CN108375350B - High-precision barrel elastic angle measuring device based on images - Google Patents
High-precision barrel elastic angle measuring device based on images Download PDFInfo
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- CN108375350B CN108375350B CN201711101340.3A CN201711101340A CN108375350B CN 108375350 B CN108375350 B CN 108375350B CN 201711101340 A CN201711101340 A CN 201711101340A CN 108375350 B CN108375350 B CN 108375350B
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- 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention provides a high-precision barrel bullet angle measuring device based on images, which is characterized in that a tail end reference leading-out device is arranged on a bullet locking device at the tail end of a bullet body, and the device is modified to lead out unmeasurable references on two bullet bodies after a guide button is assembled; the cartridge reference leading-out device is arranged on the end face of the double-spiral guide rail at the front end of the cartridge, and is abutted against the inner side face of the double-spiral guide rail through double pins arranged on the cartridge reference leading-out device, so that invisible cartridge references in the cartridge are led out; and a single CCD is sequentially focused on the elastic tube reference leading-out device and the tail end reference leading-out device through a zoom lens to obtain large and small photogrammetric code wheel images. The initial angle of the missile directional navigation device can be accurately solved by extracting the identification angles of the coding lines on the large and small photogrammetric code discs, extracting point angular point coordinates, solving a rotation matrix before and after the rotation of an angular point target by a best fitting method after distortion elimination and the like.
Description
Technical Field
The invention discloses a high-precision barrel elastic angle measuring device based on images, belongs to the field of geometric quantity detection in weapon equipment production, and can directly measure the rotation angle of a projectile body along a thread track in a launching barrel with a spiral track.
Background
The spiral projectile launching track can be used after being placed for a long time, and the inertial navigation assembly is required to have an extremely low zero offset rate. Under the influence of zero-bias factors, the precision of the optical fiber gyroscope type directional navigation device placed for a long time is not satisfactory. Before the weapon leaves the factory, from the perspective of the system, under the condition that the precision of the directional navigation device is certain, an effective filter is designed by reasonably establishing error models of an accelerometer and a gyroscope, so that various errors of the directional navigation device are accurately identified, and compensation is performed in the navigation process to reduce the influence of zero offset. The method is verified to be a method capable of effectively improving the navigation precision of the inertial navigation system. After the weapon leaves a factory, for each missile to be launched, the rotation angle of the missile body in the launching barrel is measured to serve as the initial angle of the directional navigation device, the measured initial angle is compared with the rotation angle calibrated before the weapon leaves the factory, the compared difference value serves as a compensation value to carry out zero offset compensation on the navigation device of the missile placed for a long time, and the scheme is adopted by some existing weapons.
When the projectile body with the spiral track launching barrel is launched, the projectile body is guided by the guide screw thread in the launching barrel, if the projectile body after ignition can be accurately calibrated along the rotating angle of the internal thread sliding rail in the barrel, the value is used as an initial value of a projectile body navigation device (optical fiber gyroscope) to automatically compensate the zero drift of the launched projectile body navigation device, and therefore the navigation accuracy of the projectile body after the projectile body is separated from the launching barrel is ensured. Therefore, the accuracy of the calibration of the rotation angle of the internal thread sliding rail of the barrel is directly related to the navigation and hit precision of the projectile body. Each projectile is assembled and the angle is accurately measured and recorded into the projectile. The problem that needs to be solved is whether the value of the elastomer can be kept stable after long-distance transportation or long-term placement. Therefore, a set of field rapid calibration system of the navigation device is needed to rapidly detect the initial angle of the directional navigation device in the projectile shooting range and the projectile post-maintenance period. At present, no feasible technical scheme or equipment can realize the function of quickly and accurately measuring the initial angle of the navigation device, namely the angle of the projectile body rotating along the thread track in the barrel body. .
Disclosure of Invention
The purpose of the invention is: the invention provides a high-precision cylinder elastic angle measuring device based on images, which aims to solve the problem of quickly and accurately measuring the initial angle of a navigation device.
The technical scheme of the invention is as follows: the utility model provides a high accuracy section of thick bamboo bullet angle measuring device based on image which characterized in that: the reference of the unmeasurable guide button on the assembled bullet body is led out by installing a tail end reference leading-out device on the bullet locking device at the tail end of the bullet body; the cartridge reference leading-out device is arranged on the inner side surface of the double-spiral guide rail at the front end of the cartridge through double pins on the cartridge reference leading-out device, so that the cartridge reference which is invisible in the cartridge is led out; the monocular CCD is sequentially focused on the tail end reference leading-out device and the barrel reference leading-out device through a zoom lens, the angle is identified by extracting the coding lines on the large and small measuring code discs, the angular point coordinate is extracted, distortion elimination and other treatment are carried out, the rotation matrix before and after the angular point target rotates is worked out through a best fitting method, and the initial angle of the guided missile directional navigation device can be accurately worked out through the rotation matrix.
The tail end reference leading-out device is provided with a positioning pin hole and a small photogrammetric code disc, and is arranged on the lock elastic device through matching with a leading-out pin on the tail end lock elastic device; after an included angle between a connecting line of the two guide buttons on the projectile body and a central line of a leading-out pin on the tail end bullet locking device is measured by three coordinates, the angular position of the tail end reference leading-out device is obtained by a photogrammetry method, namely, the angles of the two guide buttons on the projectile body are obtained, and references which cannot be measured after the guide buttons on the two projectile bodies are assembled are led out.
The cylinder reference leading-out device comprises a large photogrammetric code disc, a large photogrammetric code disc mounting frame, a cylinder reference leading-out disc, a cylinder reference leading-out pin, a large photogrammetric code disc and a small photogrammetric code disc aligning pin; the cylinder reference leading-out disc is provided with a protruding flange type positioning reference surface which is contacted with the end surface of the double-spiral guide rail, and is matched with a double-pin arranged on the cylinder reference leading-out device to be tightly leaned against the inner side surface of the double-spiral guide rail, and the large photogrammetric coded disc is fixed with the angle position of the cylinder reference leading-out pin; the included angle of the zero scribed line formed by the large photogrammetric code disc and the small photogrammetric code disc which are arranged on the bomb is the rotation angle of the double-spiral guide rail in the bomb.
Obtaining the relative angle of the large photogrammetric code disc and the small photogrammetric code disc after installation by a photogrammetric method; the tail end reference leading-out device is arranged on the end face of the cylinder reference leading-out disc through a positioning pin hole, and the large photogrammetric code disc and the small photogrammetric code disc are positioned through alignment pins at two ends of the cylinder; and determining the initial positions of the large photogrammetric code disc and the small photogrammetric code disc by using a photogrammetric method, wherein the included angle between the circle center connecting line of the pin for aligning the large photogrammetric code disc and the small photogrammetric code disc and the center connecting line of the double pins arranged on the cylinder reference leading-out device is measured by using a three-coordinate measuring machine, and the angle is the position relation of the initial angles of the large photogrammetric code disc and the small photogrammetric code disc.
The invention has the advantages that: the invention provides a high-precision barrel elastic angle measuring device based on images, which solves the problem of quickly and accurately measuring the initial angle of a navigation device. The end reference leading-out device is arranged on a bullet lock device of the bullet body, and the non-measurable bullet body upper guide button reference is converted into a measurable photogrammetric system reference through a small photogrammetric coding disc. The method has the advantages of short measurement time, non-contact, strong environment adaptability and the like, and solves the problem of measuring the initial angle of the guided missile directional navigation device.
Drawings
Fig. 1 is a diagram showing the operation effect of the present invention.
Fig. 2 is a structural view of the end reference drawing device of the present invention.
Fig. 3 is a structural view of the cartridge reference drawing device of the present invention.
FIG. 4 is a block diagram of the present invention showing the code wheel alignment for a macro-scale photogrammetry.
Detailed Description
The invention is further illustrated below with reference to the accompanying drawings and examples: the tail end reference leading-out device of the device is arranged on a lock elastic device of the elastic body, and the lock elastic device is fixedly arranged at the tail part of the elastic body. Because processing and assembly can bring error, included angles between the guide buttons on two sides of the tail of the bullet body and the central lines of the two positioning pins on the bullet locking device can deviate from the designed values, in order to solve the problem, a three-coordinate measuring machine can be adopted to measure the included angle of each bullet, and the introduced offset angle alpha1By passingThe position of a positioning pin at the tail part of the bullet lock is measured to determine the position of a bullet guide button, a pin hole is arranged on a bullet guide button leading-out tool, a small photogrammetry coding disc is arranged on a guide button reference leading-out tool, the angle of a connecting line between a zero line of the small photogrammetry coding disc and the circle center of the pin hole is fixed after the installation is finished, and finally, the non-measurable guide button reference on the bullet is converted into the measurable reference of a photogrammetry system through the small photogrammetry coding disc.
The cartridge reference leading-out device is arranged at the outlet end of the barrel and is in direct contact with the threaded slide rail, and because the position reference at the outlet of the slide rail is difficult to measure directly, the guiding button of the cartridge reference leading-out device is designed to be a fixed value H away from the positioning surface of the offset guide rail outlet, so that a system angle alpha is introduced4. The large photogrammetric code disc is fixedly connected with the leading-out device of the cartridge reference to form the cartridge reference leading-out device, and the zero position angle between the guide button and the large photogrammetric code disc is fixed after the installation is finished, so that the invisible cartridge reference in the cartridge can be led out through the large photogrammetric code disc on the cartridge reference leading-out device. Due to processing and assembling errors, a zero scale line is difficult to completely coincide with the central lines of two guide buttons after a large photogrammetric code disc is installed, so that an offset angle is introduced, and the zero scale line is sprayed on the photogrammetric code disc, and the guide buttons are three-dimensional cylinders, so that the offset angle is difficult to accurately measure by adopting optical three-coordinates. Also due to machining and assembly errors, it is difficult to properly align the zero scale line of the small code wheel on the end reference extractor with the center line of the two mounting holes, thereby introducing another offset angle, which is also difficult to measure accurately. The present invention solves the problem by designing two diameter pin holes on the front end surface of the guide knob body in the radial direction and installing the positioning pins, installing the small photography installing plate on the end surface of the guide knob body through the positioning pin holes, and then measuring the angle alpha of the initial positions of the large and small photography code discs by using the photogrammetry method2The included angle alpha between the connecting line of the circle centers of the positioning pins on the end surface and the connecting line of the centers of the guide buttons on the cylindrical surface3By using three-coordinate measurement, the relation between the initial angles of the large photogrammetric code wheel and the small photogrammetric code wheel can be determined. Position relation of large and small photogrammetric code discsAfter the relative rotation angle of the large and small photogrammetric code discs can be obtained after the determination. The height difference H between the center distance of the guide knob of the large coding disc and the positioning surface can enable the initial angle of the measured guided missile directional navigation device to have a deviation angle with the actual initial angle, and if the lead of the cylinder is L, the deviation angle introduced by the method can be represented as alpha4The total offset angle α is calculated as H/L · 360 as follows:
angle of deviation alpha6＝α5+α3-α2
Total offset angle alpha-alpha6+α4-α1
α1: included angle between the elastic body guiding button and the central line of the locating pin of the lock elastic device
α2: included angle between initial zero line of large photographic code disc and small photographic measuring code disc when initial zero position is determined
α3: the included angle between the connecting line of the circle centers of the positioning pins on the end surface and the connecting line of the centers of the guide buttons on the cylindrical surface
α4: offset angle introduced by height difference between center of guide knob of large coding disc and positioning surface
α5: included angle between initial zero line of large photogrammetric code disc and initial zero line of small photogrammetric code disc in actual measurement
α6: the angle between the center connecting line of the positioning pin on the front end surface of the guide button mounting main body and the center connecting line of the pin hole of the small photogrammetric survey code wheel
The method for acquiring the angle by adopting the CCD comprises the following steps: due to processing and installation errors of the lens, an image acquired by the CCD is necessarily distorted, and the plane of the CCD cannot be completely parallel to a measured object, so that the CCD needs to be calibrated before determining the relationship between the two-dimensional coordinates of a target point on the image acquired by the CCD and the actual three-dimensional coordinates of the target point. The internal parameters and the external parameters of the CCD can be obtained through CCD calibration. The internal parameters are acquired to eliminate distortion, and the external parameters are acquired to determine the spatial position relationship between the image coordinate system of the camera and the three-dimensional coordinate system in the object coordinate system. The calibrated camera can accurately deduce the actual position of the target in the physical space through the two-dimensional coordinates in the image plane. The problem to be solved by camera calibration is to establish a conversion relation between world coordinates of an object and coordinates of an image plane of an image in a camera, wherein the problem of camera calibration needs to be converted into two planes, and a perspective projection matrix between an imaging plane and a target plane of the camera needs to be solved. The camera calibration determines the one-to-one correspondence of world coordinates of the object to its coordinates in the camera image plane. There are various methods for calibrating the camera internal parameters, wherein a satisfactory result can be obtained by using a standard board for calibration, so that the invention adopts a 9 x 6 standard checkerboard to calibrate the camera. Without adjusting the camera, the intrinsic parameters of the camera are fixed, which is one basis on which the camera can make measurements. Each image has corresponding imaging system external parameters, which include the rotation and translation relation between the measured object coordinate system and the camera coordinate system. It is because the object coordinate systems corresponding to different images have different positions in the camera coordinate system, so that the relation between the two coordinate systems can be calculated by using the external parameters. The external parameters need to be calculated by using internal parameters obtained by camera calibration in advance to reduce the influence of lens distortion on the measurement result. In actual measurement, the position of the camera is fixed, and the measured object rotates around the axis (approximately parallel to the optical axis of the camera) by a certain angle, and the angle is measured. The rotation angle is measured, and the R matrix is actually solved. And the rotation angles of the object coordinate system around the x axis, the y axis and the z axis can be solved from the R matrix and are respectively represented by alpha, beta and gamma. The mathematical relationship between the rotation matrix R and the rotation angles α, β, and γ is:
the rotation angle can be expressed by the elements in R by calculation as:
gamma is the angle found by photogrammetry.
The overall working state of the high-precision barrel elastic angle measuring device based on the image is shown in figures 1 and 2. In operation, monocular CCD1 is fixedly mounted on a tripod and its position is adjusted to be coaxial with projectile 3 and placed at the tail end of projectile 3. The bullet body 3 is arranged in a bullet tube 4 with a double-helix guide rail inside, and the bullet tube is placed on a bullet tube support frame 6 and fixed; the tail end reference leading-out device 2 is arranged on a bullet locking device 2-2 at the tail end of the bullet body 3; the cartridge reference leading-out device 5 is arranged on the end face of the double-spiral guide rail at the front end of the cartridge 4, and the double pins 5-4 arranged on the cartridge reference leading-out device 5 are tightly attached to the inner side face of the double-spiral guide rail, so that invisible cartridge references in the cartridge 4 are led out.
Referring to the attached figure 2, the tail end reference leading-out device 2 of the invention is provided with a pin hole, the tail end reference leading-out pin 2-1 arranged on the tail end lock elastic device 2-2 is arranged on the lock elastic device 2-2, the included angle between the guide buttons 2-3 on the two elastic bodies 3 and the central lines of the two tail end reference leading-out pins 2-1 arranged on the tail end lock elastic device 2-2 is alpha1The angle is measured using three coordinates.
Referring to the attached figure 3, the main body structure of the cylinder reference leading-out device 5 comprises a large photogrammetric code disc 5-1, a large photogrammetric code disc mounting frame 5-2, a cylinder reference leading-out disc 5-3, a cylinder reference leading-out pin 5-4 and a pin 5-5 for aligning the large photogrammetric code disc and the small photogrammetric code disc. The large photogrammetric survey coded disc 5-1 is fixedly installed on a large photogrammetric survey coded disc installation frame 5-2 through screws, the cartridge reference leading-out disc 5-3 is fixedly installed on the large photogrammetric survey coded disc installation frame 5-2 through screws and pins, a protruding flange type positioning reference surface is designed on the cartridge reference leading-out disc 5-3 and is in contact with the end face of the double-spiral guide rail, and the double pins 5-4 installed on the cartridge reference leading-out device 5 are matched to be tightly attached to the inner side face of the double-spiral guide rail so as to lead out invisible cartridge references in the cartridge 4.
Referring to the attached drawing 4, the scheme for obtaining the included angle between the zero scale line of the large photogrammetric encoder 5-1 after installation and the zero scale line of the small encoder is as follows: the end reference drawing device 2 is mounted on the large and small photogrammetric code disc aligning pins 5-5 on the end face of the cylinder reference drawing disc 5-3 through the positioning pin holes, and then the clamping degree alpha of the initial position of the large and small photogrammetric code discs is measured by photogrammetry2Pin for aligning large and small photogrammetric code disc on end surfaceAn included angle alpha between the connecting line of the centers of the 5-5 circles and the connecting line of the centers of the double pins 5-4 arranged on the cylinder reference leading-out device 53The three-coordinate measurement can determine the included angle between the initial positions of the large photogrammetric code disc and the small photogrammetric code disc. After the position relation is determined, the relative rotation angle of the large photogrammetry code disc 5-1 and the small photogrammetry code disc can be measured when the initial angle measurement of the guided missile directional navigation device is carried out. The height difference H between the center of the guide knob of the large coding disc and the positioning surface can enable the measured initial angle of the guided missile directional navigation device and the actual initial angle of the guided missile directional navigation device to have a fixed offset angle, and the angle is obtained through theoretical calculation. Because the height difference H is small relative to the entire lead, the manufacturing error of the height difference H is negligible.
Referring to fig. 4, the code wheel for the large and small photogrammetry of the invention is designed by adopting a method of combining line coding and corner coding. Line codes adopted on the large and small photogrammetry code discs are in a form of alternate black and white of a sector structure, and identification of zero lines of the large and small code discs can be obtained by matching with angular point codes. After angle identification, angular point coordinates are extracted, and after distortion elimination and other processing, a rotation matrix before and after rotation of an angular point target is solved by a best fitting method, so that the initial angle of the guided missile directional navigation device can be accurately solved.
Claims (2)
1. The utility model provides a high accuracy section of thick bamboo bullet angle measuring device based on image which characterized in that: the reference of the unmeasurable guide button on the assembled bullet body is led out by installing a tail end reference leading-out device on the bullet locking device at the tail end of the bullet body; the cartridge reference leading-out device is arranged on the inner side surface of the double-spiral guide rail at the front end of the cartridge through double pins on the cartridge reference leading-out device, so that the cartridge reference which is invisible in the cartridge is led out; the monocular CCD is sequentially focused on the tail end reference leading-out device and the barrel reference leading-out device through a zoom lens, the angle is identified by extracting the coding lines on the large and small measuring code discs, the angular point coordinate is extracted, distortion elimination and other treatment are carried out, the rotation matrix before and after the rotation of the angular point target is worked out through a best fitting method, and the initial angle of the guided missile directional navigation device can be accurately worked out through the rotation matrix;
the tail end reference leading-out device is provided with a positioning pin hole and a small photogrammetric code disc, and is arranged on the lock ammunition device in a matching way through a leading-out pin on the tail end lock ammunition device; after an included angle between a connecting line of the two guide buttons on the projectile body and a central line of a leading-out pin on the tail end bullet locking device is measured by three coordinates, the angular position of the tail end reference leading-out device is obtained by a photogrammetry method, namely the angles of the two guide buttons on the projectile body are obtained, and references which cannot be measured after the guide buttons on the two projectile bodies are assembled are led out;
the cylinder reference leading-out device also comprises a large photogrammetric code disc, a large photogrammetric code disc mounting frame, a cylinder reference leading-out disc, a cylinder reference leading-out pin, a large photogrammetric code disc and a small photogrammetric code disc aligning pin; the cylinder reference leading-out disc is provided with a protruding flange type positioning reference surface which is contacted with the end surface of the double-spiral guide rail, and is matched with a double-pin arranged on the cylinder reference leading-out device to be tightly leaned against the inner side surface of the double-spiral guide rail, and the large photogrammetric coded disc is fixed with the angle position of the cylinder reference leading-out pin; the included angle of the zero scribed line formed by the large photogrammetric code disc and the small photogrammetric code disc which are arranged on the bomb is the rotation angle of the double-spiral guide rail in the bomb.
2. The drum angle of attack measuring device of claim 1, wherein: obtaining the relative angle of the large photogrammetric code disc and the small photogrammetric code disc after installation by a photogrammetric method; the tail end reference leading-out device is arranged on the end face of the cylinder reference leading-out disc through a positioning pin hole, and the large photogrammetric code disc and the small photogrammetric code disc are positioned through alignment pins at two ends of the cylinder; and determining the initial positions of the large photogrammetric code disc and the small photogrammetric code disc by using a photogrammetric method, wherein the included angle between the circle center connecting line of the pin for aligning the large photogrammetric code disc and the small photogrammetric code disc and the center connecting line of the double pins arranged on the cylinder reference leading-out device is measured by using a three-coordinate measuring machine, and the angle is the position relation of the initial angles of the large photogrammetric code disc and the small photogrammetric code disc.
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| CN110567318B (en) * | 2019-08-02 | 2021-10-26 | 上海航天精密机械研究所 | Automatic detection device for launching tube and control method thereof |
| CN112747651B (en) * | 2019-10-29 | 2022-08-19 | 沪东重机有限公司 | Method for measuring angle of spray hole of oil sprayer nozzle of marine diesel engine |
| CN111504255B (en) * | 2020-04-28 | 2022-06-21 | 湖北三江航天万峰科技发展有限公司 | Three-dimensional alignment precision automatic measuring device and method based on machine vision |
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| US4620092A (en) * | 1982-11-24 | 1986-10-28 | Asahi Kogaku Kogyo Kabushiki Kaisha | Elevation angle measuring device with apparatus for disabling the device when its inclination angle is offset from a predetermined inclination angle |
| CN101788264A (en) * | 2007-06-22 | 2010-07-28 | 上海海事大学 | Method for detecting position of chute tube by automatic bulk cargo ship loading detector |
| CN101915986A (en) * | 2010-07-29 | 2010-12-15 | 北京航天发射技术研究所 | Active two-dimensional tracking collimator |
| CN202083361U (en) * | 2011-06-02 | 2011-12-21 | 浙江大学 | Array detector-based absolute axial angle coding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3931939A1 (en) * | 1989-09-28 | 1991-04-04 | Mitsubishi Electric Corp | ANGLE MEASURING DEVICE |
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| US4620092A (en) * | 1982-11-24 | 1986-10-28 | Asahi Kogaku Kogyo Kabushiki Kaisha | Elevation angle measuring device with apparatus for disabling the device when its inclination angle is offset from a predetermined inclination angle |
| CN101788264A (en) * | 2007-06-22 | 2010-07-28 | 上海海事大学 | Method for detecting position of chute tube by automatic bulk cargo ship loading detector |
| CN101915986A (en) * | 2010-07-29 | 2010-12-15 | 北京航天发射技术研究所 | Active two-dimensional tracking collimator |
| CN202083361U (en) * | 2011-06-02 | 2011-12-21 | 浙江大学 | Array detector-based absolute axial angle coding system |
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