CN103376092A - Turntable leveling device and method based on laser ranging - Google Patents
Turntable leveling device and method based on laser ranging Download PDFInfo
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- CN103376092A CN103376092A CN2013102511153A CN201310251115A CN103376092A CN 103376092 A CN103376092 A CN 103376092A CN 2013102511153 A CN2013102511153 A CN 2013102511153A CN 201310251115 A CN201310251115 A CN 201310251115A CN 103376092 A CN103376092 A CN 103376092A
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Abstract
The invention discloses a turntable leveling device and method based on laser ranging. The turntable leveling device comprises a laser ranging device, a suspension and a reflector, wherein the bottom end of the suspension is fixed on the surface of a turntable; the laser ranging device is suspended on the top of the suspension through a suspension wire; the reflector is arranged on the surface of the turntable or arranged at the bottom end of a projection hole, of which the top end is opened and the bottom end is closed, in the turntable; the bottom end of the laser ranging device is opposite to the position of the reflector, so that laser rays transmitted by a transmitter of the laser ranging device can irradiate onto the reflector; the laser ranging device comprises the transmitter, a control circuit, a receiver and a phase discriminator. According to the turntable leveling device, an electronic level meter is not required, so that the interference of an ambient environment on the leveling result can be avoided, and the reliability is high; moreover, a switching power supply inside the electronic level meter can be prevented from generating electromagnetic radiation, and the electromagnetic interference generated on testing equipment arranged on the turntable, such as missile inertial navigation testing equipment, is avoided.
Description
Technical field
The present invention relates to a kind of leveling turntable device and leveling method, particularly a kind of leveling turntable device and leveling method based on laser ranging, this leveling turntable device and leveling method are applicable to guided missile inertial navigation test.
Background technology
Turntable is widely used in the technical fields such as Aeronautics and Astronautics, weapons and navigation.The turn table type that is applied to the different technologies field is different, and its purposes also is not quite similar.The turntable that is used for guided missile inertial navigation test should possess higher stability, is mainly used in Performance Detection and the demarcation of inertial navigation system and inertance element such as gyro, accelerometer.Sophisticated and futuristic weapons system generally is equipped with the Inertial Navigation and Guidance system, and at stages such as production, debugging, test and appraisal, operation and maintenances, the Inertial Navigation and Guidance system all needs the turntable for guided missile inertial navigation test.Therefore, guided missile inertial navigation test directly affects Development Level and the performance of sophisticated and futuristic weapons system.Leveling turntable is an important step of guided missile inertial navigation test.
In the prior art, a kind of leveling turntable device commonly used be provided with liquid and bubble in the transparent pipe of this leveling turntable device, and bubble can flow in liquid for adopting the leveling turntable device of transparent pipe.The position of observing bubble in the transparent pipe based on the method for leveling turntable of this kind leveling turntable device, according to the horizontality of the position judgment turntable of bubble.
Leveling turntable device and the method for leveling turntable of the employing transparent pipe of prior art have following shortcoming:
(1) when temperature was low, the liquid in the transparent pipe froze easily, causes bubble to move, thereby causes adopting the leveling turntable device of transparent pipe to work;
(2) inertia of bubble is larger, and the reaction time is longer, causes adopting the efficient of leveling turntable device of transparent pipe lower.
In the prior art, another kind of leveling turntable device commonly used is for adopting the leveling turntable device of electrolevel.Method for leveling turntable based on this kind leveling turntable device is the horizontality of judging turntable by electrolevel.
The leveling turntable device of employing electrolevel can overcome the above-mentioned shortcoming of the leveling turntable device that adopts transparent pipe.But, adopt leveling turntable device and the method for leveling turntable of electrolevel to have following shortcoming:
(1) resistance of electrolevel inside and electric capacity are comparatively responsive to the variation of surrounding environment especially temperature, cause the leveling result under the different temperatures to have larger difference, thus surrounding environment to exchange the interference of reef knot fruit very large, reliability is relatively poor;
(2) during leveling, electrolevel is installed on the turntable, and the Switching Power Supply of electrolevel inside will produce electromagnetic radiation, be opposite to easily on the turntable testing apparatus for example the guided missile Inertial Navigation Testing Device produce electromagnetic interference (EMI).
Summary of the invention
One of purpose of the present invention provides a kind of leveling turntable device based on laser ranging.
Two of purpose of the present invention provides a kind of method for leveling turntable based on laser ranging.
Leveling turntable device based on laser ranging provided by the invention comprises laser ranging system, suspension and catoptron; The bottom of described suspension is fixed on the table top of turntable; Described laser ranging system hangs on the top of described suspension by catenary; Described catoptron is arranged on the table top of turntable or is arranged at the bottom in the projection hole of the top end opening of turntable, bottom sealing; The bottom of described laser ranging system is relative with the position of described catoptron, so that the laser beam that the transmitter of described laser ranging system sends can shine on the described catoptron;
Described laser ranging system comprises: transmitter is used for launching incident ray after the Emission Lasers command signal of reception from control circuit; Control circuit is used for sending the Emission Lasers command signal to described transmitter, also is used for phase differential according to reflection ray and incident ray and obtains distance between described catoptron and the described laser ranging system; Receiver is used for reception from the reflection ray of described catoptron and sends it to phase detector; And phase detector, for the phase place of perception reflex light, then obtaining the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to control circuit again.
Preferably, described laser ranging system also comprises modulator, for the intensity of the incident ray of regulating described transmitter emission.
Preferably, the frequency of the incident ray of described transmitter emission is constant, and its amplitude is sinusoidal rule and changes.
Preferably, described suspension is shaped as square.
Preferably, described laser ranging system is shaped as taper.
Preferably, the diameter in described projection hole is less than or equal to 5mm, and its degree of depth is more than or equal to 10mm.
Method for leveling turntable based on laser ranging provided by the invention adopts above-mentioned leveling turntable device based on laser ranging, and this method for leveling turntable comprises the steps:
Utilize described laser ranging system to obtain the measured value of distance between described catoptron and the described laser ranging system;
The measured value of distance between described catoptron and the described laser ranging system is compared with its theoretical value, judge the horizontality of turntable according to the relative size relation of the two;
The servo control mechanism that carries by turntable adjust turntable height until between described catoptron and the described laser ranging system measured value of distance more than or equal to its theoretical value.
Preferably, described step " is utilized described laser ranging system to obtain the measured value of distance between described catoptron and the described laser ranging system " to comprise following substep:
Described control circuit sends the Emission Lasers command signal to described transmitter;
Launch incident ray after the Emission Lasers command signal of described transmitter receipt from described control circuit;
Described modulator is regulated the intensity of the incident ray of described transmitter emission;
Shine on the described catoptron and by described mirror reflects through the incident ray behind the described modulator;
Described receiver receives from the reflection ray of described catoptron and sends it to described phase detector;
Described phase detector identification is from the phase place of the reflection ray of described receiver, then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to described control circuit again;
Described control circuit obtains distance between described catoptron and the described laser ranging system according to the phase differential of reflection ray and incident ray.
Preferably, described step " is utilized described laser ranging system to obtain the measured value of distance between described catoptron and the described laser ranging system " to comprise following substep:
Described control circuit sends the Emission Lasers command signal to described transmitter;
Launch incident ray after the Emission Lasers command signal of described transmitter receipt from described control circuit;
The incident ray of described transmitter emission shines on the described catoptron and by described mirror reflects;
Described receiver receives from the reflection ray of described catoptron and sends it to described phase detector;
Described phase detector identification is from the phase place of the reflection ray of described receiver, then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to described control circuit again;
Described control circuit obtains distance between described catoptron and the described laser ranging system according to the phase differential of reflection ray and incident ray.
Preferably, described step " is compared the measured value of distance between described catoptron and the described laser ranging system; judge the horizontality of turntable according to the relative size relation of the two " with its theoretical value in, if the measured value of distance is more than or equal to its theoretical value between described catoptron and the described laser ranging system, show level of turntable; If the measured value of distance is less than its theoretical value between described catoptron and the described laser ranging system, show that turntable does not have level, needs leveling.
The present invention has following beneficial effect:
(1) leveling turntable device of the present invention does not need to use electrolevel, thereby can avoid surrounding environment to exchange the interference of reef knot fruit, and reliability is higher;
(2) leveling turntable device of the present invention does not need to use electrolevel, thereby can avoid the Switching Power Supply of electrolevel inside will produce electromagnetic radiation, avoid being opposite on the turntable testing apparatus for example the guided missile Inertial Navigation Testing Device produce electromagnetic interference (EMI).
Description of drawings
The synoptic diagram based on the leveling turntable device of laser ranging that Fig. 1 provides for the embodiment of the invention 1;
The structural representation based on the laser ranging system of the leveling turntable device of laser ranging that Fig. 2 provides for inventive embodiments 1;
The process flow diagram based on the method for leveling turntable of laser ranging that Fig. 3 provides for various embodiments of the present invention;
The synoptic diagram based on the leveling turntable device of laser ranging that Fig. 4 provides for the embodiment of the invention 2;
The structural representation based on the laser ranging system of the leveling turntable device of laser ranging that Fig. 5 provides for inventive embodiments 2.
Embodiment
Below in conjunction with drawings and Examples summary of the invention of the present invention is further described.
Embodiment 1
As shown in Figure 1, the leveling turntable device based on laser ranging that provides of present embodiment comprises laser ranging system 4, suspension 3 and catoptron 6.The bottom of suspension 3 is fixed on the table top of turntable 1.Laser ranging system 4 hangs on the top of suspension 3 by catenary 5.Turntable 1 is provided with the projection hole 2 of top end opening, bottom sealing.Catoptron 6 is arranged at the bottom in projection hole 2, is used for the laser beam that the transmitter 41 of reflector laser distance measuring equipment 4 sends.The bottom of laser ranging system 4 is relative with the position of catoptron 6, so that the laser beam that transmitter 41 sends can shine on the catoptron 6 that throws in the hole 2.Laser ranging system 4 is used for the distance between measurement self and the catoptron 6.In the present embodiment, suspension 3 is shaped as for example square; Laser ranging system 4 be shaped as for example taper.Preferably, the diameter in projection hole 2 is less than or equal to 5mm, and its degree of depth is more than or equal to 10mm.The servo control mechanism (not shown) that carries by turntable 1 can be adjusted the height of turntable 1.
As shown in Figure 2, laser ranging system 4 comprises transmitter 41, control circuit 42, modulator 43, receiver 44 and phase detector 45.Control circuit 42 is used for sending the Emission Lasers command signal to transmitter 41.Transmitter 41 is used for launching incident ray after the Emission Lasers command signal of reception from control circuit 42.Modulator 43 is used for the intensity of the incident ray of adjusting transmitter 41 emissions, identifies incident ray to make things convenient for the user.Shine on the catoptron 6 and be reflected mirror 6 reflection through the incident ray behind the modulator 43.Receiver 44 is used for reception from the reflection ray of catoptron 6 and sends it to phase detector 45.Need to prove that the incident ray in the present embodiment and reflection ray are all for catoptron 6.Phase detector 45 is used for the phase place of perception reflex light, then obtains the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, and the phase differential with reflection ray and incident ray sends to control circuit 42 again.Control circuit 42 obtains distance between catoptron 6 and the laser ranging system 4 according to the phase differential of reflection ray and incident ray.Preferably, the frequency of the incident ray of transmitter 41 emissions is constant.Preferably, the amplitude of the incident ray of transmitter 41 emissions is sinusoidal rule variation.
As shown in Figure 3, the method for leveling turntable based on laser ranging that provides of present embodiment comprises the steps:
S1: utilize laser ranging system 4 to obtain the measured value L of distance between catoptron 6 and the laser ranging system 4;
S2: the measured value L of distance between catoptron 6 and the laser ranging system 4 is compared with its theoretical value L1, judge the horizontality of turntable 1 according to the relative size relation of the two;
S3: the servo control mechanism that carries by turntable 1 adjust turntable 1 height until between catoptron 6 and the laser ranging system 4 the measured value L of distance more than or equal to its theoretical value L1.
Above-mentioned steps S1 comprises following substep:
S1.1: control circuit 42 sends the Emission Lasers command signal to transmitter 41;
S1.2: launch incident ray after the Emission Lasers command signal that transmitter 41 receives from control circuit 42;
S1.3: modulator 43 is regulated the intensity of the incident ray of transmitter 41 emissions;
S1.4: shine on the catoptron 6 and be reflected mirror 6 reflection through the incident ray behind the modulator 43;
S1.5: receiver 44 receives from the reflection ray of catoptron 6 and sends it to phase detector 45;
S1.6: phase detector 45 identifications are from the phase place of the reflection ray of receiver 44, then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to control circuit 42 again;
S1.7: control circuit 42 obtains distance between catoptron 6 and the laser ranging system 4 according to the phase differential of reflection ray and incident ray.
S2 in above-mentioned steps if the measured value L of distance is more than or equal to its theoretical value L1 between catoptron 6 and the laser ranging system 4, shows level of turntable 1; If the measured value L of distance is less than its theoretical value L1 between catoptron 6 and the laser ranging system 4, show that turntable 1 does not have level, needs leveling.The theoretical value L1 of distance depends on structure and the size based on leveling turntable device and the turntable of laser ranging between catoptron 6 and the laser ranging system 4.
Embodiment 2
What as shown in Figure 4 and Figure 5, present embodiment provided based on the leveling turntable device of laser ranging and the difference of embodiment 1 is: turntable 1 is not provided with projection hole 2; Catoptron 6 is arranged on the table top of turntable 1, is used for the laser beam that the transmitter 41 of reflector laser distance measuring equipment 4 sends; The bottom of laser ranging system 4 is relative with the position of catoptron 6, so that the laser beam that transmitter 41 sends can shine on the catoptron 6; Laser ranging system 4 does not comprise modulator 43, and the incident ray of transmitter 41 emissions shines on the catoptron 6 and is reflected mirror 6 reflections.All the other are identical with embodiment 1.
The method for leveling turntable based on laser ranging that present embodiment provides comprises the steps:
S1: utilize laser ranging system 4 to obtain the measured value L of distance between catoptron 6 and the laser ranging system 4;
S2: the measured value L of distance between catoptron 6 and the laser ranging system 4 is compared with its theoretical value L1, judge the horizontality of turntable 1 according to the relative size relation of the two;
S3: the servo control mechanism that carries by turntable 1 adjust turntable 1 height until between catoptron 6 and the laser ranging system 4 the measured value L of distance more than or equal to its theoretical value L1.
Above-mentioned steps S1 comprises following substep:
S1.1: control circuit 42 sends the Emission Lasers command signal to transmitter 41;
S1.2: launch incident ray after the Emission Lasers command signal that transmitter 41 receives from control circuit 42;
S1.3: the incident ray of transmitter 41 emissions shines on the catoptron 6 and is reflected mirror 6 reflections;
S1.4: receiver 44 receives from the reflection ray of catoptron 6 and sends it to phase detector 45;
S1.5: phase detector 45 identifications are from the phase place of the reflection ray of receiver 44, then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to control circuit 42 again;
S1.6: control circuit 42 obtains distance between catoptron 6 and the laser ranging system 4 according to the phase differential of reflection ray and incident ray.
Should be appreciated that the above detailed description of technical scheme of the present invention being carried out by preferred embodiment is illustrative and not restrictive.Those of ordinary skill in the art is reading on the basis of instructions of the present invention and can make amendment to the technical scheme that each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. based on the leveling turntable device of laser ranging, it is characterized in that this leveling turntable device comprises laser ranging system (4), suspension (3) and catoptron (6); The bottom of described suspension (3) is fixed on the table top of turntable (1); Described laser ranging system (4) hangs on the top of described suspension (3) by catenary (5); Described catoptron (6) is arranged on the table top of turntable (1) or is arranged at the bottom in the projection hole (2) of the top end opening of turntable (1), bottom sealing; The bottom of described laser ranging system (4) is relative with the position of described catoptron (6), so that the laser beam that the transmitter (41) of described laser ranging system (4) sends can shine on the described catoptron (6);
Described laser ranging system (4) comprising:
Transmitter (41) is used for launching incident ray after the Emission Lasers command signal of reception from control circuit (42);
Control circuit (42), be used for sending the Emission Lasers command signal to described transmitter (41), also be used for phase differential according to reflection ray and incident ray and obtain distance between described catoptron (6) and the described laser ranging system (4);
Receiver (44) is used for reception from the reflection ray of described catoptron (6) and sends it to phase detector (45); And
Phase detector (45), the phase place that is used for perception reflex light, then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to control circuit (42) again.
2. the leveling turntable device based on laser ranging according to claim 1 is characterized in that, described laser ranging system (4) also comprises modulator (43), for the intensity of the incident ray of regulating described transmitter (41) emission.
3. the leveling turntable device based on laser ranging according to claim 1 is characterized in that, the frequency of the incident ray of described transmitter (41) emission is constant, and its amplitude is sinusoidal rule and changes.
4. the leveling turntable device based on laser ranging according to claim 1 is characterized in that, described suspension (3) be shaped as square.
5. the leveling turntable device based on laser ranging according to claim 1 is characterized in that, described laser ranging system (4) be shaped as taper.
6. the leveling turntable device based on laser ranging according to claim 1 is characterized in that, the diameter in described projection hole (2) is less than or equal to 5mm, and its degree of depth is more than or equal to 10mm.
7. based on the method for leveling turntable of laser ranging, this method for leveling turntable adopts each described leveling turntable device based on laser ranging among the claim 1-6, it is characterized in that this method for leveling turntable comprises the steps:
Utilize described laser ranging system (4) to obtain the measured value of distance between described catoptron (6) and the described laser ranging system (4);
The measured value of distance between described catoptron (6) and the described laser ranging system (4) is compared with its theoretical value, judge the horizontality of turntable (1) according to the relative size relation of the two;
The servo control mechanism that carries by turntable (1) adjust turntable (1) height until between described catoptron (6) and the described laser ranging system (4) measured value of distance more than or equal to its theoretical value.
8. the method for leveling turntable based on laser ranging according to claim 7, it is characterized in that described step " is utilized described laser ranging system (4) to obtain the measured value of distance between described catoptron (6) and the described laser ranging system (4) " to comprise following substep:
Described control circuit (42) sends the Emission Lasers command signal to described transmitter (41);
Launch incident ray after the Emission Lasers command signal of described transmitter (41) reception from described control circuit (42);
Described modulator (43) is regulated the intensity of the incident ray of described transmitter (41) emission;
Incident ray behind described modulator (43) shines described catoptron (6) and upward and by described catoptron (6) reflects;
Described receiver (44) receives from the reflection ray of described catoptron (6) and sends it to described phase detector (45);
Described phase detector (45) identification is from the phase place of the reflection ray of described receiver (44), then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to described control circuit (42) again;
Described control circuit (42) obtains distance between described catoptron (6) and the described laser ranging system (4) according to the phase differential of reflection ray and incident ray.
9. the method for leveling turntable based on laser ranging according to claim 7, it is characterized in that described step " is utilized described laser ranging system (4) to obtain the measured value of distance between described catoptron (6) and the described laser ranging system (4) " to comprise following substep:
Described control circuit (42) sends the Emission Lasers command signal to described transmitter (41);
Launch incident ray after the Emission Lasers command signal of described transmitter (41) reception from described control circuit (42);
The incident ray of described transmitter (41) emission shines described catoptron (6) and upward and by described catoptron (6) reflects;
Described receiver (44) receives from the reflection ray of described catoptron (6) and sends it to described phase detector (45);
Described phase detector (45) identification is from the phase place of the reflection ray of described receiver (44), then obtain the phase differential of reflection ray and incident ray by the phase place that compares incident ray and reflection ray, the phase differential with reflection ray and incident ray sends to described control circuit (42) again;
Described control circuit (42) obtains distance between described catoptron (6) and the described laser ranging system (4) according to the phase differential of reflection ray and incident ray.
10. the method for leveling turntable based on laser ranging according to claim 7, it is characterized in that, described step " is compared the measured value of distance between described catoptron (6) and the described laser ranging system (4); judge the horizontality of turntable (1) according to the relative size relation of the two " with its theoretical value in, if the measured value of distance is more than or equal to its theoretical value between described catoptron (6) and the described laser ranging system (4), show level of turntable (1); If the measured value of distance is less than its theoretical value between described catoptron (6) and the described laser ranging system (4), show that turntable (1) does not have level, needs leveling.
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| CN105675014A (en) * | 2016-01-07 | 2016-06-15 | 北京电子工程总体研究所 | Compound detection system datum axis deviation calibration method and calibration system |
| CN106199759A (en) * | 2016-03-29 | 2016-12-07 | 中国地震局地震研究所 | Electrostatic feedback dipmeter assembling and setting platform and method thereof |
| CN110523656A (en) * | 2019-08-02 | 2019-12-03 | 深圳奥比中光科技有限公司 | A kind of DOE detection device and method |
| CN111380506A (en) * | 2020-03-05 | 2020-07-07 | 上海兴为视觉科技股份有限公司 | Reading type measuring device |
| CN112726670A (en) * | 2021-02-09 | 2021-04-30 | 北京住总集团有限责任公司 | Automatic leveling system and method suitable for steel pipe column working platform |
| CN117782024A (en) * | 2024-02-27 | 2024-03-29 | 莱芜金诚土地估价有限责任公司 | House detection device for real estate evaluation |
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| CN105675014A (en) * | 2016-01-07 | 2016-06-15 | 北京电子工程总体研究所 | Compound detection system datum axis deviation calibration method and calibration system |
| CN106199759A (en) * | 2016-03-29 | 2016-12-07 | 中国地震局地震研究所 | Electrostatic feedback dipmeter assembling and setting platform and method thereof |
| CN110523656A (en) * | 2019-08-02 | 2019-12-03 | 深圳奥比中光科技有限公司 | A kind of DOE detection device and method |
| CN111380506A (en) * | 2020-03-05 | 2020-07-07 | 上海兴为视觉科技股份有限公司 | Reading type measuring device |
| CN112726670A (en) * | 2021-02-09 | 2021-04-30 | 北京住总集团有限责任公司 | Automatic leveling system and method suitable for steel pipe column working platform |
| CN112726670B (en) * | 2021-02-09 | 2022-05-13 | 北京住总集团有限责任公司 | Automatic leveling system and method suitable for steel pipe column working platform |
| CN114809073A (en) * | 2021-02-09 | 2022-07-29 | 北京住总集团有限责任公司 | Intelligent leveling system and method |
| CN114809073B (en) * | 2021-02-09 | 2024-02-27 | 北京住总集团有限责任公司 | Intelligent leveling system and method |
| CN117782024A (en) * | 2024-02-27 | 2024-03-29 | 莱芜金诚土地估价有限责任公司 | House detection device for real estate evaluation |
| CN117782024B (en) * | 2024-02-27 | 2024-04-26 | 莱芜金诚土地估价有限责任公司 | House detection device for real estate evaluation |
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