position detection structure is fixed on the mounting bracket; The first four sides are installed perpendicular to each other in the horizontal plane, presenting a form of coordinate system, so that the measurement results can be easily used for position inverse solution to obtain the spatial attitude of the balance.

Wherein, the device further includes a connecting bracket, one end of the connecting bracket is connected to the optical imaging system, and the other end of the connecting bracket is connected to the position detector; the position detector specifically includes: a housing, a photodetector , photodetector installation board, signal processor, described photodetector, described photodetector installation board, described signal processor are all installed in the housing, described photodetector chip is installed on photodetector installation board , the photodetector is connected to the signal processor, the centerline of the photodetector coincides with the centerline of the opening; the measurement area of the photodetector is greater than the area of the central hole; the photodetector includes: Area array CCD, two-dimensional PSD; the photodetector mounting plate is fixed on the casing by fastening screws.

The technical solution adopted by this patent to solve its technical problems is: according to the measurement range required for the rough adjustment of the balance loading head, design a target surface with the largest usable area for the irradiation of the indicator light source (the outer frame can be circular or square) , the target surface on the side of the irradiated side adopts a surface structure with a diffuse reflection function, and preferably has white characteristics. Place or bond the target surface on the surface of the position detector, open a hole at the center and leave the window required for the position detector in a state that only covers a small part of the edge of the CCD chip, forming the final indication light source irradiation target surface. The position detector is mainly composed of an area array CCD chip. It is best to use a CCD chip with as large an area as possible and as small a pixel size as possible. According to the measurement requirements, it is best to mount the CCD chip on a panel that can be firmly fixed on a certain bracket by surface welding, and try to keep it away from the heat source (such as the power module on the circuit board, etc.), so as to reduce the influence of thermal expansion and contraction; When the indicated light spot is irradiated on the CCD chip, its spot image can be obtained immediately, and the precise position of the light spot on the surface of the CCD chip can be obtained by performing certain image data processing on the light spot (such as spot centroid processing), generally reaching the pixel level There is no problem, that is, the measurement accuracy of several microns can be achieved, so this measurement method is sufficient for high-precision measurement of the position and attitude of the loading head. However, limited by the CCD chip area and pixel size, the range that can be measured by this method is relatively small, generally within 15mm; this method is used for small-scale and high-precision measurement of the position and attitude of the loading head. When a large-scale measurement is required, a CCD camera imaging system is used to realize it. By selecting an imaging lens with a suitable focal length, a camera system can be formed together with a CCD camera, which can complete the imaging of the corresponding imaging area (indicating the irradiation target surface of the light source) and obtain relevant information in the imaging area. Using it to image the target surface irradiated by the indicating light source, the image of the indicating light source including the position and attitude information of the balance loading head can be obtained. Since the measurement accuracy requirements are greatly reduced, the position information of the indicating light source on the target can be simplified. Processing (such as using the maximum value method), you can quickly obtain the information on the position and attitude of the load head of the balance. According to the possible variation range of the attitude of the balance loading head, the lens focal length can be selected to meet the measurement within the variation range. This measurement method is used for rough measurement of the position and attitude of the loading head of the balance. It has the characteristics of large measurement range and convenient adjustment. Since the measurement accuracy itself is not high, the processing can be simplified and fast, which meets the requirements of measurement and adjustment at this time.

One or more technical solutions provided by this application have at least the following technical effects or advantages:

The beneficial effect of the present invention is that a measurement system capable of imaging a larger area is formed by using a CCD camera and an imaging lens with a suitable focal length, and the corresponding position and posture can be obtained by processing the image of a specific indicating light source in the imaging area information, so as to obtain a large-scale measurement effect, which simplifies the complexity of the large-scale position measurement system. Through the use of the CCD chip-based position detector, the spatial position and attitude information of the indicated light spot can be obtained by directly measuring the spatial position of the indicated light spot, which meets the small-scale, high-precision position and attitude measurement requirements. Taking into account the characteristics of the indicator light spot irradiation during large-scale measurement, the design of the indicator light spot irradiation target surface can effectively integrate the structure of the indicator light irradiation target surface of the two measurement requirements, and meet the requirements of the two position measurement systems for large-scale , low precision and small-scale, high-precision measurement common requirements, and finally the two measurement systems are well integrated to form a balance loading head position and attitude detection system, which meets the large range of balance loading head position and attitude , high-precision detection requirements, to solve the previous large-scale, high-precision detection problems that cannot be carried out at the same time.

Description of drawings

The drawings described here are used to provide a further understanding of the embodiments of the present invention, constitute a part of the application, and do not constitute a limitation to the embodiments of the present invention;

Fig. 1 is a schematic structural diagram of a balance loading head posture detection device;

Fig. 2 is a schematic diagram of the formation of an attitude measuring device;

Figure 3 is a schematic diagram of the composition of the detector that combines the functions of large-scale position measurement and precision measurement;

Fig. 4 is a structural schematic diagram of the fusion of the target surface and the position detector based on the area array CCD chip;

Fig. 5 is a schematic layout diagram of a position detector based on an area array CCD chip;

Figures 6a-6c are schematic diagrams showing several positions of the light spot on the surface of the position detector;

Fig. 7 is a schematic flow chart of a position and attitude measurement strategy;

Among them, 1-loading head and balance to be tested for position attitude, 2-indicating light source, 3-position detection structure, 4-position detection structure mounting bracket, 5-indicating light spot irradiating the target surface, 6-center hole, 7-CCD camera , 8-lens, 9-indicating light beam, 10-position detector based on area array CCD chip, 11-opening, 12-connecting bracket, 13-CCD chip, 14-fastening screw, 15-mounting plate, 16- Circuit board, 17-electronic components, 18-preset center point coordinates.

Detailed ways

The invention provides a balance loading head position and posture detection device, which solves the problem that the existing balance loading head position and posture detection device cannot simultaneously monitor the large-scale change of the position and posture of the loading head and high-precision detection near the reset position and posture The technical problem is to realize the large-scale change monitoring of the position and posture of the loading head of the balance device in this application and the high-precision detection near the reset position and posture can be carried out simultaneously, and to meet the large-scale and high-precision measurement requirements of the position and posture detection of the loading head .

In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the condition of not conflicting with each other, the embodiments of the present application and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from the scope of this description. Therefore, the protection scope of the present invention is not limited by the following disclosure. limitations of specific examples.

In Fig. 1, 1 is the loading head and the balance whose position and attitude are to be measured, 2 indicates the light source, 3 is the position detection structure, and 4 is the installation bracket of the position detection structure.

In Fig. 3, 5 indicates the target surface irradiated by the indicated light spot, and its shape is not limited to a circle, square, etc. The surface irradiated by the indicated light spot adopts a diffuse reflection surface structure, which is convenient for the collection of the light spot and image data processing, and the center position of the target surface is open. The central holes 6, 7, and 8 are CCD cameras and lenses, forming an optical imaging system. 10 is a position detector based on an area array CCD chip, and its shape is not limited to a circle, a square, etc., corresponding to the central position opening 11. 12 is a connecting bracket for fixing the optical imaging system on the position detector, and its form is not limited to On the position detector, it can be fixed on other supporting brackets.

In Fig. 4, 5 indicates that the light spot illuminates the target surface. 10 is a position detector based on an area array CCD chip. 5 and 10 can be fixed by bonding or screw riveting, but it is necessary to align the center hole 6 on the target surface 5 illuminated by the indicating light spot with the light opening 11 on the position detector to ensure that the indicating light can be normally irradiated on the position detector The internal photodetector CCD chip 13, and the CCD chip 13 needs to be aligned with the opening 11. The effective measurement area of the CCD chip 13 should be slightly larger than the central hole 6 to ensure that the position of the light spot in the measurement surface transitions from a large range to a small range. A valid image of the indicated flare is always obtained when measuring. 15 is the installation board of CCD chip, also can be used as the drive of CCD chip and signal processing circuit board jointly, but install electronic component as far as possible on it, especially the heavier power supply module etc. of heating, installation board 15 is passed fastening screw 14 etc. to be fixed on the shell of 10 (such as the end panel), this step has high requirements for installation and needs to be handled carefully. 16 is a circuit board for signal processing, and 17 is an electronic component on the circuit board 16 .

In Fig. 5, this is a schematic diagram of the position detector based on the area array CCD chip. It is mainly necessary to ensure that the effective detection surface of the CCD chip 13 is aligned with the end face opening 11, and the area of the opening 11 is required to be slightly smaller than the effective detection of the CCD chip 13. area. The photodetectors in the detector include but are not limited to area array CCD. Two-dimensional PSD is also a good detection device. Since the effective detection surface of most two-dimensional PSD devices is circular, the openings on it are not It is limited to a square shape, but also includes a circle; but after using a two-dimensional PSD detector, the processing method related to the position information of the indicated light spot will change, mainly relying on the electronic circuit to directly process the current signal output by the PSD, but the processing speed Faster and immediate access to processing results.

The overall structure and composition of the balance loading head attitude detection system: the attitude detection system is mainly composed of the indicator light source 2 in Figure 1, and the position detection structure 3 that integrates large-scale and precise position measurement functions. Most of the components: an optical imaging measurement system composed of a CCD camera 7 and a lens 8 for large-scale position measurement, a position detector 10 based on a CCD chip, and an indicator light spot that can be used for large-scale and precise position measurement to illuminate the target surface 5 components, as shown in Figure 2 and Figure 3. The position detection structure 3 has four paths in total, which are installed on the position detection structure mounting bracket 4 and distributed in four directions perpendicular to each other, as shown in FIG. 1 .

Indication of the posture of the loading head of the balance: install the indicating light source 2 on the loading head of the balance, and ensure that the position between the indicating light source 2 and the loading head 1 is fixed. Indicating light source 2 produces indicating light beam 9 in four directions (preferably strictly perpendicular to each other, which is convenient for position inverse calculation) in the same plane (horizontal plane), and the diameter of indicating light beam 9 is as small as possible, as shown in Figure 1 Show. Since the mutual positional relationship between these indicating light beams is determined, it can be used as a standard reference direction, and because the indicating light source and the loading head are fixed, the position and attitude changes of the loading head are consistent with the position and attitude changes of the indicating light source. Therefore, The direction of the indicating light beams represents the attitude of the loading head, and measuring the position of these indicating light beams and solving the attitude is equivalent to measuring the attitude of the loading head. In the reset-type loading head balance calibration system, there is no need to further solve the attitude, it is only necessary to precisely measure the position of the indicating light beam, and ensure that the calibration system can perform a precise reset of the attitude according to the measurement results. Based on high-precision measurement requirements, the pointing of these light beams needs to have a high degree of stability.

Large-scale measurement of the position of the indicating light beam: This function is completed by the optical imaging system composed of the CCD camera 7 and the lens 8. The shape and area of the target surface 5 illuminated by the indicating light spot are determined according to the possible variation range of the loading head posture. The lens can image the situation of the entire indicating light spot irradiating the target surface 5 on the CCD camera, so as to obtain an image of the entire indicating light spot irradiating the target surface 5 including position measurement information. When the optical imaging system is fixed, it is necessary to avoid blocking the irradiated indicating light beam 9 . The indicating light beam 9 is irradiated on the surface of the target 5 to form an image of a bright spot, and the position of the bright spot is the main information for large-scale position measurement. Align the optical imaging system with the target surface 5 for imaging, acquire a bright spot image containing measurement position information, and extract the centroid position coordinates of the bright spot by using image processing including but not limited to methods such as image maximization and centroid algorithm, The centroid position coordinates of the bright spot are the position information of the indicating light beam 9 on the target surface 5 irradiated by the indicating light spot, as shown in the accompanying drawing of FIG. 6 a . Comparing the position coordinates of the center of mass of the bright spot with the coordinates 18 of the preset center point irradiating the target surface 5 of the indicated light spot, the deviation value of the indicated light beam from the central axis can be obtained, which can be provided to the control system for corresponding feedback control. In order to reduce the influence of the bright spot background image and improve the accuracy of bright spot detection, a filter with a certain bandwidth can be added to the lens to filter out other light rays except the indicated light wavelength to highlight the image quality of the bright spot. This method can meet the position detection in the range of ±30cm and above, and the accuracy can easily reach 0.1mm-0.2mm, which is enough to meet the position detection requirements of a large range and a certain accuracy.

Small-scale precise measurement of the position of the light beam: this detection function is mainly completed based on the position detector 10 of the CCD chip. When the indicating light beam enters the setting range of precision detection, that is, the center hole 6 of the light-transmitting window, that is, when the indicating light beam 9 can be better irradiated on the effective light-transmitting window of the position detector 10, as shown in FIG. 6b. Then an image containing direct irradiation of the light spot can be obtained, and the centroid position coordinates of the bright spot can be extracted by using image processing including but not limited to methods such as image maximization and centroid algorithm, and the centroid position coordinates of the bright spot are the indication The position information of the light beam 9 on the irradiated target surface 5 indicating the light spot. Comparing the position coordinates of the center of mass of the bright spot with the coordinates 18 of the preset center point irradiating the target surface 5 of the indicated light spot, the deviation value of the indicated light beam from the central axis can be obtained, which can be provided to the control system for corresponding feedback control. In this measurement method, since the CCD chip is directly used to obtain the image of the irradiated spot, its resolution reaches the level of the CCD pixel, and the measurement accuracy of the centroid position of the spot image after image processing is generally at the pixel or sub-pixel level. That is, it can reach the level of several mmm; but the effective detection area is also limited within the area of the CCD chip. Generally speaking, the size of the CCD chip is less than 15mm, so this method can meet the precise position detection within the range of 15mm, and the measurement accuracy can reach below 10mm, which meets the requirements of small-scale precise position detection. In order to reduce the influence of ambient scattered light, a narrow-band filter can be installed on the opening 11 or the central hole 6 to eliminate the influence of light other than the indicator light source, obtain a relatively clean spot image for image processing, and finally obtain a high-precision centroid Position coordinates.

Indication position measurement in the transition stage: When the indicator spot falls on the transition boundary from the large-scale measurement area to the precise measurement area, a measurement strategy needs to be selected. Since there is no precise measurement requirement in this area (the precision can be lower or higher.), it can be treated as a rough measurement to simplify data processing. At this time, both measurement methods will obtain a spot image with a certain brightness, which may not be complete, but the method of judging the position of the maximum value in the spot image can be used to obtain its coordinates, and use it as the position of the indicator beam.

A measurement strategy for the indicated position is shown in Figure 7.

Through the organic fusion of the above two measurement functions of the position detector, the large-scale rough measurement and precise measurement of the attitude of the loading head of the balance can be completed, and then the attitude of the loading head is regulated according to the control strategy until the precise reset requirement is met.

In the position detector based on the CCD chip, in view of the certain advantages of the two-dimensional PSD device, such as fast speed, good real-time performance, and direct output of the voltage signal representing the coordinate position, etc., the two-dimensional PSD device can also be used instead of the CCD chip to form the position For the detector, only the corresponding spot image processing method needs to be changed and replaced in the form of a processing circuit to adapt to this data processing change.

The above-mentioned technical solutions in the embodiments of the present application have at least the following technical effects or advantages:

The beneficial effect of the present invention is that a measurement system capable of imaging a larger area is formed by using a CCD camera and an imaging lens with a suitable focal length, and the corresponding position and posture can be obtained by processing the image of a specific indicating light source in the imaging area information, so as to obtain a large-scale measurement effect, which simplifies the complexity of the large-scale position measurement system. Through the use of the CCD chip-based position detector, the spatial position and attitude information of the indicated light spot can be obtained by directly measuring the spatial position of the indicated light spot, which meets the small-scale, high-precision position and attitude measurement requirements. Taking into account the characteristics of the indicator light spot irradiation during large-scale measurement, the design of the indicator light spot irradiation target surface can effectively integrate the structure of the indicator light irradiation target surface of the two measurement requirements, and meet the requirements of the two position measurement systems for large-scale , low precision and small-scale, high-precision measurement common requirements, and finally the two measurement systems are well integrated to form a balance loading head position and attitude detection system, which meets the large range of balance loading head position and attitude , high-precision detection requirements, to solve the previous large-scale, high-precision detection problems that cannot be carried out at the same time.

While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.

Claims (9)

1. a kind of balance loading head apparatus for detecting position and posture, which is characterized in that described device includes:

Indicate that light source, position sensing structure, the instruction light source are mounted on balance loading head to be detected upper surface, the position Detecting structure includes: instruction hot spot irradiation target surface, optical imaging system, position sensor, and the instruction hot spot irradiation target surface is opened Equipped with centre bore, the end face of the position sensor is equipped with opening, and the opening center line is overlapped with the center centerline hole, The position sensor is fixed on the back side of the instruction hot spot irradiation target surface, and the optical imaging system is located at the instruction light Spot irradiates the front front of target surface.

2. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that the optical imaging system packet It includes: CCD camera and camera lens.

3. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that the position sensing structure is solid It is scheduled in mounting bracket.

4. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that described device specifically includes 4 A position sensing structure, 4 position sensing structures are evenly distributed on balance loading head surrounding to be detected.

5. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that described device further includes connection Bracket, described connecting bracket one end are connect with the optical imaging system, the connecting bracket other end and the position sensing Device connection.

6. balance loading head apparatus for detecting position and posture according to claim 1, which is characterized in that the position sensing implement body It include: shell, photodetector, photodetector mounting plate, signal processor, the photodetector, the photodetection Device mounting plate, the signal processor are respectively mounted inside the shell, and the photoelectric detector chip is mounted on photodetector installation On plate, the photodetector is connect with the signal processor, the photodetector center line and the opening center line It is overlapped.

7. balance loading head apparatus for detecting position and posture according to claim 6, which is characterized in that the survey of the photodetector Measure the area that area is greater than centre bore.

8. balance loading head apparatus for detecting position and posture according to claim 6, which is characterized in that the photodetector packet It includes: area array CCD, Two-dimensional PSD.

9. balance loading head apparatus for detecting position and posture according to claim 6, which is characterized in that the photodetector installation Plate is fixed on the shell by fastening screw.