CN111380563A - Detection device, photoelectric theodolite detection system and aviation airborne optical platform detection system - Google Patents
Detection device, photoelectric theodolite detection system and aviation airborne optical platform detection system Download PDFInfo
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- CN111380563A CN111380563A CN201811630317.8A CN201811630317A CN111380563A CN 111380563 A CN111380563 A CN 111380563A CN 201811630317 A CN201811630317 A CN 201811630317A CN 111380563 A CN111380563 A CN 111380563A
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- 238000005259 measurement Methods 0.000 description 12
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A detection device comprises a support frame, a first rotating shaft and an optical target assembly; the structure of the support frame is semicircular, and the bottom of the support frame is fixedly connected with the first rotating shaft; the first rotating shaft can drive the supporting frame to rotate; the optical target assembly comprises a plurality of parallel light pipes which are uniformly arranged on the support frame, the optical axes of all the parallel light pipes are positioned in the same plane, and the optical axes of all the parallel light pipes are intersected at the circle center of the support frame. When above-mentioned detection device is used for detecting optics theodolite or aviation machine carried optical platform, first axis of rotation can drive the support frame and rotate around detecting optics theodolite or aviation machine carried optical platform to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device, it is more comprehensive to detect data. In addition, still provide a photoelectric theodolite detecting system and aviation airborne optical platform detecting system.
Description
Technical Field
The invention relates to the technical field of photoelectric equipment, in particular to a detection device, a photoelectric theodolite detection system and an aviation airborne optical platform detection system.
Background
The photoelectric theodolite optical measurement system mainly refers to a special measurement system which acquires information of a flying target by an optical imaging principle, obtains required trajectory parameters and target characteristic parameters by processing, and acquires image data of a flying scene. The electro-optic theodolite is a two-dimensional moving precision tracking platform which is used for bearing a main photographing system, an angle measuring system, a transmission system, a distance measuring system, an infrared and television tracking system, a sighting telescope and the like. The device has the characteristics of good rigidity and high shafting precision, and can ensure that the photoelectric theodolite has the functions of quickly capturing, stably tracking at high speed and obtaining high-precision measurement data for a target. As a large-scale precise optical instrument, a photoelectric theodolite is developed, in the production process, detection methods and detection equipment of various technical indexes of the photoelectric theodolite are particularly important, only scientific and reasonable methods and means can detect real, effective and comprehensive data of the photoelectric theodolite, and in the detection process of the photoelectric theodolite, a detection frame is indispensable equipment for multiple indexes.
The main technical indexes of the photoelectric theodolite detected by the detection frame comprise: the method comprises the technical indexes of static angle measurement precision detection such as collimation difference and transverse axis difference, minimum speed, maximum acceleration, tracking error (digital guidance), miss distance measurement precision of optical systems such as telescope, infrared and television, dynamic angle measurement precision detection and the like.
With the development of an optical system, the state of a tracking target becomes complex, the speed of a tracking frame is required, the acceleration becomes fast, the number of the tracking targets becomes large, and the tracking angle becomes large. However, the existing photoelectric theodolite can only test the pitching and the leveling of the photoelectric theodolite within a very small angle range, can not accurately simulate and measure the track of an aircraft, and the detected data is not comprehensive.
Disclosure of Invention
In view of this, it is necessary to provide a detection device, a photoelectric theodolite detection system, and an airborne optical platform detection system with comprehensive detection data.
A detection device comprises a support frame, a first rotating shaft and an optical target assembly;
the structure of the support frame is semicircular, and the bottom of the support frame is fixedly connected with the first rotating shaft;
the first rotating shaft can drive the supporting frame to rotate;
the optical target assembly comprises a plurality of parallel light pipes, the parallel light pipes are uniformly arranged on the support frame, the optical axes of all the parallel light pipes are positioned in the same plane, and the optical axes of all the parallel light pipes are intersected at the circle center of the support frame.
In one embodiment, the optical target assembly further includes a rotating unit, the rotating unit includes a mounting plate, a second rotating shaft and a plane mirror, the second rotating shaft is disposed on the supporting frame, the second rotating shaft is rotatable relative to the supporting frame, the mounting plate is disposed at one end of the second rotating shaft located in the supporting frame, the plane mirror is disposed at one end of the mounting plate, one collimator in the optical target assembly is disposed at the other end of the mounting plate, an exit end of the collimator disposed on the mounting plate faces the plane mirror, and light emitted by the collimator passes through a center of the supporting frame after being reflected by the plane mirror.
In one embodiment, the number of the collimator of the optical target assembly is 6, the 6 collimators are respectively a first collimator, a second collimator, a third collimator, a fourth collimator, a fifth collimator and a sixth collimator, the second collimator is disposed at an end of the mounting plate away from the plane mirror, and the first collimator, the second rotating shaft, the third collimator, the fourth collimator, the fifth collimator and the sixth collimator are uniformly disposed on the support frame.
In one embodiment, the first parallel light pipe and the sixth horizontal light pipe are arranged oppositely, and the optical axis of the first parallel light pipe and the optical axis of the sixth horizontal light pipe both pass through the circle center of the support frame.
In one embodiment, the device further comprises a first driver and a second driver, wherein the first driver is connected with the first rotating shaft, the second driver is connected with the second driving shaft, the first driver is used for driving the first rotating shaft to rotate, and the second driver is used for driving the second rotating shaft to rotate.
In one embodiment, the controller is connected with the first driver and the second driver, and is used for controlling the first driver and the second driver to work.
In one embodiment, the first driver is a first motor and the second driver is a second motor.
In one embodiment, the plurality of collimator tubes may be operable to emit mid-wave infrared, short-wave infrared, long-wave infrared, or visible light.
An electro-optic theodolite detection system comprising an electro-optic theodolite assembly and a detection device as claimed in any one of claims 1 to 8;
the photoelectric theodolite component comprises a base, a third rotating shaft and a detected photoelectric theodolite, the detected photoelectric theodolite is installed on the base through the third rotating shaft, the detected photoelectric theodolite can rotate in the plane where all the collimator tubes are located, and the third rotating shaft is located at the circle center of the supporting frame.
An airborne optical platform detection system comprising an airborne optical platform and a detection apparatus according to any one of claims 1-8;
the aerial airborne optical platform is flexibly installed on the installation surface, and a lens of the aerial airborne optical platform is located at the circle center of the support frame.
When above-mentioned detection device is used for detecting optics theodolite or aviation machine carried optical platform, first axis of rotation can drive the support frame and rotate around detecting optics theodolite or aviation machine carried optical platform to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device, it is more comprehensive to detect data.
Above-mentioned photoelectric theodolite detecting system, first axis of rotation can drive the support frame and rotate around optical theodolite to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device, it is more comprehensive to detect data.
The utility model provides an aviation machine carries optical platform detecting system, first axis of rotation can drive the support frame and rotate around aviation machine carries optical platform to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device, it is more comprehensive to detect data.
Drawings
FIG. 1 is a schematic diagram of an exemplary electro-optic theodolite detection system;
fig. 2 is a schematic structural diagram of an airborne optical platform detection system according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The fixed connection in the present invention includes direct fixed connection and indirect fixed connection.
Referring to fig. 1, the present invention provides an embodiment of a detection apparatus, which includes a support frame 8, a first rotating shaft 7 and an optical target assembly.
The structure of the support frame 8 is semicircular, and the bottom of the support frame 8 is fixedly connected with the first rotating shaft 7.
The first rotating shaft 7 can drive the supporting frame 8 to rotate.
The optical target assembly comprises a plurality of parallel light pipes which are uniformly arranged on the support frame 8, the optical axes of all the parallel light pipes are positioned in the same plane, and the optical axes of all the parallel light pipes are intersected at the circle center of the support frame 8.
When above-mentioned detection device is used for detecting optics theodolite or aviation machine carried optical platform, first axis of rotation 7 can drive support frame 8 and rotate around detecting optics theodolite or aviation machine carried optical platform to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device, it is more comprehensive to detect data.
The detection device combines dynamic detection and static detection, and does not need to adopt a T4 theodolite to calibrate the position of the collimator of the simulated target for many times during detection. But after the angle of the collimator tube is calibrated, the method can be used for detecting a plurality of (secondary) photoelectric theodolites, thereby greatly improving the detection efficiency. Meanwhile, the detection device is provided with the plurality of parallel light tubes which are uniformly distributed on the support frame 8, so that the process of target calibration during detection is simple, and the detection efficiency can be further improved.
The detection device is large in rotation range, can test the pitching and the leveling of the photoelectric theodolite within a large angle range, can accurately simulate and measure the track of the aircraft, and has comprehensive detection data.
In one embodiment, the optical target assembly further includes a rotating unit, the rotating unit includes a mounting plate, a second rotating shaft 5 and a plane reflector 6, the second rotating shaft 5 is disposed on the supporting frame 8, the second rotating shaft 5 is rotatable relative to the supporting frame 8, the mounting plate is disposed at one end of the second rotating shaft 5 located in the supporting frame 8, the plane reflector 6 is disposed at one end of the mounting plate, one collimator of the optical target assembly is disposed at the other end of the mounting plate, an exit end of the collimator disposed on the mounting plate is disposed facing the plane reflector 6, and light emitted by the collimator passes through a center of the supporting frame 8 after being reflected by the plane reflector 6.
Through setting up the rotation unit, the rotation unit can drive a collimator and rotate, can effectively increase above-mentioned detection device's collimator's home range, makes the simulation target of dynamic detection test the photoelectric theodolite every single move, level in a great angle range, carries out accurate simulation and measurement to the aircraft orbit, and the data that detect are more comprehensive.
In one embodiment, the number of collimator tubes of the optical target assembly is 6. The 6 parallel light pipes are respectively a first parallel light pipe 11, a second parallel light pipe 12, a third parallel light pipe 13, a fourth parallel light pipe 14, a fifth parallel light pipe 15 and a sixth parallel light pipe 16. The second parallel light pipe 12 is arranged at one end of the mounting plate far away from the plane reflector 6, and the first parallel light pipe 11, the second rotating shaft 5, the third parallel light pipe 13, the fourth parallel light pipe 14, the fifth parallel light pipe 15 and the sixth parallel light pipe 16 are uniformly arranged on the support frame 8.
According to the detection device, the plurality of parallel light tubes which are uniformly distributed are arranged on the support frame 8, the process of target calibration during detection is simple, and the detection efficiency can be further improved. In addition, by arranging the plurality of parallel light tubes, the detection at a plurality of vertical angles can be ensured, so that the detection accuracy is improved, and the detection error is reduced.
The detection device can detect within the range of 180 degrees of the horizontal axis by arranging 6 parallel light tubes which are uniformly distributed on the support frame 8, so that the detection data is comprehensive and reliable.
In one embodiment, the first collimator 11, the second collimator 12, and the third collimator 13 are a first set of collimators, and the fourth collimator 14, the fifth collimator 15, and the sixth collimator 16 are a second set of collimators, which are symmetrically disposed. Therefore, the vertical angle detection range of the detection device is wider, and the detection device covers the symmetrical directions of the left side and the right side.
In one embodiment, the first parallel light pipe 11 and the sixth horizontal light pipe 16 are disposed opposite to each other, and both the optical axis of the first parallel light pipe 11 and the optical axis of the sixth horizontal light pipe 16 pass through the center of the supporting frame 8.
In one embodiment, the detection device further comprises a first driver (not shown) and a second driver (not shown). The first driver is connected with the first rotating shaft 7, the second driver is connected with the second driving shaft, the first driver is used for driving the first rotating shaft 7 to rotate, and the second driver is used for driving the second rotating shaft 5 to rotate. The detection efficiency can be improved by providing the first driver and the second driver.
In one embodiment, the first drive includes a first motor and a first encoder, and the second drive includes a second motor and a second encoder. Therefore, the motion trail of the collimator can be set as required.
In one embodiment, the detection apparatus further includes a controller (not shown) connected to the first driver and the second driver, and the controller is configured to control the first driver and the second driver to operate. Through setting up the controller, can realize detection device's automation, improve detection efficiency.
In one embodiment, a plurality of collimator tubes may be used to emit mid-wave infrared, short-wave infrared, long-wave infrared, or visible light. The parallel light pipes are arranged and used for detecting optical equipment with different wave bands and multi-target capturing and tracking functions.
Above-mentioned detection device can provide diversified optical target to electro-optic theodolite optical measurement system, carries out the developments, and static technical performance and characteristic vector detect, and simple installation, calibration are reliable, and suitable transformation can be used for the inspection of machine-carried optical instrument.
In addition, referring to fig. 1, an embodiment of an electro-optic theodolite detection system is further provided, which includes an electro-optic theodolite assembly and the detection device.
The photoelectric theodolite component comprises a base 1, a third rotating shaft and a detected photoelectric theodolite 2, the detected photoelectric theodolite 2 is installed on the base 1 through the third rotating shaft, the detected photoelectric theodolite 2 can rotate in the plane where all parallel light tubes are located, and the third rotating shaft is located in the circle center of the supporting frame 8. The distance between the central axis of the third rotating shaft and the ground is H.
The above-mentioned detection device is not described herein again.
Above-mentioned photoelectric theodolite detecting system, first axis of rotation 7 can drive support frame 8 and rotate around surveying optical theodolite 2 to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device. Meanwhile, the detection device is large in rotation range, the pitching and the leveling of the photoelectric theodolite 2 can be tested within a large angle range, the track of the aircraft can be accurately simulated and measured, and the detected data are comprehensive. After the collimator tube is calibrated, the method can be used for detecting multiple (secondary) photoelectric theodolites, and greatly improves the detection efficiency.
In addition, the detection device is properly modified and can be used for detection and simulation of an airborne optical platform. As shown in figure 2, the omega axis is changed from fixed to flexible connection, the attitude of the airplane can be simulated through the control of the gyroscope, the dynamic use of the airborne optical platform is detected, and the detection device can simulate a ground target to detect the optical platform.
Referring to fig. 2, an embodiment of the detection system for the airborne optical platform is further provided, which includes the airborne optical platform 9 and the detection apparatus.
The aerial airborne optical platform 9 is flexibly installed on the installation surface, and a lens of the aerial airborne optical platform 9 is positioned at the circle center of the support frame 8.
Above-mentioned aviation machine carries optical platform detecting system, first axis of rotation 7 can drive support frame 8 and rotate around detecting aviation machine carries optical platform 9 to can combine together dynamic detection and static detection, just can detect multinomial technical index on a detection device. Meanwhile, the rotation range of the detection device is large, the aerial airborne optical platform 9 can be tested within a large angle range, and the detected data is comprehensive.
The detection method of the detection device comprises the following steps:
the tracking frame is fixed at the first rotation axis and the second rotation axis (omega)1＝ω20), the sighting axis error and the horizontal error of the theodolite can be detected by calibrating the accurate position of the fixed target by the T4 theodolite.
The method for measuring the collimation error comprises the following steps:
collimator for photoelectric theodolite to measure high and low angles with positive mirror and negative mirror respectively
In the formula, AIs justIs a target positive mirror orientation measurement value; a. theFalling downIs a target inverse mirror measurement; and c is the collimation error of the photoelectric theodolite.
The method of measuring the difference in the horizontal axis is as follows:
the electro-optic theodolite measures the collimator with the elevation angle of 30-65 degrees by the positive mirror and the negative mirror respectively according to the following formula
Calculating horizontal tilt axis errors, i.e.
In the formula, AIs justIs a target positive mirror orientation measurement value; a. theFalling downIs a target inverse mirror measurement; c is the visual axis error of the photoelectric theodolite; eIs justThe measured value of the height of the target positive mirror is obtained; and b is the error of the horizontal axis of the photoelectric theodolite.
Tracking frame in omega1、ω2The tracking system can be detected by rotating at a set value, such as: tracking speed, acceleration, tracking error, infrared, television and laser tracking error, miss distance of infrared, television and laser systems, etc.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A detection device is characterized by comprising a support frame, a first rotating shaft and an optical target assembly;
the structure of the support frame is semicircular, and the bottom of the support frame is fixedly connected with the first rotating shaft;
the first rotating shaft can drive the supporting frame to rotate;
the optical target assembly comprises a plurality of parallel light pipes, the parallel light pipes are uniformly arranged on the support frame, the optical axes of all the parallel light pipes are positioned in the same plane, and the optical axes of all the parallel light pipes are intersected at the circle center of the support frame.
2. The detecting device for detecting the rotation of the optical target assembly according to claim 1, wherein the optical target assembly further includes a rotation unit, the rotation unit includes a mounting plate, a second rotation shaft and a plane mirror, the second rotation shaft is disposed on the supporting frame, the second rotation shaft is rotatable relative to the supporting frame, the mounting plate is disposed at one end of the second rotation shaft located in the supporting frame, the plane mirror is disposed at one end of the mounting plate, one of the collimator in the optical target assembly is disposed at the other end of the mounting plate, an exit end of the collimator disposed on the mounting plate faces the plane mirror, and light emitted by the collimator passes through the center of the supporting frame after being reflected by the plane mirror.
3. The inspection device of claim 2, wherein the number of the collimator of the optical target assembly is 6, the 6 collimators are respectively a first collimator, a second collimator, a third collimator, a fourth collimator, a fifth collimator and a sixth collimator, the second collimator is disposed at an end of the mounting plate away from the plane mirror, and the first collimator, the second rotation axis, the third collimator, the fourth collimator, the fifth collimator and the sixth collimator are uniformly disposed on the supporting frame.
4. The detecting device for detecting the rotation of a motor rotor as claimed in claim 3, wherein the first parallel light pipe and the sixth horizontal light pipe are oppositely arranged, and the optical axis of the first parallel light pipe and the optical axis of the sixth horizontal light pipe both pass through the center of the supporting frame.
5. The detecting device according to claim 1, further comprising a first driver and a second driver, wherein the first driver is connected with the first rotating shaft, the second driver is connected with the second driving shaft, the first driver is used for driving the first rotating shaft to rotate, and the second driver is used for driving the second rotating shaft to rotate.
6. The detection apparatus as claimed in claim 5, further comprising a controller, wherein the controller is connected to the first driver and the second driver, and the controller is configured to control the first driver and the second driver to operate.
7. The sensing device of claim 6, wherein the first driver is a first motor and the second driver is a second motor.
8. The inspection device of claim 1, wherein the plurality of collimator tubes are operable to emit mid-wave infrared, short-wave infrared, long-wave infrared, or visible light.
9. An electro-optic theodolite detection system comprising an electro-optic theodolite assembly and a detection device according to any one of claims 1-8;
the photoelectric theodolite component comprises a base, a third rotating shaft and a detected photoelectric theodolite, the detected photoelectric theodolite is installed on the base through the third rotating shaft, the detected photoelectric theodolite can rotate in the plane where all the collimator tubes are located, and the third rotating shaft is located at the circle center of the supporting frame.
10. An airborne optical platform detection system comprising an airborne optical platform and a detection apparatus according to any one of claims 1 to 8;
the aerial airborne optical platform is flexibly installed on the installation surface, and a lens of the aerial airborne optical platform is located at the circle center of the support frame.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112326199A (en) * | 2020-10-29 | 2021-02-05 | 中国航空工业集团公司洛阳电光设备研究所 | Visual axis error verification method and system for airborne optical equipment installation |
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