CN107941149B - The adjustable simulation ball proscenia of radius - Google Patents
The adjustable simulation ball proscenia of radius Download PDFInfo
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- CN107941149B CN107941149B CN201711215457.4A CN201711215457A CN107941149B CN 107941149 B CN107941149 B CN 107941149B CN 201711215457 A CN201711215457 A CN 201711215457A CN 107941149 B CN107941149 B CN 107941149B
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- connecting rod
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to simulation ball proscenias to be effectively reduced cost to realize that the arbitrary point position on ball curtain is simulated in timesharing, meets light, efficiently application requirement needed for field or field calibration.The present invention, the adjustable simulation ball proscenia of radius, including scalable connecting rod, gimballed base and sighting device, scalable connecting rod is mounted on gimballed base, wherein, the effective length of connecting rod can be directly read by corresponding graduated scale in scalable connecting rod, sighting device is for simulating ball curtain spherome surface, with arc or planar structure, wherein there is circular scale mark on the sighting device of planar structure, pipper is fixedly connected with scalable connecting rod upper end center, gimbal coupling is fixed on the base with ring flange, constitute gimballed base, it will be on one end firm banking of scalable connecting rod by gimbal coupling, the other end drives sighting device in spatial rotational, and available locking device is fixed.Present invention is mainly applied to simulate the design and manufacture of ball curtain.
Description
Technical field
The present invention relates to a kind of simulation ball proscenias, specifically a kind of be based on the fixed centre of sphere and the adjustable ball curtain of radius,
The device of spherome surface is simulated by rotation connection bar.
Background technique
During Field Operational or field survey, it is often necessary to carry out position mark to multiple subsystems of collaborative work
It is fixed, determine the relative positional relationship between subsystems.Researcher proposes setting for many scaling methods and calibration device thus
Count thinking.In order to realize calibration, verifying the correctness of scaling method and detect the stated accuracy of calibration device, standard flat and ball
Face often becomes conventional auxiliary calibration equipment.But high-precision standard flat, ball difficulty of processing are big, and it is at high cost, it is inconvenient to carry,
It is unable to satisfy field or work on the spot demand.
Currently, general entity ball proscenia structure is complicated, it is expensive, take up space it is big, install after should not tear open
It removes, reusing is poor.But for certain occasions that timesharing calibration can be used, such as: need to only show one on ball curtain every time
In the case where laser facula calibration point, do not need to configure complete entity ball curtain, above-mentioned entity ball curtain just it is more aobvious be not suitable for and
Waste.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is directed to propose a kind of simple and convenient device, timesharing are simulated on ball curtain
Arbitrary point position meet light, efficiently application requirement needed for field or field calibration to be effectively reduced cost.For this purpose,
The technical solution adopted by the present invention is that the adjustable simulation ball proscenia of radius, including scalable connecting rod, gimballed base and aiming
Device, scalable connecting rod are mounted on gimballed base, wherein scalable connection pole length is adjustable, pass through corresponding graduated scale thereon
Ruler can directly read the effective length of connecting rod, and sighting device is used to simulate ball curtain spherome surface, have arc or planar structure,
Wherein there are circular scale mark, pipper and scalable connecting rod upper end center phase fixed on the sighting device of planar structure
It is fixed, gimbal coupling is fixed on the base with ring flange, constitutes gimballed base, by gimbal coupling by scalable company
On one end firm banking of extension bar, the other end drives sighting device to use locking device after turning to the position of needs in spatial rotational
It is fixed, guarantee that connecting rod is motionless.
Arcuate structure sighting device, radius of curvature are equal to the radius of simulation ball curtain；Planar structure sighting device indicates in plane
Circular scale mark, simulates the ball curtain of different radii.
Centre distance L of the center of arcuate structure sighting device to scalable connecting rod top1, scalable connecting rod length
L2, scalable connecting rod bottom end to universal joint rotation center distance L3, then the radius of simulation ball curtain is corresponded to are as follows: R=L1+L2+L3；
M mark annulus is shared on planar structure sighting device, selected mark annulus respective radius is Rj, the scalable connecting rod
Length L2, the scalable connecting rod to universal joint rotation center distance L3, j=1,2 ..., m then correspond to simulation ball curtain
Radius are as follows:
The arc pipper and its support rod center by adjusting and fixed device holding is overlapped, support rod and can
It is telescopically connected to bar and keeps coaxial, threadably cooperate between the two and make to tighten rear relative position holding not by the way that spacer ring is arranged
Become；
Preferably, it after scalable connecting rod one end turns to the position of needs, is fixed with locking device, the simulation centre of sphere is located at
Universal joint rotation center, the adjustable ball curtain of radius.
It further include coordinate calibration device, carry out timesharing multimetering to simulation ball curtain with coordinate calibration device: calibration device is according to certain
One azimuth and pitch angle project distance measuring laser beams, the connecting rod of mobile simulation ball curtain, make it around fixed centre of sphere rotation, allow laser
Point is just incident upon on sighting device, motionless with locking device fixed connecting rod, reads calibration device center to simulation ball curtain incident point
Distance to get being determined relative to ball curtain by what azimuth, pitch angle and distance formed to issuing light beam from calibration device center
The three-dimensional coordinate of point, changes azimuth and the pitch angle of distance measuring laser beams, and adjustment simulation ball curtain connecting rod position swashs ranging
Light beam corresponding points in alignment recticle again, obtain projecting the three-dimensional coordinate put on another ball curtain, in this approach
Multiple laser points project three-dimensional coordinate on to simulation ball curtain；
If the coordinate for setting n incident point on from calibration device center throw to ball curtain is respectively as follows:
Find out corresponding rectangular co-ordinate PSi(XSi,YSi,ZSi)
It is R since these points are all located at same radius0Ball curtain on, if sphere centre coordinate be (XS0,YS0,ZS0), then having:
(XSi-XS0)2+(YSi-YS0)2+(ZSi-ZS0)2=R0 2
Solving simultaneous equation or fitting find out coordinate (X of the ball curtain centre of sphere in calibration device coordinate systemS0,YS0,ZS0), thus
Coordinate of the ball curtain centre of sphere in the subsystem coordinate system is obtained, in turn, has just found out the origin in ball curtain coordinate system, i.e.,
Position of the system centre relative to ball curtain coordinate origin.
The features of the present invention and beneficial effect are:
The simulation centre of sphere may be implemented to fix and the adjustable ball curtain of radius, effectively solve to need essence in presently relevant Technology design
Spend the problem of higher ball curtain carrys out auxiliary calibration experiment.There are two types of sighting devices for device, and the plane of direction of arc sighting device is when in use
Without fixed aiming point, each point corresponds to same ball scene plot face thereon, and precision is high and easy to operate, but need with it is corresponding
Radius is simulated the matching of ball curtain and is used.The plane of direction of plane sighting device can be by selecting different scale marker annulus as aiming
It puts to change the radius of ball curtain, realizes the fine tuning of ball curtain radius.And the simulation ball proscenia can change the length of connecting rod from
And the radius of simulation ball curtain is adjusted on a large scale, the ball curtain centre of sphere also can arbitrarily be put according to demand.The machining accuracy of the device is high, energy
High-precision ball curtain is simulated in enough timesharing, while can repeat to dismount, have preferable portability.
Detailed description of the invention:
Fig. 1 is the schematic diagram for simulating ball proscenia.
Fig. 2 is arc sighting device structural schematic diagram.
Fig. 3 is plane sighting device structural schematic diagram.
Fig. 4 is circular scale mark figure on plane sighting device.
Fig. 5 is gimballed base structure chart.
Fig. 6 is gimballed base top view.
Wherein: 1 scalable connecting rod, 2 gimballed bases, 3 serial sighting devices, 4 arcuate structure sighting devices, 5 planar structures are taken aim at
Quasi- device, 6 circular scales mark, 7 ring flanges, 8 pipper, 9 gimbal couplings, 10 firm bankings.
Specific embodiment
The present invention is intended to provide a kind of simulation ball proscenia, including scalable connecting rod, serial sighting device, gimballed base.
Scalable connecting rod is mounted on gimballed base by gimbal coupling, there is graduated scale and locking device, connecting rod thereon
Length is adjustable, and the effective length of connecting rod can be directly read by graduated scale.There are two types of structure, arcs for serial sighting device tool
Structure and planar structure, serial pipper are fixedly connected with scalable connecting rod center.With ring flange by universal joint shaft coupling
Device is fixed on the base, and is constituted and is turned to pedestal, is provided with locking device.Scalable connecting rod using universal center as the centre of sphere,
Spatial rotational is fixed after turning to the position of needs with locking device, guarantees that connecting rod is motionless.
The present invention is described in detail combined with specific embodiments below.It as shown in Figures 1 to 5, is simulation of the invention
Ball proscenia, including scalable connecting rod 1, gimballed base 2 and serial sighting device 3, scalable connecting rod 1 are mounted on gimballed base
On 2, wherein 1 length of scalable connecting rod is adjustable, the effective of connecting rod can be directly read by corresponding graduated scale thereon
Length.Sighting device 3 has 5 two kinds of structures of arc 4 and plane, wherein has on plane sighting device for simulating ball curtain spherome surface
Circular scale mark 6, pipper 8 is fixedly connected with scalable 1 upper end center of connecting rod.Universal joint is joined with ring flange 7
Axis device 9 is fixed on pedestal 10, constitutes gimballed base 2.Bottom is fixed into one end of scalable connecting rod 1 by gimbal coupling
On seat, the other end drives sighting device 3 can be in spatial rotational.The device can simulate the centre of sphere and fix, radius adjustable ball curtain system
System.
Preferably, scalable connecting rod bottom and one end of gimbal coupling connect, and the gimbal coupling other end is logical
Ring flange is crossed to be fixed on the base.By gimbal coupling, connecting rod be may be implemented around universal center in spatial rotational
Function, be located at universal joint rotation center, the adjustable ball curtain of radius for simulating the centre of sphere.
Preferably, for serial sighting device there are two types of structure, one kind is arcuate structure, and radius of curvature is equal to the half of simulation ball curtain
Diameter.Another kind is planar structure, has circular scale mark, can simulate the ball curtain of different radii.
Preferably, centre distance L of the center of arc sighting device to scalable connecting rod top1, scalable connecting rod
Length L2, scalable connecting rod bottom end to universal joint rotation center distance L3, in advance obtain by accurate measurement, then correspond to mould
The radius of quasi- ball curtain are as follows: R=L1+L2+L3。
Preferably, m mark annulus is shared on plane sighting device, selected mark annulus respective radius is Rj(j=1,
2, m), the length L of the scalable connecting rod2, the scalable connecting rod to universal joint rotation center distance L3、
It is obtained in advance by accurate measurement, then the radius of corresponding simulation ball curtain are as follows:
Preferably, serial sighting device is a kind of good scattering material.
Preferably, the sighting device guarantees the precision of simulation ball curtain for simulating spherome surface.Pipper with can stretch
Contracting connecting rod center is connected and fixes, while can rotate around connecting rod center.
Preferably, the arc pipper and its support rod center by adjusting and fixed device holding be overlapped.Branch
Strut keeps coaxial with scalable connecting rod, threadably cooperates between the two and makes to tighten rear relative position by the way that spacer ring is arranged
It remains unchanged.
Preferably, it after scalable connecting rod one end turns to the position of needs, is fixed with locking device.The centre of sphere can be simulated
Positioned at universal joint rotation center, the adjustable ball curtain of radius.
Preferably, universal joint directionality is good, guarantees that sphere center position remains unchanged when turning to.
A kind of application of simulation ball curtain is described below:
In target following analogue system, multiple subsystems such as projection system, detection system, hit system are contained, it be into
The frequent coordinate system conversion of row, meets the work requirements of different sub-systems and unit.Coordinate conversion includes between subsystem
Coordinate translation amount, so needing to fulfil ahead of schedule the calibration of relative position between subsystem.Ball proscenia is simulated as auxiliary calibration
Tool, can location position between first done subsystem and ball curtain system, using ball curtain coordinate system as world coordinate system, thus
Location position between done subsystem.Specific operation process are as follows:
The pedestal of simulation ball proscenia is fixed near target following analogue system, and ball curtain half is had no need to change in experiment
Diameter, so the sighting device of selection arcuate structure, corresponding radius of curvature is K1.The center of arc sighting device is to scalable connecting rod
The centre distance L on top1, scalable connecting rod bottom end to universal joint rotation center distance L3If the length L of connecting rod2, mould
Quasi- ball curtain radius is R, is corresponding with K1=R=L1+L2+L3。L1、L3、K1All be survey in advance it is measured, then, L2=K1-L1-L3, peace
After installing simulation ball proscenia, according to L2Value adjust scalable connecting rod to regular length locking.
The mounting coordinate calibration device on certain subsystem, known to the two relative position.With coordinate calibration device to simulation ball curtain into
Row timesharing multimetering.Calibration device projects distance measuring laser beams, the connection of mobile simulation ball curtain according to a certain azimuth and pitch angle
Bar makes it around fixed centre of sphere rotation, laser point is allowed just to be incident upon on sighting device, motionless with locking device fixed connecting rod, reads
Out calibration device center to simulation ball curtain incident point distance, can be obtained from calibration device center issue light beam by azimuth, bow
The elevation angle and the three-dimensional coordinate for determining point relative to ball curtain apart from composition.Azimuth and the pitch angle for changing distance measuring laser beams, are adjusted
Mould preparation intends the corresponding points that ball curtain connecting rod position makes distance measuring laser beams again in alignment recticle, can must project another
The three-dimensional coordinate put on ball curtain.Multiple laser point projection three-dimensional coordinates on ball curtain can must be simulated in this approach.
If the coordinate for setting n incident point (n >=4) on from calibration device center throw to ball curtain is respectively as follows:
Find out corresponding rectangular co-ordinate PSi(XSi,YSi,ZSi)
It is R since these points are all located at same radius0Ball curtain on, if sphere centre coordinate be (XS0,YS0,ZS0), then having:
(XSi-XS0)2+(YSi-YS0)2+(ZSi-ZS0)2=R0 2(i=1,2 ..., n)
Solving simultaneous equation or fitting, so that it may find out coordinate (X of the ball curtain centre of sphere in calibration device coordinate systemS0,YS0,
ZS0), to obtain coordinate of the ball curtain centre of sphere in the subsystem coordinate system.In turn, the son in ball curtain coordinate system has just been found out
The origin of system, the i.e. position of the subsystem center relative to ball curtain coordinate origin.
Same method can find out position of other subsystem centers with respect to ball curtain coordinate origin, thus with ball curtain seat
It is designated as intermediary, calibrates the relative position between subsystems.
Claims (5)
1. a kind of adjustable simulation ball proscenia of radius, characterized in that including scalable connecting rod, gimballed base and sighting device,
Scalable connecting rod is mounted on gimballed base, wherein scalable connection pole length is adjustable, passes through corresponding graduated scale thereon
The effective length of connecting rod can be directly read, sighting device is used to simulate ball curtain spherome surface, there is arc or planar structure,
There is circular scale mark on the sighting device of middle planar structure, pipper is fixedly connected with scalable connecting rod upper end center,
Gimbal coupling is fixed on the base with ring flange, constitutes gimballed base, by gimbal coupling by scalable connection
On one end firm banking of bar, the other end drives sighting device in spatial rotational, solid with locking device after turning to the position of needs
It is fixed, guarantee that connecting rod is motionless.
2. the adjustable simulation ball proscenia of radius as described in claim 1, characterized in that arcuate structure sighting device, curvature
Radius is equal to the radius of simulation ball curtain；Planar structure sighting device indicates circular scale mark in plane, simulates the ball of different radii
Curtain.
3. the adjustable simulation ball proscenia of radius as described in claim 1, characterized in that the center of arcuate structure sighting device is arrived
The centre distance L on scalable connecting rod top1, scalable connecting rod length L2, scalable connecting rod bottom end to universal joint rotates
The distance L at center3, then the radius of simulation ball curtain is corresponded to are as follows: R=L1+L2+L3；M mark circle is shared on planar structure sighting device
Ring, selected mark annulus respective radius are Rj, the scalable connecting rod length L2, the scalable connecting rod to ten thousand
To the distance L of section rotation center3, j=1,2 ..., m then correspond to the radius of simulation ball curtain are as follows:
4. the adjustable simulation ball proscenia of radius as described in claim 1, characterized in that the arc pipper and its
Support rod center by adjusting and fixed device keep being overlapped, support rod and the holding of scalable connecting rod are coaxial, with spiral shell between the two
Line mode, which cooperates and makes to tighten rear relative position by the way that spacer ring is arranged, to be remained unchanged；Scalable connecting rod one end turns to needs
It behind position, is fixed with locking device, the simulation centre of sphere is located at universal joint rotation center, the adjustable ball curtain of radius.
5. the adjustable simulation ball proscenia of radius as described in claim 1, characterized in that further include coordinate calibration device, with seat
Mark calibration device and carry out timesharing multimetering to simulation ball curtain: calibration device projects range laser according to a certain azimuth and pitch angle
Beam, the connecting rod of mobile simulation ball curtain make it around fixed centre of sphere rotation, allow laser point to be just incident upon on sighting device, with locking
Device fixed connecting rod is motionless, and the distance for reading calibration device center to simulation ball curtain incident point is sent out to get to from calibration device center
Light beam by what azimuth, pitch angle and distance formed determines three-dimensional coordinate a little relative to ball curtain out, changes distance measuring laser beams
Azimuth and pitch angle, adjustment simulation ball curtain connecting rod position make correspondence of the distance measuring laser beams again in alignment recticle
Point obtains projecting the three-dimensional coordinate put on another ball curtain, obtains multiple laser point projections on simulation ball curtain in this approach
Three-dimensional coordinate；
If the coordinate for setting n incident point on from calibration device center throw to ball curtain is respectively as follows:
Find out corresponding rectangular co-ordinate PSi(XSi,YSi,ZSi), it is R since these points are all located at same radius0Ball curtain on, if ball
Heart coordinate is (XS0,YS0,ZS0), then having:
(XSi-XS0)2+(YSi-YS0)2+(ZSi-ZS0)2=R0 2
Solving simultaneous equation or fitting find out coordinate (X of the ball curtain centre of sphere in calibration device coordinate systemS0,YS0,ZS0), in turn,
The origin in ball curtain coordinate system, i.e. position of the system centre relative to ball curtain coordinate origin are just found out.
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| CN201711215457.4A CN107941149B (en) | 2017-11-28 | 2017-11-28 | The adjustable simulation ball proscenia of radius |
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| CN201711215457.4A CN107941149B (en) | 2017-11-28 | 2017-11-28 | The adjustable simulation ball proscenia of radius |
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| CN107941149B true CN107941149B (en) | 2019-10-15 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3440744A1 (en) * | 1984-11-08 | 1986-05-07 | Gerhard Dipl.-Ing. 8621 Grub Schubart | Bowl launcher for automatic skittle and bowling alleys |
| CN101216658A (en) * | 2007-12-27 | 2008-07-09 | 秦皇岛视听机械研究所 | Digital single machine inner projection whole ball curtain projection system |
| CN105547269A (en) * | 2015-10-26 | 2016-05-04 | 北京建筑大学 | Multifunctional three-dimensional laser scanning target |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7032469B2 (en) * | 2002-11-12 | 2006-04-25 | Raytheon Company | Three axes line-of-sight transducer |
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2017
- 2017-11-28 CN CN201711215457.4A patent/CN107941149B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3440744A1 (en) * | 1984-11-08 | 1986-05-07 | Gerhard Dipl.-Ing. 8621 Grub Schubart | Bowl launcher for automatic skittle and bowling alleys |
| CN101216658A (en) * | 2007-12-27 | 2008-07-09 | 秦皇岛视听机械研究所 | Digital single machine inner projection whole ball curtain projection system |
| CN105547269A (en) * | 2015-10-26 | 2016-05-04 | 北京建筑大学 | Multifunctional three-dimensional laser scanning target |
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