CN209945278U - Image and laser combined artillery barrel height angle measuring device - Google Patents
Image and laser combined artillery barrel height angle measuring device Download PDFInfo
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- CN209945278U CN209945278U CN201920942023.2U CN201920942023U CN209945278U CN 209945278 U CN209945278 U CN 209945278U CN 201920942023 U CN201920942023 U CN 201920942023U CN 209945278 U CN209945278 U CN 209945278U
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Abstract
The utility model discloses a gun barrel height angle measuring device that image and laser combined together relates to height angle measuring device technical field. The device comprises a mounting substrate, an arc-shaped track is arranged on the substrate, a driving motor is arranged on the arc-shaped track, the power output end of the driving motor is located on the track, a connecting plate is fixed on a shell of the driving motor, a camera module is arranged in the middle of the connecting plate, the image acquisition surface of the camera module faces towards the cannon barrel, and a first laser ranging module and a second laser ranging module are located on the connecting plates on the left side and the right side of the camera module. The device combines laser ranging with image acquisition of the camera module, overcomes the problems of low image measurement precision and difficult alignment of laser measurement, and realizes the rapid and accurate measurement of the height angle of the cannon barrel; the indirect measurement is adopted, and the influence of the movement of the gun barrel is avoided.
Description
Technical Field
The utility model relates to a gun barrel height angle measuring device technical field especially relates to a gun barrel height angle measuring device that image and laser combined together.
Background
The included angle between the artillery barrel and the artillery base is the high-low angle of the artillery barrel. In the prior art, an image processing method, a laser measurement method or a GPS method is generally adopted to obtain the elevation angle of the cannon barrel, but the image processing method, the laser measurement method or the GPS method has the defect of low measurement precision.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem how to provide a high image of measurement accuracy and artillery barrel height angle measuring device that laser combined together.
In order to solve the technical problem, the utility model discloses the technical scheme who takes is: the utility model provides a artillery barrel height angle measuring device that image and laser combined together which characterized in that: the device comprises a mounting substrate, wherein the substrate is fixed on a base on the lower side of a measured artillery barrel and is parallel to the measured artillery base, an arc-shaped track is arranged on the substrate, a driving motor is arranged on the arc-shaped track, a power output end of the driving motor is positioned on the track, a connecting plate is fixed on a shell of the driving motor, a camera module is arranged in the middle of the connecting plate, an image acquisition surface of the camera module faces towards the artillery barrel, a first laser ranging module and a second laser ranging module are positioned on the connecting plates on the left side and the right side of the camera module, ranging probes of the first laser ranging module and the second laser ranging module face towards the artillery barrel, a control module is fixed on the connecting plate, and signal output ends of the first laser ranging module, the second laser ranging module and the camera module are connected with a signal input end of the control module, the control input end of the driving motor is connected with the control output end of the control module, the control module controls the driving motor to drive the connecting plate to the lower portion of the gun barrel according to the image collected by the camera module, and then the altitude angle of the gun barrel is calculated according to the distance information measured by the first laser ranging module, the distance information measured by the second laser ranging module and the distance between the first laser ranging module and the second laser ranging module.
The further technical scheme is as follows: the circle center of the circle corresponding to the arc-shaped track coincides with the circle center of the movement of the gun barrel.
The further technical scheme is as follows: the center of the first laser ranging module, the center of the second laser ranging module and the center of the camera module are on the same straight line, and the extension line of the straight line passing through the centers passes through the circle center of the movement of the cannon barrel.
The further technical scheme is as follows: the extension line of the central line that the connecting plate left and right directions extends passes through the centre of a circle of gun barrel motion, the central line of the first laser ranging module left and right directions, the central line of the second laser ranging module left and right directions and the central line of the camera module left and right directions are on same straight line, and the extension line of the straight line through above-mentioned center passes through the centre of a circle of gun barrel motion.
The further technical scheme is as follows: the measuring device also comprises a human-computer interaction module, wherein the human-computer interaction module is in bidirectional connection with the control module and is used for inputting control commands and displaying output data.
The further technical scheme is as follows: the measuring device also comprises a wireless data transmission module which is connected with the control module in a bidirectional way and used for uploading and downloading data.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the device combines laser ranging with image acquisition of the camera module, solves the problems of low image measurement precision and difficult alignment of laser measurement, and realizes quick and accurate measurement of the height angle of the gun barrel; the angle measurement precision is improved, and when the base line is 2m, the absolute measurement error is not more than 0.5 mil; compared with the methods such as the GPS and the like, the device has short preparation time, high speed and high data updating rate; indirect measurement is adopted, and the influence of the movement of the gun barrel is avoided; the track is arranged on the substrate, so that the influence of shooting vibration is reduced; and the device and the method are simple and easy to use, and the manufacturing cost is low.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of the electrical portion of an apparatus according to an embodiment of the present invention;
wherein: 1. a mounting substrate; 2. an arc-shaped track; 3. a drive motor; 4. a connecting plate; 5. a camera module; 6. a gun barrel; 7. a first laser ranging module; 8. a second laser ranging module; 9. and a control module.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways different from the specific details set forth herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1, the embodiment of the utility model discloses a artillery barrel height angle measuring device that image and laser combine together, including mounting substrate 1, the base plate is fixed on the base of measurand artillery barrel downside, and mounting substrate 1 parallels with measurand artillery base, be provided with arc track 2 on the base plate, be provided with driving motor 3 on arc track 2, the power take off end of driving motor 3 is located on the track, driving motor can follow the track operation under its power take off end's effect; the shell of the driving motor 3 is fixedly provided with a connecting plate 4, the middle of the connecting plate 4 is provided with a camera module 5, the image acquisition surface of the camera module 5 faces to the artillery barrel 6, and the camera module is mainly used for acquiring images of the artillery barrel 6.
The first laser ranging module 7 and the second laser ranging module 8 are positioned on the connecting plates 4 on the left side and the right side of the camera module 5, and ranging probes of the first laser ranging module 7 and the second laser ranging module 8 face the artillery barrel 6; the control module 9 is fixed on the connecting plate 4, the signal output ends of the first laser ranging module 7, the second laser ranging module 8 and the camera module 5 are connected with the signal input end of the control module 9, and the control input end of the driving motor 3 is connected with the control output end of the control module 9; the control module 9 controls the driving motor 3 to drive the connecting plate 4 to the lower part of the gun barrel 6 according to the image collected by the camera module 5, and then calculates the altitude angle of the gun barrel 6 according to the distance information measured by the first laser ranging module 7, the distance information measured by the second laser ranging module 8 and the distance between the first laser ranging module 7 and the second laser ranging module 8.
Furthermore, the circle center of the circle corresponding to the arc-shaped track 2 coincides with the circle center of the movement of the gun barrel 6, and the movement of the driving motor 3 can be adapted to the movement of the gun barrel after the circles of the two coincide, so that the later calculation is simpler.
Furthermore, the center of the first laser ranging module 7, the center of the second laser ranging module 8 and the center of the camera module 5 are on the same straight line, and an extension line of the straight line passing through the centers passes through the center of the movement of the gun barrel 6. Through the above arrangement, the positions of the first laser ranging module 7, the second laser ranging module 8 and the camera module 5 can be conveniently adjusted by the connecting plate through movement, so that the more convenient adjustment of the positions of the cannon barrel 6 is realized.
Furthermore, the extension line of the central line that the direction extends about the connecting plate 4 passes through the centre of a circle of the motion of cannon barrel 6, the central line of the direction about first laser rangefinder module 7, the central line of the direction about second laser rangefinder module 8 and the central line of the direction about camera module 5 are on same straight line, and the extension line of the straight line through above-mentioned center passes through the centre of a circle of the motion of cannon barrel 6. Through the setting, can be more convenient and quick through removing connecting plate 4 realizes with first laser ranging module 7, second laser ranging module 8 and camera module 5 adjust to under cannon barrel 6.
Further, as shown in fig. 2, the measuring device further includes a human-computer interaction module, and the human-computer interaction module is connected with the control module in a bidirectional manner, and is configured to input a control command and display output data. The human-computer interaction module can conveniently realize the input of commands and the display of data. The specific forms of the human-computer interaction module are at least two types as follows: the first type is a case module connected with a signal input end of the control module and a display module connected with an output end of the control module; and the second type is a touch screen which is bidirectionally connected with the control module. Furthermore, the measuring device also comprises a wireless data transmission module, wherein the wireless data transmission module is bidirectionally connected with the control module and is used for uploading and downloading data, so that the device can conveniently perform data interaction with peripheral equipment. Furthermore, the device also comprises a power supply module, wherein the power supply module is used for providing a working power supply for the module needing power supply in the device.
The embodiment of the utility model provides a still disclose a artillery barrel height angle measuring method, measuring method uses above-mentioned measuring device, including following step:
adjusting the base plate in the device to be parallel to the base of the artillery;
the control module 9 controls the camera module 5 and the driving motor 3 to work, the camera module 5 takes pictures of objects in a field of view of the camera module, the shot images are transmitted to the control module 9 to be processed, the control module 9 controls the driving motor 3 to work according to the result after the image processing, the driving motor 3 drives the connecting plate 4 to move along a track, and the first laser ranging module 7 and the second laser ranging module 8 on the connecting plate 4 are located right below the artillery barrel 6;
the control module 9 controls the first laser ranging module 7 and the second laser ranging module 8 to work, the first laser ranging module 7 and the second laser ranging module 8 send the measured distance information from the gun barrel 6 to the control module 9 for processing, wherein the distance from the first laser ranging module 7 to the gun barrel is d1The distance from the second laser ranging module 8 to the gun barrel 6 is d2(ii) a The distance between the first laser ranging module 7 and the second laser ranging module 8 is d0Calculating the elevation angle epsilon of the gun barrel according to the following formula:
ε＝tan-1[(d2-d1)/d0]；
and when the position of the gun barrel (6) is changed, repeating the steps to complete the measurement of the elevation angle.
Further, when the driving motor 3 drives the connecting plate 4 to move along the track, a stepping drive is adopted, the control module 9 controls the camera module 5 to acquire an image once every step, and then the control module 9 processes the acquired image in real time, wherein the processing process has the following two conditions:
the first method comprises the following steps: in the process of image processing, until the terminal point of one end of the track does not find that the image of the cannon barrel 6 exists in the image collected by the camera module 5, the driving motor 3 is controlled to move towards the terminal point of the other end of the track, and when the control module 9 judges that the image collected by the camera module 5 has the image of the cannon barrel 6, the driving motor 3 is controlled to drive the camera module 5 to adjust the position back and forth on the track with the image of the cannon barrel until the image of the cannon barrel is positioned in the middle of the field of view of the camera module 5;
and the second method comprises the following steps: in the image processing process, when the control module judges that the image acquired by the camera module 5 has the artillery barrel image, the driving motor 3 is controlled to drive the camera module 5 to adjust the position back and forth on the track with the artillery barrel image until the artillery barrel image is positioned in the middle of the view field of the camera module.
It should be noted that the first laser ranging module 7 and the second laser ranging module 8 may also be adjusted to be right below the artillery barrel by other methods.
The device combines laser ranging with image acquisition of the camera module, solves the problems of low image measurement precision and difficult alignment of laser measurement, and realizes quick and accurate measurement of the height angle of the gun barrel; the angle measurement precision is improved, and when the base line is 2m, the absolute measurement error is not more than 0.5 mil; compared with the methods such as the GPS and the like, the device has short preparation time, high speed and high data updating rate; indirect measurement is adopted, and the influence of the movement of the gun barrel is avoided; the track is arranged on the substrate, so that the influence of shooting vibration is reduced; and the device and the method are simple and easy to use, and the manufacturing cost is low.
Claims (6)
1. The utility model provides a artillery barrel height angle measuring device that image and laser combined together which characterized in that: comprises a mounting substrate (1), the substrate is fixed on a base on the lower side of a measured artillery barrel, the mounting substrate (1) is parallel to the measured artillery base, an arc track (2) is arranged on the substrate, a driving motor (3) is arranged on the arc track (2), the power output end of the driving motor (3) is positioned on the track, a connecting plate (4) is fixed on the shell of the driving motor (3), a camera module (5) is arranged in the middle of the connecting plate (4), the image acquisition surface of the camera module (5) faces towards the artillery barrel (6), a first laser ranging module (7) and a second laser ranging module (8) are positioned on the connecting plate (4) on the left side and the right side of the camera module (5), and ranging probes of the first laser ranging module (7) and the second laser ranging module (8) face towards the artillery barrel (6), the control module (9) is fixed on the connecting plate (4), the signal output ends of the first laser ranging module (7), the second laser ranging module (8) and the camera module (5) are connected with the signal input end of the control module (9), the control input end of the driving motor (3) is connected with the control output end of the control module (9), the control module (9) controls the driving motor (3) to drive the connecting plate (4) to the lower part of the artillery barrel (6) according to the image collected by the camera module (5), and then calculating the altitude angle of the artillery barrel (6) according to the distance information measured by the first laser ranging module (7), the distance information measured by the second laser ranging module (8) and the distance between the first laser ranging module (7) and the second laser ranging module (8).
2. The image and laser combined artillery barrel elevation angle measurement device of claim 1, wherein: the circle center of the circle corresponding to the arc-shaped track (2) coincides with the circle center of the movement of the gun barrel (6).
3. The image and laser combined artillery barrel elevation angle measurement device of claim 1, wherein: the center of the first laser ranging module (7), the center of the second laser ranging module (8) and the center of the camera module (5) are on the same straight line, and the extension line of the straight line passing through the centers passes through the circle center of the movement of the gun barrel (6).
4. The image and laser combined artillery barrel elevation angle measurement device of claim 1, wherein: the extension line of the central line that the direction extends about connecting plate (4) passes through the centre of a circle of artillery barrel (6) motion, the central line of the direction about first laser ranging module (7), the central line of the direction about second laser ranging module (8) and the central line of the direction about camera module (5) are on same straight line, and pass through the extension line of the straight line at above-mentioned center the centre of a circle of artillery barrel (6) motion.
5. The image and laser combined artillery barrel elevation angle measurement device of claim 1, wherein: the measuring device also comprises a human-computer interaction module, wherein the human-computer interaction module is in bidirectional connection with the control module and is used for inputting control commands and displaying output data.
6. The image and laser combined artillery barrel elevation angle measurement device of claim 1, wherein: the measuring device also comprises a wireless data transmission module which is connected with the control module in a bidirectional way and used for uploading and downloading data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920942023.2U CN209945278U (en) | 2019-06-21 | 2019-06-21 | Image and laser combined artillery barrel height angle measuring device |
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| CN201920942023.2U CN209945278U (en) | 2019-06-21 | 2019-06-21 | Image and laser combined artillery barrel height angle measuring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132181A (en) * | 2019-06-21 | 2019-08-16 | 石家庄铁道大学 | The gun barrel angle of site measuring device and measuring method that image is combined with laser |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132181A (en) * | 2019-06-21 | 2019-08-16 | 石家庄铁道大学 | The gun barrel angle of site measuring device and measuring method that image is combined with laser |
| CN110132181B (en) * | 2019-06-21 | 2024-04-30 | 河北交通职业技术学院 | Image and laser combined gun barrel height angle measuring device and measuring method |
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