CN107883986B - Angle zero position memory method based on laser ranging - Google Patents
Angle zero position memory method based on laser ranging Download PDFInfo
- Publication number
- CN107883986B CN107883986B CN201711067580.6A CN201711067580A CN107883986B CN 107883986 B CN107883986 B CN 107883986B CN 201711067580 A CN201711067580 A CN 201711067580A CN 107883986 B CN107883986 B CN 107883986B
- Authority
- CN
- China
- Prior art keywords
- laser
- antenna
- angle
- data
- zero position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 12
- 239000000945 filler Substances 0.000 claims abstract description 4
- 239000006260 foam Substances 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000035772 mutation Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 1
- 238000013016 damping Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000006386 memory function Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
Abstract
The invention relates to an angle zero position memory method based on laser ranging, which adopts a laser ranging method, fixes a laser transmitter in a shell by synchronously acquiring a ranging value and an antenna angle, fills the vacant part in the shell with a foam filling agent to ensure the damping and fixing effects, and ensures that the laser of the laser transmitter can be hit to the right in a fixed reflection device of a rotating turntable. Under the condition that the laser transmitter is powered on, the antenna is rotated, the ranging data of the data processing unit is observed, the rotating speed of the antenna is reduced when the data change for the first time, and the current angle can be recorded when the data change for the second time, namely the angle zero position; and the comparison can be carried out by recording data, the consistency in time is ensured due to the use of the same interrupt and B code, and the angle corresponding to the moment of large change of the second data is the zero position of the antenna. The invention is convenient to realize in application, can have an angle zero position memory function and has strong application value.
Description
Technical Field
The invention relates to an angle zero position memory method based on laser ranging. Belongs to the technical field of aerospace measurement and control.
background
The shipborne measurement and control servo system is a portal of the whole measurement and control system and is used for locking and tracking a target quickly, accurately and stably, a deviation tracking method is adopted, deviation is finally converted into angle quantity to guide an antenna to follow the target, and the angle quantity is provided by a shaft angle encoder. The shaft angle encoder of the measurement and control antenna needs to calibrate the zero position for unifying a coordinate system, and the zero position value needs to be input again after the shaft angle encoder is replaced due to a fault because the shaft angle encoder is an electronic device, and the zero position memory device serves as a reference to provide the zero position value. The conventional zero position memory device adopts a mechanical memory device, such as a reticle, a ruler and the like, and under the external severe environment, the reliability of the zero position memory device cannot be guaranteed under the condition that the precision of the zero position memory device does not meet the index requirement, so that a more convenient method is urgently needed to realize the angle zero position memory function under the condition.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an angle zero position memory method based on laser ranging in the prior art, wherein a laser range finder is arranged on a supporting surface of an antenna transmission structure, a raised platform is arranged at a position corresponding to a rotating surface, and angle zero position memory is realized according to the change of position data.
the technical scheme adopted by the invention for solving the problems is as follows: an angle zero position memory method based on laser ranging comprises an emitting device and a reflecting device which are respectively arranged on a supporting disc and a rotating disc of an antenna transmission structure, wherein:
The launching device comprises a shell, the shell is hollow up and down and used for placing an upper plate and a lower plate, a square block is arranged above and below four corners, the center of the square block is provided with a through hole thread with a self-locking function, two sides of the shell are folded and provided with holes for integral installation, and a battery box and a wiring hole are arranged on one side of the shell; the center of the upper plate is provided with a square hole for mounting a laser emitter, two sides of the square hole are internally folded to form a fixing strip for fixing the laser emitter, and four corners of the upper plate are provided with counter bores; the four corners of the lower plate are provided with counter bores, and the middle of the lower plate is provided with two counter bores at intervals for connecting the fixing strips; both sides of the fixing strip are provided with holes and are connected with the lower plate to form self-locking threads; the wiring hole is a channel of a laser transmitter data line, is connected to a computer room and is used for data processing;
The reflecting device is a convex structure with two thin edges at two sides and a thick edge in the middle;
The upper part of the laser emitter is connected with the fixing strip of the upper plate through a bolt, the lower part of the laser emitter is also connected with the fixing strip through a bolt, a power supply and communication line is connected, and the upper plate is connected with the shell; the lower part of the shell is filled with the spare parts of the shell and the transmitter through a foam filling agent, the lower plate is fixed on the shell and well connected with the fixing strip, the whole transmitting device is fixed on a supporting plate of the antenna, the fixed reflecting device of the rotary disc is rotated to ensure that laser of the laser transmitter can be hit to the right, under the condition that the laser transmitter is electrified, the antenna is rotated, the ranging data of the data processing unit is observed, when the data is greatly changed for the first time, the rotating speed of the antenna is reduced, and when the data is greatly changed for the second time, the current angle is recorded, namely the angle zero position; and the data processing is completed by a computer, the same interruption and B code are used in a real-time and post-event data comparison mode, the antenna angle and the ranging value are recorded simultaneously, and the antenna angle corresponding to the mutation point of the ranging value is the zero position.
Preferably, when the laser of the laser transmitter strikes the thin edges at the two sides of the reflecting device, the distance measurement value relative to the rotating disc becomes smaller, the rotating speed of the antenna is slowed down, and the thickness of the thin edges at the two sides is designed to be 20 mm; the middle thick edge is a testing area, the thickness is designed to be 40mm, when the thick edge is hit by laser, the distance value changes for the second time, and the antenna angle corresponding to the point is the zero position.
Preferably, the laser transmitter is GLS-B80 in model number, the precision is 4mm, data transmission can be carried out through RS485, and the baud rate is 119200 bps.
Preferably, the data processing is done by a computer, with a computer interrupt interval of 25ms, a laser transmitter data rate of 119200bps, and 10 bits of data, with one set of data being collected every 0.08 ms.
preferably, the data processing program and the antenna driving program run synchronously, the same interrupt and the same B code are used, the time, the angle and the ranging value are recorded by interrupting each time, the coded disc single pulse is adopted to drive the antenna after the ranging value is obviously changed, and the current angle is the angle zero after the ranging value is obviously changed for the second time.
Compared with the prior art, the invention has the following beneficial effects:
(1) the hardware design designed by the invention has the characteristic of low cost.
(2) The data processing method designed by the invention has the characteristics of simplicity and easiness in implementation.
(3) The invention considers the design problem of system expansion.
drawings
Fig. 1 is an overall design diagram of an angle zero memory device based on laser ranging according to the present invention.
Fig. 2 is a design diagram of the transmitting device of fig. 1.
Fig. 3 is a diagram of the reflecting device of fig. 1.
Wherein: 1. the device comprises a transmitting device, 1.1, a shell, 1.2, an upper plate, 1.3, a lower plate, 1.4, a laser transmitter, 1.5, a fixing strip, 1.6, a battery box, 1.7 and a wiring hole; 2. a reflecting device.
Detailed Description
Referring to fig. 1-3, the present invention relates to an angle zero memory device based on laser ranging, which comprises an emitting device 1 and a reflecting device 2, wherein the emitting device 1 is installed on a support plate of an antenna transmission structure, and the reflecting device 2 is installed on a rotating plate of the antenna transmission structure, wherein:
the transmitting device 1 comprises a shell 1.1, an upper plate 1.2, a lower plate 1.3, a laser transmitter 1.4, a fixing strip 1.5, a battery box 1.6 and a wiring hole 1.7, wherein the shell 1.1 is of a square structure and is only a tetrahedron, the upper part and the lower part of the shell are hollowed out for placing the upper plate 1.2 and the lower plate 1.3, a square is arranged at the upper part and the lower part of each four corner, the center of each square is provided with a through hole thread with a self-locking function, edges and holes at two sides of the shell are folded and opened for integral installation, and the battery box 1.6 and the wiring hole 1.7 are arranged; the upper plate 1.2 is of a flat plate structure, a square hole is formed in the center and used for mounting the laser emitter 1.4, the inner edges of two sides of the square hole are folded to form a fixing strip and used for fixing the laser emitter 1.4, and counter bores are formed in four corners of the upper plate; the lower plate 1.3 is of a flat plate structure, and is provided with counter bores at four corners and 2 counter bores at intervals in the middle for connecting the fixing strips 1.5; the laser transmitter is GLS-B80 in model, the precision is 4mm, data transmission can be carried out through RS485, and the baud rate is 119200 bps; the fixing strip 1.5 is a 7-shaped strip, both sides of the fixing strip are provided with holes, and the fixing strip is connected with the lower plate 1.3 to form self-locking threads; the battery box is a power supply device and adopts 4-section No. 7 batteries for power supply; the wiring hole 1.7 is a channel of a laser transmitter 1.4 data line, and is connected to a computer room computer for data processing.
the reflecting device 2 is of a convex structure, when laser is applied to thin edges on two sides, the distance measurement value relative to the rotating disc is reduced, the rotating speed of the antenna needs to be reduced, and the thickness is designed to be 20mm in order to overcome the influence of the 4mm precision of the laser transmitter 1.4; the middle thick edge is a testing area, the thickness is designed to be 40mm, when the thick edge is hit by laser, the distance value changes for the second time, and the antenna angle corresponding to the point is the zero position.
The embodiment provides an angle zero position memory method based on laser ranging by using the device, and the method comprises the following steps: by adopting a laser ranging method and synchronously acquiring the ranging value and the antenna angle, angle zero position memory is conveniently realized. The upper part of the laser emitter is connected with the fixing strip of the upper plate through a bolt, the lower part of the laser emitter is also connected with the fixing strip through a bolt, a power supply and communication line is connected, and the upper plate is connected with the shell; the lower part of the shell is filled with foam filler to fill the empty parts of the shell and the emitter, so as to ensure the damping and fixing effects, the lower plate is fixed on the shell and well connected with the fixing strip, and the whole emitting device is fixed on the supporting plate of the antenna. The fixed reflection device of the rotary disc ensures that the laser of the laser emitter can be hit to the right. Under the power-on condition of the laser transmitter, the antenna is rotated, the ranging data of the data processing unit is observed, the rotating speed of the antenna is reduced when the data change greatly for the first time, and the current angle can be recorded when the data change greatly for the second time, namely the angle zero position.
The data processing is completed by a computer, the interrupt interval of the computer is 25ms, the data rate of a laser transmitter is 1.4, 119200bps, the data is 10 bits, a group of data can be acquired about every 0.08ms, the sampling rate of the system is far greater, and the real-time performance of the data can be ensured; the coded disc rotating mode can be used for rotating the antenna, the single pulse mode is adopted for driving the antenna, errors caused by facula and collection of the laser emitter 1.4 can be avoided, and data accuracy can be ensured through data processing of multiple times of measurement. The data processing program and the antenna driving program run synchronously, the same interrupt and B code are used, the time, the angle and the distance measurement value are recorded by interrupting every time, the coded disc single pulse is adopted to drive the antenna after the distance measurement value is obviously changed, and the current angle is the angle zero after the distance measurement value is obviously changed for the second time.
In addition to the above embodiments, the present invention also includes other embodiments, and any technical solutions formed by equivalent transformation or equivalent replacement should fall within the scope of the claims of the present invention.
Claims (5)
1. an angle zero position memory method based on laser ranging is characterized in that: including installing emitter, the reflect meter on antenna drive structure's supporting disk and rolling disc respectively, wherein:
The launching device comprises a shell, the shell is hollow up and down and used for placing an upper plate and a lower plate, a square block is arranged at the upper four corners and the lower four corners of the shell respectively, the center of the square block is provided with a through hole thread with a self-locking function, the two sides of the shell are folded and provided with holes for integral installation, and a battery box and a wiring hole are arranged at one side of the shell; the center of the upper plate is provided with a square hole for mounting a laser emitter, two sides of the square hole are internally folded to form an upper plate fixing strip for fixing the laser emitter, and four corners of the upper plate are provided with counter bores; the four corners of the lower plate are provided with counter bores, and the middle of the lower plate is provided with two counter bores at intervals for connecting lower plate fixing strips; holes are formed in both sides of the lower plate fixing strip and are connected with the lower plate through self-locking threads; the wiring hole is a channel of a laser transmitter data line, is connected to a computer room and is used for data processing;
The reflecting device is a convex structure with two thin edges at two sides and a thick edge in the middle;
The upper part of the laser transmitter is connected with the upper plate fixing strip through a bolt, the lower part of the laser transmitter is connected with the lower plate fixing strip through a bolt, a power supply and communication circuit is connected, and the upper plate is connected with the shell; the lower part of the shell is filled with the spare parts of the shell and the transmitter through a foam filling agent, the lower plate is fixed on the shell and well connected with a lower plate fixing strip, the whole transmitting device is fixed on a supporting plate of the antenna, when a fixed reflecting device of a rotating disc is rotated, the laser of a laser transmitter can be ensured to be hit to the right, when the laser transmitter is electrified, the antenna is rotated, the ranging data of a computer is observed, when the data is greatly changed for the first time, the rotating speed of the antenna is reduced, and when the data is greatly changed for the second time, the current angle is recorded, namely the angle zero position; and the data processing is completed by a computer, the same interruption and B code are used in a real-time and post-event data comparison mode, the antenna angle and the ranging value are recorded simultaneously, and the antenna angle corresponding to the mutation point of the ranging value is the zero position.
2. The angle zero position memory method based on the laser ranging as claimed in claim 1, wherein: when the laser of the laser transmitter strikes the thin edges on the two sides of the reflecting device, the distance measurement value relative to the rotating disc is reduced, the rotating speed of the antenna is reduced, and the thickness of the thin edges on the two sides is designed to be 20 mm; the middle thick edge is a testing area, the thickness is designed to be 40mm, when the thick edge is hit by laser, the distance value changes for the second time, and the antenna angle corresponding to the point is the zero position.
3. The angle zero position memory method based on the laser ranging as claimed in claim 1, wherein: the laser transmitter is GLS-B80 in model and 4mm in accuracy, data transmission is carried out through RS485, and the Baud rate is 119200 bps.
4. The angle zero position memory method based on the laser ranging as claimed in claim 1, wherein: the data processing is accomplished by a computer, the computer interrupt interval is 25ms, the data rate of the laser transmitter is 119200bps, the data is 10 bits, and one set of data is collected every 0.08 ms.
5. The angle zero position memory method based on the laser ranging as claimed in claim 1, wherein: the data processing program and the antenna driving program run synchronously, the same interrupt and B code are used, the time, the angle and the distance measurement value are recorded by interrupting every time, the coded disc single pulse is adopted to drive the antenna after the distance measurement value is obviously changed, and the current angle is the angle zero after the distance measurement value is obviously changed for the second time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711067580.6A CN107883986B (en) | 2017-11-03 | 2017-11-03 | Angle zero position memory method based on laser ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711067580.6A CN107883986B (en) | 2017-11-03 | 2017-11-03 | Angle zero position memory method based on laser ranging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107883986A CN107883986A (en) | 2018-04-06 |
| CN107883986B true CN107883986B (en) | 2019-12-13 |
Family
ID=61778552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711067580.6A Active CN107883986B (en) | 2017-11-03 | 2017-11-03 | Angle zero position memory method based on laser ranging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107883986B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113819879B (en) * | 2021-09-22 | 2022-09-30 | 中国航空工业集团公司北京长城计量测试技术研究所 | Dynamic angle measurement method and system based on laser zero meter and high-frequency sampling |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1862222A (en) * | 2005-05-10 | 2006-11-15 | 北京航空航天大学 | Laser self-collimation zero reference error angle measuring method |
| CN102706277A (en) * | 2012-05-25 | 2012-10-03 | 南京理工大学 | Industrial robot online zero position calibration device based on all-dimensional point constraint and method |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10103937A (en) * | 1996-09-27 | 1998-04-24 | Nachi Fujikoshi Corp | Optical axis inclination measuring method for laser light and apparatus therefor |
| JP2001235545A (en) * | 2000-02-22 | 2001-08-31 | Penta Ocean Constr Co Ltd | Measuring method and device using rotary laser station |
-
2017
- 2017-11-03 CN CN201711067580.6A patent/CN107883986B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1862222A (en) * | 2005-05-10 | 2006-11-15 | 北京航空航天大学 | Laser self-collimation zero reference error angle measuring method |
| CN102706277A (en) * | 2012-05-25 | 2012-10-03 | 南京理工大学 | Industrial robot online zero position calibration device based on all-dimensional point constraint and method |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107883986A (en) | 2018-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110308457A (en) | A kind of power transmission line polling system based on unmanned plane | |
| CN102519488A (en) | Integrated data acquiring and processing system of multi-source aviation navigation signals | |
| CN102997914B (en) | Three-dimensional locating and detecting device and method for coal cutter | |
| US20060247897A1 (en) | Method and system for recording a monitoring log | |
| CN202442649U (en) | A turntable for semi-physical simulation of a laser terminal guided projectile | |
| CN103954903B (en) | A kind of can real-time resolving multi-mode output circuit test system | |
| CN103940335A (en) | Device for measuring repeated positioning accuracy of industrial robot | |
| CN107883986B (en) | Angle zero position memory method based on laser ranging | |
| CN104729538A (en) | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine | |
| US20150011261A1 (en) | Base station antenna apparatus and apparatus for collecting engineering parameter of base station antenna | |
| CN107272706A (en) | A kind of conveyer belt tracking, robot and computer-readable recording medium | |
| CN106123893A (en) | Space operation orbit generation method, device | |
| CN102749045B (en) | High-precision ground measurement method for blade pitch angle of small helicopter | |
| CN106094889A (en) | A kind of laser-bounce target ball actively self-adaptive regulating | |
| CN205809300U (en) | A kind of target ball towards laser traces measuring instrument assists automated response device | |
| CN102519511A (en) | Indication verification apparatus of automobile instrument and verification method thereof | |
| CN103063214B (en) | Dynamic high-precision grating scale angle of rudder reflection measurement mechanism and measuring method | |
| CN102754576A (en) | Automatic artificial influence weather system operation platform and realization method thereof | |
| CN101738173A (en) | Singlechip, grating and double-reading head-based three-dimensional laser scanning measurement system | |
| CN111022270A (en) | Real-time measurement method for tower top displacement of wind generating set | |
| CN103791896B (en) | The comprehensive north finding device of a kind of pendulum type gyroscope north searching instrument and method | |
| CN104156320A (en) | Method for collecting traveling wave data of power transmission line fault locating device | |
| CN107449975B (en) | MTBF rotation testing device for transponder antenna | |
| CN205192524U (en) | Rail temperature monitoring devices | |
| CN202488718U (en) | ZigBee wireless positioning system device with electronic label function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |