Model pose video measurement system calibration device and positioning method thereof

Abstract

The invention belongs to the technical field of wind tunnel tests, and discloses a model pose video measurement system calibration device and a positioning method thereof. An XYZ-direction linear displacement driving mechanism and a three-degree-of-freedom angle adjusting mechanism are sequentially fixed above a multifunctional chassis of the calibration device, a calibration plate is fixed on the three-degree-of-freedom angle adjusting mechanism, and a communication module is fixed on the side surface of the multifunctional chassis; the manual operator sends a control instruction to the communication module, then transmits the control instruction to the upper computer and converts the control instruction into a control signal, the control signal is transmitted to the communication module, and finally each mechanism is driven to adjust the position of the calibration plate. The positioning method comprises the steps that all the linear displacement mechanisms are operated in place; adjusting the grating encoder; dividing a test area; the calibration device is operated in place; adjusting the position of the multifunctional chassis; acquiring an image of the calibration plate; calibrating a test area I; calibrating all test areas; and removing the calibration device. The calibration device and the positioning method thereof solve the problems of low efficiency and data errors caused by manual arrangement of the calibration plate, and have engineering practical value.

Description

Technical Field

[0001] The invention belongs to the technical field of wind tunnel tests, and in particular relates to a calibration device for a model posture video measurement system and a positioning method thereof. Background Art

[0002] At present, wind tunnel tests usually use manual hand-held or placed calibration plates to calibrate video measurement systems. Manual hand-held calibration requires the cooperation of multiple people, and the accuracy and stability of hand-held calibration plates are poor; the accuracy and repeatability of placed calibration plates are poor; both methods are difficult to achieve full coverage of the measurement area, requiring multiple points to be added, and the calibration process requires multiple iterations.

[0003] Currently, there is an urgent need to develop a model posture video measurement system calibration device and its positioning method. Summary of the invention

[0004] One technical problem to be solved by the present invention is to provide a calibration device for a model posture video measurement system. Another technical problem to be solved by the present invention is to provide a positioning method for a model posture video measurement system.

[0005] The multifunctional chassis of the model posture video measurement system calibration device of the present invention has an XYZ linear displacement drive mechanism and a three-degree-of-freedom angle adjustment mechanism fixed in sequence on top, a calibration plate fixed on the three-degree-of-freedom angle adjustment mechanism, and a communication module fixed on the side of the multifunctional chassis; The handheld operator sends control instructions to the communication module, and the communication module transmits the control instructions to the host computer. After receiving the control instructions, the host computer converts them into control signals, which are transmitted to the communication module to drive the XYZ linear displacement drive mechanism and the three-degree-of-freedom angle adjustment mechanism to adjust the position of the calibration plate.

[0006] Furthermore, a Mecanum wheel and a corresponding Mecanum wheel drive motor are respectively arranged on the four corners below the horizontal mounting panel of the multifunctional chassis; the Mecanum wheel and its drive motor are used to transport the calibration device and drive the calibration device in and out of the test section; the Mecanum wheel is omnidirectional and is used for 360° preliminary positioning of the calibration device without blind spots; A leveling base is provided on the lower surface of the horizontal mounting panel and the inner side close to the Mecanum wheel; after the calibration device arrives at the task area, it is initially positioned, and the leveling base is stretched up and down to level the horizontal mounting panel, and then the support is tightened to fix the calibration device; A leveling sensor is respectively arranged at the left and right edges of the upper surface of the horizontal mounting panel; the leveling sensor is used to feedback the adjustment parameters of the leveling base, and assist the leveling base in leveling the horizontal mounting panel or the calibration angle of the calibration device; Two alignment sensors are respectively arranged on the four corners of the upper surface of the horizontal mounting panel, one alignment sensor is used for X-direction alignment, and the other alignment sensor is used for Y-direction alignment; the alignment sensors are used to align the calibration device with the side wall of the test section and prevent the calibration device from hitting the side wall of the test section.

[0007] Furthermore, the leveling sensor is a dual-axis inclination sensor.

[0008] Furthermore, the XYZ linear displacement driving mechanism comprises an X-direction linear displacement mechanism, a Y-direction linear displacement mechanism and a Z-direction linear displacement mechanism which are sequentially stacked from bottom to top through a support plate; The servo motor of each linear displacement driving mechanism drives the corresponding screw rod to drive the support plate to move along the guide block to adjust the XYZ displacement of the calibration plate; Each linear displacement driving mechanism has a corresponding grating ruler, which is used to provide real-time feedback on the movement amount of the corresponding linear displacement driving mechanism to assist in controlling the calibration position of the calibration device.

[0009] Furthermore, the three-degree-of-freedom angle adjustment mechanism is fixed on the support plate of the Z-axis linear displacement mechanism, and includes three angle adjustment mechanisms, namely, a yaw mechanism, a pitch mechanism and a roll mechanism. Each angle adjustment mechanism is directly driven by a torque motor with a grating encoder to ensure the angle adjustment accuracy and the required driving torque; the yaw mechanism and the roll mechanism rotate 360° around the corresponding axis, and the pitch mechanism rotates 90° around the corresponding axis; the calibration plate is fixed on the calibration plate mounting surface of the roll mechanism.

[0010] The positioning method of the model posture video measurement system calibration device of the present invention comprises the following steps: S10. Move each linear displacement mechanism into place; According to the feedback data of the grating ruler corresponding to each linear displacement drive mechanism, the upper computer controls the X-axis linear displacement mechanism, the Y-axis linear displacement mechanism and the Z-axis linear displacement mechanism to move to the midpoint of the X-axis, Y-axis and Z-axis respectively; S20. Adjust the grating encoder; Adjust the three-degree-of-freedom angle adjustment mechanism so that the grating encoder output of the yaw mechanism displays 0°, the grating encoder output of the pitch mechanism displays 90°, and the grating encoder output of the roll mechanism displays 0° or 180°; S30. Divide the test area; The test area of ​​the test section is several times the displacement area in the XY direction. The test area is divided into several test areas, which are numbered as follows: test area I, test area II to test area N; S40. Run the calibration device into place; The multifunctional chassis of the calibration device is driven by the upper computer, and the multifunctional chassis drives the calibration device to the test area I; S50. Adjust the multi-function chassis position; Adjust the position of the multifunctional chassis until the measured values ​​of the two alignment sensors in the X direction and the two alignment sensors in the Y direction are equal. Adjust the horizontality of the multifunctional chassis through the leveling base until the output of the leveling sensor is 0°. Lock the leveling base to ensure that the multifunctional chassis is horizontal and the X and Y directions are parallel to the boundaries corresponding to the test area I. S60. Collecting the calibration plate image; Use the camera at the top of the test section to collect the image of the calibration plate in the current state; S70. Calibrate test area I; According to the coordinate position requirements of the calibration plan, the calibration plate is controlled to move to the next coordinate position along the XY direction by the X-direction linear displacement mechanism and the Y-direction linear displacement mechanism, and S60 is repeated until it is determined that the movement range of the calibration plate covers the test area I, and the calibration of the calibration plate of the test area I at the midpoint of the Z direction is completed; Control the Z-direction linear displacement mechanism to run to the highest point in the Z-direction, and based on the feedback data of the grating ruler in the Z-direction, control the calibration plate to run to the next coordinate position along the XY direction through the X-direction linear displacement mechanism and the Y-direction linear displacement mechanism according to the coordinate position requirements of the calibration plan, and repeat S60 until it is determined that the running range of the calibration plate covers the test area I, and the calibration of the calibration plate in the test area I at the highest point in the Z-direction is completed; Control the Z-direction linear displacement mechanism to run to the lowest point in the Z-direction, and based on the feedback data of the grating ruler in the Z-direction, control the calibration plate to run to the next coordinate position along the XY direction through the X-direction linear displacement mechanism and the Y-direction linear displacement mechanism according to the coordinate position requirements of the calibration plan, and repeat S60 until it is determined that the running range of the calibration plate covers the test area I, and the calibration of the calibration plate in the test area I at the lowest point in the Z-direction is completed; At this point, the calibration of test area I is complete; S80. Determine all test areas; Repeat S40-S70 until the calibration of test area II to test area N is completed; S90. Remove the calibration device; The multifunctional chassis of the calibration device is driven by the upper computer, and the multifunctional chassis drives the calibration device to withdraw from the test section and park it at a designated position.

[0011] The model posture video measurement system calibration device and positioning method thereof of the present invention have the following advantages: First, there is no need to manually hold or place the calibration plate for calibration. Instead, the calibration device can complete the calibration under a controlled state. Only one person is needed to complete the calibration of the model posture video measurement system. Secondly, based on the design of the multifunctional chassis, linear displacement drive mechanism and angle adjustment mechanism, the operation range of the calibration device covers the entire working area, ensuring full coverage of the calibration range with zero omissions; Third, based on high-precision linear displacement control and angle control, the position and angle of the calibration plate can be precisely controlled, which can effectively improve the data accuracy of a single calibration result and ensure good repeatability of calibration results in different periods; Fourth, when using it, you only need to set the target position and target angle, without having to consider the placement, angle, range loss, etc. of the calibration plate in the working area during the original manual calibration, which greatly improves the ease of operation and work efficiency; Fifth, it has good versatility, and similar devices and methods can be used to complete calibration work in calibration sites of different sizes.

[0012] The model posture video measurement system calibration device and positioning method of the present invention can adjust the device size according to different size test sections to meet the model posture calibration requirements of different size test sections. The mechanism principle and control acquisition principle of the calibration device of each size test section are the same. The difference is that the size of the model calibration mechanism for a larger size test section is larger, and the corresponding multifunctional chassis structure, driving servo motor, linear track, screw, leveling device and torque motor of the posture angle adjustment device need to be adjusted to ensure the structural strength, rigidity and driving torque requirements.

[0013] The model posture video measurement system calibration device and the positioning method thereof adopt a multifunctional chassis integrated with a linear displacement drive mechanism and an angle adjustment mechanism, which solves the problems of low efficiency and data error caused by the manual arrangement of calibration plates when using a video measurement system. The device can be promoted and applied in test sections of different sizes and has practical engineering value. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a calibration device for a model posture video measurement system of the present invention; Figure 2 It is a schematic diagram of the multifunctional chassis structure of the model posture video measurement system calibration device of the present invention; Figure 3 It is a schematic diagram of the XYZ-direction high-precision linear drive mechanism of the model posture video measurement system calibration device of the present invention; Figure 4 It is a perspective view of the Z-direction driving mechanism of the model posture video measurement system calibration device of the present invention; Figure 5 It is a schematic diagram of a three-degree-of-freedom angle adjustment mechanism of a calibration device for a model posture video measurement system of the present invention; Figure 6This is a schematic diagram of the calibration area of ​​the 0.6-meter wind tunnel test section; Figure 7a It is a schematic diagram (front view) of the calibration position and dimensions of the upper wall plate of the model posture video measurement system calibration device of the present invention in a 0.6-meter wind tunnel test section; Figure 7b It is a schematic diagram of the calibration position and dimensions of the upper wall plate of the model posture video measurement system calibration device of the present invention in a 0.6-meter wind tunnel test section (front view); Figure 8a It is a schematic diagram (stereoscopic diagram) of the calibration position of the model posture video measurement system calibration device of the present invention on the left side wall of the 0.6-meter wind tunnel test section; Figure 8b It is a schematic diagram (stereoscopic diagram) of the calibration position of the model posture video measurement system calibration device of the present invention on the right side wall of the 0.6-meter wind tunnel test section; Figure 9a It is a schematic diagram (stereoscopic diagram) of the simultaneous calibration position of the upper wall plate and the left side wall of the model posture video measurement system calibration device of the present invention in the 0.6-meter wind tunnel test section; Figure 9b It is a schematic diagram (stereoscopic diagram) of the simultaneous calibration position of the model posture video measurement system calibration device of the present invention on the upper wall plate and the right side wall of the 0.6-meter wind tunnel test section; Fig.10 This is a schematic diagram of the calibration area of ​​the 1.2-meter wind tunnel test section; Fig.11a It is a schematic diagram (front view) of the calibration position and dimensions of the right wall panel of the model posture video measurement system calibration device of the present invention in the 2.4-meter wind tunnel test section; Fig.11b It is a schematic diagram (front view) of the calibration position dimensions of the right wall panel of the model posture video measurement system calibration device of the present invention in the 2.4-meter wind tunnel test section.

[0015] In the figure, 1. Multifunctional chassis; 2. XYZ linear displacement drive mechanism; 3. Three-degree-of-freedom angle adjustment mechanism; 4. Host computer; 5. Handheld operator; 6. Calibration board; 7. Communication module; 101. Mecanum wheel; 102. Leveling base; 103. Leveling sensor; 104. Alignment sensor; 105. Horizontal mounting panel; 201. X-axis linear displacement mechanism; 202. Y-axis linear displacement mechanism; 203. Z-axis linear displacement mechanism; 204. servo motor; 205. guide block; 206. lead screw; 207. support plate; 301. Calibration plate mounting surface; 302. Yaw mechanism; 303. Pitch mechanism; 304. Roll mechanism. DETAILED DESCRIPTION

[0016] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0017] like Figure 1 As shown, an XYZ linear displacement driving mechanism 2 and a three-degree-of-freedom angle adjustment mechanism 3 are sequentially fixed on the top of a multifunctional chassis 1 of a calibration device for a model posture video measurement system of the present invention, a calibration plate 6 is fixed on the three-degree-of-freedom angle adjustment mechanism 3, and a communication module 7 is fixed on the side of the multifunctional chassis 1; The handheld operator 5 sends a control instruction to the communication module 7, and the communication module 7 transmits the control instruction to the host computer 4. After receiving the control instruction, the host computer 4 converts it into a control signal, and the control signal is transmitted to the communication module 7 to drive the XYZ linear displacement drive mechanism 2 and the three-degree-of-freedom angle adjustment mechanism 3 to adjust the position of the calibration plate 6.

[0018] Furthermore, if Figure 2 As shown, a Mecanum wheel 101 and a corresponding Mecanum wheel drive motor are respectively arranged on the four corners below the horizontal mounting panel 105 of the multifunctional chassis 1; the Mecanum wheel 101 and its drive motor are used to transport the calibration device and drive the calibration device in and out of the test section; the Mecanum wheel 101 is omnidirectional and is used for 360° preliminary positioning of the calibration device without blind spots; A leveling base 102 is provided on the lower surface of the horizontal mounting panel 105 and the inner side near the Mecanum wheel 101; after the calibration device arrives at the task area and is initially positioned, the leveling base 102 is stretched up and down to level the horizontal mounting panel 105, and then the calibration device is tightened to support and fix it; the horizontal mounting panel 105 must ensure both the surface levelness and the strength, and ensure that the upper surface of the horizontal mounting panel 105 is installed with the XYZ linear displacement drive mechanism 2, the three-degree-of-freedom angle adjustment mechanism 3 and the calibration plate 6 without deformation after being loaded; A leveling sensor 103 is provided at the left and right edges of the upper surface of the horizontal mounting panel 105 respectively; the leveling sensor 103 is used to feedback the adjustment parameters of the leveling base 102, and assist the leveling base 102 in leveling the horizontal mounting panel 105 or the calibration angle of the calibration device; Two alignment sensors 104 are respectively arranged on the four corners of the upper surface of the horizontal mounting panel 105, one alignment sensor 104 is used for X-direction alignment, and the other alignment sensor 104 is used for Y-direction alignment; the alignment sensor 104 is used to align the calibration device with the side wall of the test section and prevent the calibration device from hitting the side wall of the test section.

[0019] Furthermore, the leveling sensor 103 is a dual-axis tilt sensor.

[0020] Furthermore, if Figure 3 , Figure 4As shown, the XYZ linear displacement driving mechanism 2 comprises an X-direction linear displacement mechanism 201, a Y-direction linear displacement mechanism 202 and a Z-direction linear displacement mechanism 203 which are sequentially stacked from bottom to top through a support plate 207; The servo motor 204 of each linear displacement driving mechanism drives the corresponding screw rod 206, driving the support plate 207 to move along the guide block 205, and adjusting the XYZ displacement of the calibration plate 6; Each linear displacement driving mechanism has a corresponding grating ruler, which is used to provide real-time feedback on the movement amount of the corresponding linear displacement driving mechanism to assist in controlling the calibration position of the calibration device.

[0021] Furthermore, if Figure 5 As shown, the three-degree-of-freedom angle adjustment mechanism 3 is fixed on the support plate 207 of the Z-axis linear displacement mechanism 203, and includes three angle adjustment mechanisms: a yaw mechanism 302, a pitch mechanism 303 and a roll mechanism 304. Each angle adjustment mechanism is directly driven by a torque motor with a grating encoder to ensure the angle adjustment accuracy and the required driving torque; the yaw mechanism 302 and the roll mechanism 304 rotate 360° around the corresponding axis, and the pitch mechanism 303 rotates 90° around the corresponding axis; the calibration plate 6 is fixed on the calibration plate mounting surface 301 of the roll mechanism 304.

[0022] The positioning method of the model posture video measurement system calibration device of the present invention comprises the following steps: S10. Move each linear displacement mechanism into place; According to the feedback data of the grating ruler corresponding to each linear displacement driving mechanism, the upper computer 4 controls the X-direction linear displacement mechanism 201, the Y-direction linear displacement mechanism 202 and the Z-direction linear displacement mechanism 203 to move to the midpoints of the X-direction, the Y-direction and the Z-direction respectively; S20. Adjust the grating encoder; Adjust the three-degree-of-freedom angle adjustment mechanism 3 so that the grating encoder output of the yaw mechanism 302 is displayed as 0°, the grating encoder output of the pitch mechanism 303 is displayed as 90°, and the grating encoder output of the roll mechanism 304 is displayed as 0° or 180°; S30. Divide the test area; The test area of ​​the test section is several times the displacement area in the XY direction. The test area is divided into several test areas, which are numbered as follows: test area I, test area II to test area N; S40. Run the calibration device into place; The multifunctional chassis 1 of the calibration device is driven by the host computer 4, and the multifunctional chassis 1 drives the calibration device to the test area I; S50. Adjust the position of the multifunctional chassis 1; Adjust the position of the multifunctional chassis 1 until the measured values ​​of the two alignment sensors 104 in the X direction and the measured values ​​of the two alignment sensors 104 in the Y direction are equal, adjust the horizontality of the multifunctional chassis 1 through the leveling base 102 until the output of the leveling sensor 103 is 0°, and lock the leveling base 102 to ensure that the multifunctional chassis 1 is horizontal and the X and Y directions are parallel to the boundaries corresponding to the test area I; S60. Collecting the image of the calibration plate 6; Use the camera at the top of the test section to collect the image of the calibration plate 6 in the current state; S70. Calibrate test area I; According to the coordinate position requirements of the calibration plan, the calibration plate 6 is controlled to move to the next coordinate position along the XY direction by the X-direction linear displacement mechanism 201 and the Y-direction linear displacement mechanism 202, and S60 is repeated until it is determined that the movement range of the calibration plate 6 covers the test area I, and the calibration of the calibration plate 6 at the midpoint of the Z direction in the test area I is completed; Control the Z-direction linear displacement mechanism 203 to run to the highest point in the Z-direction, and based on the feedback data of the grating ruler in the Z-direction, control the calibration plate 6 to run to the next coordinate position along the XY direction through the X-direction linear displacement mechanism 201 and the Y-direction linear displacement mechanism 202 according to the coordinate position requirements of the calibration plan, and repeat S60 until it is determined that the running range of the calibration plate 6 covers the test area I, and the calibration of the calibration plate 6 in the test area I at the highest point in the Z-direction is completed; Control the Z-direction linear displacement mechanism 203 to run to the lowest point in the Z-direction, and based on the feedback data of the grating ruler in the Z-direction, control the calibration plate 6 to run to the next coordinate position along the XY direction through the X-direction linear displacement mechanism 201 and the Y-direction linear displacement mechanism 202 according to the coordinate position requirements of the calibration plan, and repeat S60 until it is determined that the running range of the calibration plate 6 covers the test area I, and the calibration of the calibration plate 6 in the test area I at the lowest point in the Z-direction is completed; At this point, the calibration of test area I is complete; S80. Determine all test areas; Repeat S40-S70 until the calibration of test area II to test area N is completed; S90. Remove the calibration device; The multifunctional chassis 1 of the calibration device is driven by the upper computer 4, and the multifunctional chassis 1 drives the calibration device to withdraw from the test section and park at a designated position.

[0023] Embodiment 1: The model posture video measurement system calibration device of this embodiment is used in a 0.6-meter wind tunnel test section, such as Figure 6 As shown, the calibration area is a rectangular area of ​​500mm×350mm, and the calibration device is 1000mm long, 500mm wide and 300mm high.

[0024] like Figure 7a, Figure 7b As shown, for the upper wall plate calibration, the calibration plate 6 is a flat plate, placed horizontally, with the calibration surface facing upward horizontally; like Figure 8a , Figure 8b As shown, for the left and right side wall calibration, the calibration plate 6 is a flat plate, placed vertically, with the calibration surface facing the left wall or the right wall; like Figure 9a , Figure 9b As shown, the upper wall plate and the left and right side walls are calibrated at the same time, and the calibration plate 6 is a flat plate, which is placed at an angle, with the calibration surface facing the left wall or the right wall.

[0025] Embodiment 2: The model posture video measurement system calibration device of this embodiment is used in a 1.2-meter wind tunnel test section, such as Fig.10 As shown, the calibration area is a rectangular area of ​​1000mm×800mm; the calibration device of the 1.2-meter wind tunnel test section has the same structure as the calibration device of the 0.6-meter wind tunnel test section.

[0026] Embodiment 3: The model posture video measurement system calibration device of this embodiment is used in a 2.4-meter wind tunnel test section, such as Fig.11a , Fig.11b As shown, the calibration device is 2000 mm long and 1800 mm wide, and the height varies with the size and posture of the Z-axis mechanism and the calibration plate.

[0027] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. For those familiar with the art, all features disclosed in the present invention, or steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any way without departing from the principles of the present invention. The present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A model posture video measurement system calibration device, characterized in that: An XYZ linear displacement drive mechanism (2) and a three-degree-of-freedom angle adjustment mechanism (3) are fixed in sequence above the multifunctional chassis (1) of the calibration device, a calibration plate (6) is fixed on the three-degree-of-freedom angle adjustment mechanism (3), and a communication module (7) is fixed on the side of the multifunctional chassis (1); The hand operator (5) sends a control instruction to the communication module (7), and the communication module (7) transmits the control instruction to the host computer (4). After receiving the control instruction, the host computer (4) converts it into a control signal, and the control signal is transmitted to the communication module (7) to drive the XYZ linear displacement drive mechanism (2) and the three-degree-of-freedom angle adjustment mechanism (3) to adjust the position of the calibration plate (6).

2. A model posture video measurement system calibration device according to claim 1, characterized in that: A Mecanum wheel (101) and a corresponding Mecanum wheel drive motor are respectively arranged on the four corners below the horizontal mounting panel (105) of the multifunctional chassis (1); the Mecanum wheel (101) and its drive motor are used to transport the calibration device and drive the calibration device in and out of the test section; the Mecanum wheel (101) is omnidirectional and is used for preliminary positioning of the calibration device at 360 degrees without blind spots; A leveling base (102) is provided on the lower surface of the horizontal mounting panel (105) and on the inner side close to the Mecanum wheel (101); after the calibration device arrives at the task area, it is initially positioned, and the leveling base (102) is stretched up and down to level the horizontal mounting panel (105), and then the calibration device is tightened to support and fix it; A leveling sensor (103) is provided on the left and right edges of the upper surface of the horizontal mounting panel (105), respectively; the leveling sensor (103) is used to feed back adjustment parameters of the leveling base (102) to assist the leveling base (102) in leveling the horizontal mounting panel (105) or the calibration angle of the calibration device; Two alignment sensors (104) are respectively arranged on the four corners of the upper surface of the horizontal installation panel (105), one alignment sensor (104) is used for X-direction alignment, and the other alignment sensor (104) is used for Y-direction alignment; the alignment sensors (104) are used to align the calibration device with the side wall of the test section and to prevent the calibration device from hitting the side wall of the test section.

3. A model posture video measurement system calibration device according to claim 2, characterized in that: The leveling sensor (103) is a dual-axis inclination sensor.

4. A model posture video measurement system calibration device according to claim 2, characterized in that: The XYZ linear displacement driving mechanism (2) comprises an X-direction linear displacement mechanism (201), a Y-direction linear displacement mechanism (202) and a Z-direction linear displacement mechanism (203) which are sequentially stacked from bottom to top via a support plate (207); The servo motor (204) of each linear displacement driving mechanism drives the corresponding screw rod (206), driving the support plate (207) to move along the guide block (205), thereby adjusting the displacement of the calibration plate (6) in the XYZ direction; Each linear displacement driving mechanism has a corresponding grating ruler, which is used to provide real-time feedback on the movement amount of the corresponding linear displacement driving mechanism to assist in controlling the calibration position of the calibration device.

5. A model posture video measurement system calibration device according to claim 4, characterized in that: The three-degree-of-freedom angle adjustment mechanism (3) is fixed on the support plate (207) of the Z-direction linear displacement mechanism (203), and comprises three angle adjustment mechanisms, namely a yaw mechanism (302), a pitch mechanism (303) and a roll mechanism (304). Each angle adjustment mechanism is directly driven by a torque motor with a grating encoder to ensure angle adjustment accuracy and required driving torque. The yaw mechanism (302) and the roll mechanism (304) rotate 360° around the corresponding axis, and the pitch mechanism (303) rotates 90° around the corresponding axis. The calibration plate (6) is fixed on the calibration plate mounting surface (301) of the roll mechanism (304).

6. A positioning method for a model posture video measurement system calibration device, which is used for the model posture video measurement system calibration device described in any one of claims 1 to 5, characterized in that: The following steps are involved: S10. Move each linear displacement mechanism into place; According to feedback data of the grating ruler corresponding to each linear displacement driving mechanism, the upper computer (4) controls the X-direction linear displacement mechanism (201), the Y-direction linear displacement mechanism (202) and the Z-direction linear displacement mechanism (203) to respectively move to the midpoints of the X-direction, the Y-direction and the Z-direction; S20. Adjust the grating encoder; Adjusting the three-degree-of-freedom angle adjustment mechanism (3) so that the grating encoder output of the yaw mechanism (302) is displayed as 0°, the grating encoder output of the pitch mechanism (303) is displayed as 90°, and the grating encoder output of the roll mechanism (304) is displayed as 0° or 180°; S30. Divide the test area; The test area of ​​the test section is several times the displacement area in the XY direction. The test area is divided into several test areas, which are numbered as follows: test area I, test area II ~ test area N; S40. Run the calibration device into place; The multifunctional chassis (1) of the calibration device is driven by the upper computer (4), and the multifunctional chassis (1) drives the calibration device to the test area I; S50. Adjust the position of the multifunctional chassis (1); The position of the multifunctional chassis (1) is adjusted until the measured values ​​of the two alignment sensors (104) in the X direction are equal and the measured values ​​of the two alignment sensors (104) in the Y direction are equal, and the horizontality of the multifunctional chassis (1) is adjusted by the leveling base (102) until the output of the leveling sensor (103) is 0°, and the leveling base (102) is locked to ensure that the multifunctional chassis (1) is horizontal and the X and Y directions are parallel to the boundaries corresponding to the test area I; S60. Acquire the image of the calibration plate (6); Using a camera at the top of the test section to collect an image of the calibration plate (6) in the current state; S70. Calibrate test area I; According to the coordinate position requirements of the calibration plan table, the calibration plate (6) is controlled to move to the next coordinate position along the XY direction by the X-direction linear displacement mechanism (201) and the Y-direction linear displacement mechanism (202), and S60 is repeated until it is determined that the movement range of the calibration plate (6) covers the test area I, and the calibration of the calibration plate (6) at the midpoint of the Z direction of the test area I is completed; Control the Z-direction linear displacement mechanism (203) to run to the highest point in the Z-direction, and based on the feedback data of the grating ruler in the Z-direction, control the calibration plate (6) to run to the next coordinate position along the XY direction through the X-direction linear displacement mechanism (201) and the Y-direction linear displacement mechanism (202) according to the coordinate position requirements of the calibration plan table, and repeat S60 until it is determined that the running range of the calibration plate (6) covers the test area I, and the calibration of the calibration plate (6) in the test area I at the highest point in the Z-direction is completed; Control the Z-direction linear displacement mechanism (203) to run to the lowest point in the Z-direction, and based on the feedback data of the grating ruler in the Z-direction, control the calibration plate (6) to run to the next coordinate position along the XY direction through the X-direction linear displacement mechanism (201) and the Y-direction linear displacement mechanism (202) according to the coordinate position requirements of the calibration plan table, and repeat S60 until it is determined that the running range of the calibration plate (6) covers the test area I, and the calibration of the calibration plate (6) in the test area I at the lowest point in the Z-direction is completed; At this point, the calibration of test area I is complete; S80. Determine all test areas; Repeat S40-S70 until the calibration of test area II to test area N is completed; S90. Remove the calibration device; The multifunctional chassis (1) of the calibration device is driven by the upper computer (4), and the multifunctional chassis (1) drives the calibration device to withdraw from the test section and park at a designated position.

Images