CN102252651B - Laser electronic target based on non-diffraction light - Google Patents
Laser electronic target based on non-diffraction light Download PDFInfo
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- CN102252651B CN102252651B CN201110115296A CN201110115296A CN102252651B CN 102252651 B CN102252651 B CN 102252651B CN 201110115296 A CN201110115296 A CN 201110115296A CN 201110115296 A CN201110115296 A CN 201110115296A CN 102252651 B CN102252651 B CN 102252651B
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Abstract
The invention discloses a laser electronic target based on non-diffraction light. Laser transmitted by a cube corner pyramid lens enters a light splitting circuit and is divided into a horizontal beam and a vertical beam; the horizontal beam is reflected by a plane mirror and a beam splitter and then enters a conical lens to form a non-diffraction light spot O2; an image information processing system captures the non-diffraction light spot O2, and a horizontal yaw angle and an inclination angle of an object to be measured can be obtained by calculation of the center coordinate of the non-diffraction light spot; the vertical beam is reflected by the plane mirror on a gravity pendulum with damp, is projected into the beam splitter and enters the conical lens to form a non-diffraction light pot O1; and the image information processing system captures the non-diffraction light and acquires the roll angle of the object to be measured according to the calculation of the center coordinate of the non-diffraction light pot O1. The laser electronic target realizes all-optical space angle measurement based on the non-diffraction light, and has the characteristics of high space angle measurement accuracy, stability, and ambient light interference resistance capacity and compact structure.
Description
Technical field
The invention belongs to the spatial angle measuring technical field, be specifically related to a kind of electronic laser target, be used for location, guiding such as Large-Scale Equipment systems such as shield machines based on diffraction light-free.
Background technology
Attitude measurement, guiding during at present to the Large-Scale Equipment system job mainly adopt gyrocompassing and laser orientation technology.Gyroscope utilizes the angular momentum size of the rotor of high speed rotating to realize the measurement to space angle with the mechanism that direction remains unchanged at inertial space, but it has time lag than defectives such as big and bearing swings.And based on German ZED and the VMT laser-guided systems of laser orientation technology, with different measurement principles, all can fine realization to spatial angle measuring, realize attitude measurement, guiding to equipment, but light path system complicacy comparatively.
Part realizes the measurement to space angle based on adopting laser technology and inclinator to combine in the electronic target system of laser measurement in the patent documentation of home and abroad.There is following shortcoming in this system: the one, because of the limitation of inclinator angle measurement accuracy, and cause the restriction of total system to the spatial angle measuring precision; The 2nd, inclinator receives the drift of factor affecting generations such as environment temperature comparatively serious; The 3rd, because all angles on the space adopt different measurement approach or mode, each space angle is difficult to measure simultaneously in theory, and when the equipment attitude changes when very fast, measuring accuracy will influence seriously; The 4th, because of factor affecting laser facula centre coordinates such as differing in the light path system, spherical aberration, ambient light interference.The reduction that these all can cause target system accuracy and job stability influences the accurate measurement of space angle.
Summary of the invention
The object of the present invention is to provide a kind of electronic laser target, have that anti-ambient light interference ability is strong, characteristics of spatial angle measuring resolution height and good stability based on diffraction light-free.
A kind of electronic laser target based on diffraction light-free; Comprise LASER Light Source, cube pyramid terrace with edge lens, beam split light path, gravity damped pendulum, Conical Lenses, imageing sensor and pattern information processing system; The light incident that LASER Light Source sends cube pyramid terrace with edge lens; Supply range finding to use from the light beam of cube pyramid terrace with edge reflection from lens; Get into the beam split light path from cube laser that pyramid terrace with edge lens transmit, the beam split light path is divided into horizontal direction light beam and vertical direction light beam with the laser beam of incident, and the horizontal direction light beam passes Conical Lenses and forms diffraction light-free spot O
2Pass Conical Lenses after the vertical direction light beam is stablized through the gravity damped pendulum and form diffraction light-free spot O
1Imageing sensor is caught diffraction light-free spot O
2And O
1And sending pattern information processing system to, pattern information processing system is according to diffraction light-free spot O
2Calculate the level boat angle and the angle of pitch of target, according to diffraction light-free spot O
1Calculate the roll angle of target.
Said beam split light path comprises light splitting piece, first plane mirror and second plane mirror; Second plane mirror connects the gravity damped pendulum; The said cube of laser incident light splitting piece that the pyramid terrace with edge transmits; Light splitting piece is divided into horizontal direction light beam and vertical direction light beam with this laser, and the horizontal direction light beam passes Conical Lenses successively and forms diffraction light-free spot O after the first plane reflection mirror reflection, light splitting piece reflection
1, the vertical direction light beam passes Conical Lenses successively and forms diffraction light-free spot O after the second plane reflection mirror reflection, light splitting piece transmission
2
The planar process of said light splitting piece to the planar process of second level crossing to becoming miter angle.
Said gravity damped pendulum is the gravity pendulum of charged magnetic damping.
The present invention is on the basis that has good spot center centering property based on diffraction light-free, a kind of full optical space angle measurement unit of designing.Buy the two diffraction light-free spot centers of to calculate according to the no diffraction image that imageing sensor is caught for this, and then obtain the measured target thing around the roll angle of its axis of rolling, measured target thing the horizontal sextant angle and the angle of pitch with respect to laser beam axis.Adopt the diffraction light-free spot to seek the special algorithm at center, the spot center coordinate can reach sub-pixel.It is strong that this space angle-measuring equipment has anti-ambient light interference ability, high resolution and higher spatial angle measuring precision.Advantage of the present invention is specifically present:
1 has all adopted the metering system of full optics with the measurement of three angles in space, has guaranteed the precision of three measurement of angle in space.
Centering characteristic that 2 diffraction light-frees are good and strong anti-ambient light interference ability have improved the centering precision of spot center, have guaranteed the higher spatial angle measuring precision and the stability of system.
3 measurements with the space all angles, the calculating of all passing through on the ccd image sensor obtains, and has guaranteed the simultaneity of each measurement of angle.
Write down two diffraction light-free spot central informations that contain three space angles on 4 sensors, two hot spot alignment algorithms can reuse, and can reduce software development intensity.
5, compact overall structure, simple is easy to Project Realization.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is an optical schematic diagram of the present invention;
Fig. 3 is a cube pyramid terrace with edge lens arrangement synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is done further to specify.
As shown in Figure 1; Realize the required concrete device of this instance: transmissivity is 50% light splitting piece 4,2 plate plane catoptrons 3 and 5, band damping gravity pendulum 6, Conical Lenses 2 and cube pyramid terrace with edge lens 7; Two bottom surfaces are parallel up and down for cube pyramid terrace with edge lens, adopt ccd image sensor to catch the diffraction light-free spot.
The baseplane of the photosurface of ccd image sensor 1 and Conical Lenses 2 be parallel to each other and the center coaxial, and with 4 one-tenth miter angles of light splitting piece.Plane reflection minute surface 5 is fixed on the gravity pendulum 6 of band damping, and under the effect of damping gravity pendulum, its plane normal does not roll with target and changes, and it is constant to remain at gravity direction.Plane reflection minute surface 5 is parallel with two bottom surfaces up and down of cube pyramid terrace with edge lens 7, and with 4 one-tenth miter angles of light splitting piece.
Optical principle of the present invention is as shown in Figure 2.LASER Light Source 8; Behind collimation, incide cube pyramid terrace with edge lens 7 (referring to Fig. 3); The most of parallel laser of cube pyramid terrace with edge lens 7 reflections is used for the measurement to the target distance, and the laser beam that pyramid terrace with edge lens 7 little bottom surfaces are crossed in transmission will get into the measurement of target system realization to space angle.
Transmission is crossed cube laser beam of pyramid terrace with edge lens 7 little bottom surfaces and is divided into two-way via light splitting piece 4; The laser beam that light splitting piece 4 is crossed in transmission reflexes to light splitting piece 4 through plane mirror 3; Secondary reflection again by light splitting piece 4 is incident to Conical Lenses 2, produces diffraction light-free spot O
2, by ccd image sensor 1 record, through calculating to diffraction light-free spot center, just can draw the laser beam of incident with respect to cube horizontal sextant angle of pyramid terrace with edge lens axis with respect to the horizontal plane the angle of pitch.
That a branch of directional light that transmission is crossed cube pyramid terrace with edge lens 7 and reflected via spectroscope 4; To plane mirror 5, when measurement mechanism when the axis of its horizontal cross rolls to some extent, plane mirror 5 returns to original position in gravity pendulum following moment of band damping; And the normal direction of ccd image sensor 1 photosurface will be made corresponding change with measurement mechanism; Light splitting piece 4 is crossed in the 5 reflection ray transmissions of level crossing minute surface, and Conical Lenses 2 produces diffraction light-free spot O
1, gather by ccd image sensor 1, be similar to first light beams, through to diffraction light-free spot center O
1Calculating just can draw the angle that device rolls around himself axis.(wherein the computing method of spot center can with reference to " based on the diffraction light-free of annulus filtering fixed in an algorithm " literary composition).
Adopt light splitting piece and two plane mirrors to constitute the beam split light path among the embodiment, this is simple in structure and compact, but the invention is not restricted to this, adopts the beam split light path of existing other form also can realize the present invention.
The ZED of the measurement of space angle such as Germany and VMT guidance system; Need in the target system, add mostly and similarly install like inclinator; Realization combines two other angle information of optical system measuring to realize the measurement to each angle of space to a certain measurement of angle in space again.Inclinator with respect to the optical measurement precision at the bottom of, influenced by ambient temperature big, less stable adopts this mode often to waste the measuring accuracy of optics.Seeing that centering property that the precision of the angle measurement of optical system is high and diffraction light-free is good and strong anti-ambient light interference ability, and the precision that can reach sub-pix of diffraction light-free alignment algorithm.Introduce gravity datum, design the spatial angle measuring device of full optics, the measuring accuracy that this measuring system can fine each space angle of assurance possesses the interference performance of strong anti-surround lighting again, and simple in structure, compact, is easy to through engineering approaches and realizes.
Claims (2)
1. electronic laser target based on diffraction light-free; Comprise LASER Light Source, cube pyramid terrace with edge lens, beam split light path, gravity damped pendulum, Conical Lenses, imageing sensor and pattern information processing system; The light incident that LASER Light Source sends cube pyramid terrace with edge lens; Supply range finding to use from the light beam of cube pyramid terrace with edge reflection from lens, get into the beam split light path from cube laser that pyramid terrace with edge lens transmit; Said beam split light path comprises light splitting piece, first plane mirror and second plane mirror; Second plane mirror connects the gravity damped pendulum; The planar process of said light splitting piece to the planar process of second level crossing to becoming miter angle; The said cube of laser incident light splitting piece that the pyramid terrace with edge transmits, light splitting piece is divided into horizontal direction light beam and vertical direction light beam with this laser, and the horizontal direction light beam passes Conical Lenses successively and forms diffraction light-free spot O after the first plane reflection mirror reflection, light splitting piece reflection
1, the vertical direction light beam passes Conical Lenses successively and forms diffraction light-free spot O after the second plane reflection mirror reflection, light splitting piece transmission
2Imageing sensor is caught diffraction light-free spot O
2And O
1And sending pattern information processing system to, pattern information processing system is according to diffraction light-free spot O
2Calculate the level boat angle and the angle of pitch of target, according to diffraction light-free spot O
1Calculate the roll angle of target.
2. device according to claim 1 is characterized in that, said gravity damped pendulum is the gravity pendulum of charged magnetic damping.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110115296A CN102252651B (en) | 2011-05-05 | 2011-05-05 | Laser electronic target based on non-diffraction light |
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| CN201110115296A CN102252651B (en) | 2011-05-05 | 2011-05-05 | Laser electronic target based on non-diffraction light |
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| CN102252651A CN102252651A (en) | 2011-11-23 |
| CN102252651B true CN102252651B (en) | 2012-09-26 |
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| CN104534933A (en) * | 2014-12-25 | 2015-04-22 | 中国人民解放军总参谋部第六十研究所 | Fresnel lens target device used for laser shooting |
| CN109579707A (en) * | 2018-11-23 | 2019-04-05 | 北京空间飞行器总体设计部 | A kind of six degree of freedom high-precision base line measurement system and method based on femtosecond light comb |
| CN109579778B (en) * | 2019-01-11 | 2021-05-11 | 哈尔滨工业大学 | Device and method for measuring three-dimensional angle based on dual-wavelength light splitting auto-collimation |
| CN109579781B (en) * | 2019-01-11 | 2021-01-12 | 哈尔滨工业大学 | High-precision large-working-distance auto-collimation three-dimensional absolute angle measuring device and method |
| CN109631827B (en) * | 2019-01-11 | 2021-03-02 | 哈尔滨工业大学 | Double-light-source high-precision anti-interference large-working-distance auto-collimation device and method based on absolute angle measurement |
| CN109579782B (en) * | 2019-01-11 | 2021-01-08 | 哈尔滨工业大学 | High-precision large-working-distance auto-collimation three-dimensional angle measuring device and method |
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| JPH05264270A (en) * | 1992-03-19 | 1993-10-12 | Rapurashian:Kk | Laser auto level |
| IT1271145B (en) * | 1993-04-07 | 1997-05-27 | Micro Italiana Spa | SELF-LEVELING LASER BEAM PROJECTOR ON A ROTATING BASE |
| JP4574609B2 (en) * | 2006-12-14 | 2010-11-04 | 国立大学法人豊橋技術科学大学 | Transport method by overhead crane using laser pointer and overhead crane system |
| CN101276056A (en) * | 2007-12-04 | 2008-10-01 | 中国科学院光电技术研究所 | High precision split joint sub lens relative tilt error photo-electric detection system |
| CN101430198B (en) * | 2008-12-05 | 2010-06-02 | 华中科技大学 | Non-diffraction photon optical target |
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