CN110220482B - Device and method for measuring high-low angle side direction of gun barrel - Google Patents

Device and method for measuring high-low angle side direction of gun barrel Download PDF

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Publication number
CN110220482B
CN110220482B CN201910542794.7A CN201910542794A CN110220482B CN 110220482 B CN110220482 B CN 110220482B CN 201910542794 A CN201910542794 A CN 201910542794A CN 110220482 B CN110220482 B CN 110220482B
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module
driving motor
gun barrel
laser ranging
control module
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CN201910542794.7A
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CN110220482A (en
Inventor
单甘霖
薛冰
李鸣
刘逸飞
段修生
徐公国
庞策
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Hebei Jiaotong Vocational and Technical College
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Hebei Jiaotong Vocational and Technical College
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41AFUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A35/00Accessories or details not otherwise provided for
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/26Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a device and a method for measuring the high and low angle of an artillery barrel in a lateral direction, and relates to the technical field of the device and the method for measuring the high and low angles. The device comprises a mounting substrate, a guide rail, a first driving motor, a first connecting block, a second driving motor, a second connecting block, a third driving motor, a third connecting block, a mounting plate, a camera shooting module, a control module, a first laser ranging module and a second laser ranging module. The device and the method combine laser ranging with image acquisition of the camera module, solve the problems of low image measurement precision and difficult alignment of laser measurement, and realize quick and accurate measurement of the high and low angles of the gun barrel; indirect measurement is adopted, and the influence of the gun barrel movement is avoided.

Description

Device and method for measuring high-low angle side direction of gun barrel
Technical Field
The invention relates to the technical field of gun barrel high and low angle measuring devices and methods, in particular to a gun barrel high and low angle lateral measuring device and a gun barrel high and low angle lateral measuring method.
Background
The included angle between the gun barrel and the gun base is the height angle of the gun barrel. In the prior art, an image processing method, a laser measuring method or a GPS method is generally adopted to obtain the high and low angles of the gun barrel, but the image processing method, the laser measuring method or the GPS method has the defect of low measuring precision.
Disclosure of Invention
The invention aims to solve the technical problem of providing a high-low angle lateral measuring device for an artillery barrel with high measuring precision.
In order to solve the technical problems, the invention adopts the following technical scheme: a gun barrel high-low angle side direction measuring device which characterized in that: the device comprises a mounting substrate, wherein the substrate is fixed on a base at the lower side of a measured gun barrel, the mounting substrate is parallel to the measured gun base, a vertical guide rail is fixed on the mounting substrate, a first driving motor is arranged on the guide rail, and the first driving motor can move up and down along the rail under the control of a control module; the device comprises a shell of a first driving motor, a first connecting block is horizontally fixed on the shell of the first driving motor, a second driving motor which is horizontally arranged is fixed on the first connecting block, a second connecting block is connected to the power output end of the second driving motor, the second driving motor can drive the second connecting block to rotate on a vertical surface under the control of a control module, a third driving motor is fixed on the second connecting block, the power output end of the third driving motor is vertically arranged, a third connecting block is arranged at the power output end of the third driving motor, a mounting plate is fixedly connected to the third connecting block, a camera module is arranged on the side face of the mounting plate, which faces towards the gun body tube to be measured, an image acquisition face of the camera module faces towards the gun body tube to be measured, a first laser ranging module and a second laser ranging module are positioned on the mounting plate on the left side and the right side of the camera module, a ranging probe of the first laser ranging module faces towards the gun tube to be controlled, the control module is fixed on the mounting plate, the first ranging module, the second ranging module and the second laser ranging module are connected with the control module to the camera tube to enable the camera tube to be parallel to the control module, and the camera tube to take a picture, and the camera tube is connected with the camera module to the control module to the camera tube to take a picture, the control module calculates the high and low angles of the gun barrel through an image processing method.
The further technical proposal is that: the center line of the left and right directions of the first laser ranging module, the center line of the left and right directions of the second laser ranging module and the center line of the left and right directions of the camera module are on the same straight line.
The further technical proposal is that: the first driving motor, the second driving motor and the third driving motor are motors with self-locking functions.
The further technical proposal is that: the measuring device also comprises a man-machine interaction module which is connected with the control module in a bidirectional way and is used for inputting control commands and displaying output data.
The further technical proposal is that: the measuring device also comprises a wireless data transmission module which is connected with the control module in a bidirectional way and used for uploading and downloading data.
The embodiment of the invention also discloses a measuring method of the high-low angle lateral measuring device, which is characterized by comprising the following steps:
And (3) adjusting an initial position: firstly, controlling the first driving motor to move up and down along a track through a control module, enabling the mounting plate to be crossed with a measured gun barrel in space when being observed from the side, and then controlling the second driving motor to act through the control module, and driving the mounting plate to rotate on a vertical surface through the second driving motor until the mounting plate is overlapped with the measured gun barrel when being observed from the side;
Calculating the high and low angles: the control module controls the first laser ranging module and the second laser ranging module to work towards the gun barrel, measures the distance between the first laser ranging module and the gun barrel and the distance between the second laser ranging module and the gun barrel, controls the third driving motor to act according to the distance measured by the first laser ranging module and the second laser ranging module, enables the mounting plate to swing relative to the gun barrel until the distance measured by the first laser ranging module and the second laser ranging module is equal, at the moment, the image acquisition surface of the camera module is parallel to the gun barrel, then the control module controls the camera module to take a picture of the gun barrel, sends a picture result to the control module to process, and the control module calculates the height angle of the gun barrel through an image processing method.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in: the device and the method combine laser ranging with image acquisition of the camera module, solve the problems of low image measurement precision and difficult alignment of laser measurement, and realize quick and accurate measurement of the high and low angles of the gun barrel; the angle measurement precision is improved, and the absolute measurement error is not more than 0.5 mil when the base line is 2 m; compared with methods such as GPS, the device has short preparation time, high speed and high data update rate; indirect measurement is adopted, so that the influence of the movement of the gun barrel is avoided; the device and the method are simple, convenient and easy to use, and the manufacturing cost is low.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic view of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a track and drive section of an apparatus according to an embodiment of the invention;
FIG. 3 is a schematic right-hand view of a mounting plate according to an embodiment of the present invention;
FIG. 4 is a functional block diagram of the electrical portion of the apparatus according to an embodiment of the present invention;
Wherein: 1. a mounting substrate; 2. gun barrel; 3. a base; 4. a guide rail; 5. a first driving motor; 6. a control module; 7. a first connection block; 8. a second driving motor; 9. a second connection block; 10. a third driving motor; 11. a third connecting block; 12. a mounting plate; 13. a camera module; 14. the first laser ranging module; 15. and the second laser ranging module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1-2, the embodiment of the invention discloses a gun barrel high-low angle lateral measuring device, which comprises a mounting substrate 1, wherein the substrate is fixed on a base 3 at the lower side of a gun barrel 2 to be measured, and the mounting substrate 1 is parallel to the gun base to be measured. A vertical guide rail 4 is fixed on the mounting substrate 1, a first driving motor 5 is arranged on the guide rail 4, and the first driving motor 5 can move up and down along the rail 4 under the control of a control module 6; the first connecting block 7 is horizontally fixed on the shell of the first driving motor 5, the second driving motor 8 horizontally arranged is fixed on the first connecting block 7, a second connecting block 9 is connected to the power output end of the second driving motor 8, and the second driving motor 8 can drive the second connecting block 9 to rotate on a vertical surface under the control of the control module 6. The second connecting block 9 is fixedly provided with a third driving motor 10, the power output end of the third driving motor 10 is vertically arranged, the power output end of the third driving motor 10 is provided with a third connecting block 11, and the third connecting block 11 is fixedly connected with a mounting plate 12.
As shown in fig. 3, a camera module 13 is installed on the side of the mounting plate facing the gun barrel 2 to be measured, the image collecting surface of the camera module 13 faces the gun barrel 2, a first laser ranging module 14 and a second laser ranging module 15 are positioned on the mounting plate 12 on the left side and the right side of the camera module 13, the ranging probes of the first laser ranging module 14 and the second laser ranging module 15 face the gun barrel 2, and a control module 6 is fixed on the mounting plate 12; the signal output ends of the first laser ranging module 14, the second laser ranging module 15 and the camera shooting module 13 are connected with the signal input end of the control module 6, the control input end of the driving motor is connected with the control output end of the control module 6, the control module 6 adjusts the position of the camera shooting module 13 according to the data measured by the first laser ranging module 14 and the second laser ranging module 15, the image collecting surface of the camera shooting module 13 is parallel to the gun barrel 2, then the camera shooting module 13 shoots the gun barrel 2, the shot result is sent to the control module 6 for processing, and the control module 6 calculates the height angle of the gun barrel 2 through an image processing method.
Preferably, the center line of the first laser ranging module 14 in the left-right direction, the center line of the second laser ranging module 15 in the left-right direction and the center line of the camera module 13 in the left-right direction are on the same straight line, and the difficulty of calculation can be reduced by the above arrangement. Further, the first driving motor 5, the second driving motor 8 and the third driving motor 10 are motors with self-locking functions, and the driving motors can be kept still at the set positions through the self-locking functions, so that the stability of the test is improved.
Further, as shown in fig. 4, the measurement device further includes a man-machine interaction module, and the man-machine interaction module is connected with the control module in a bidirectional manner, and is used for inputting a control command and displaying output data. The man-machine interaction module can conveniently realize the input of commands and the display of data. The specific form of the man-machine interaction module is at least two of the following: first, a case module connected with the signal input end of the control module and a display module connected with the output end of the control module; and the second type is a touch screen which is connected with the control module in a bidirectional way. Further, the measuring device further comprises a wireless data transmission module, wherein the wireless data transmission module is in bidirectional connection with the control module and is used for uploading and downloading data, so that the device and the peripheral equipment can conveniently interact data. Further, the device also comprises a power supply module, wherein the power supply module is used for providing working power for a module needing to be powered in the device.
The invention also discloses a method for laterally measuring the height angle of the gun barrel, which comprises the following steps:
And (3) adjusting an initial position: firstly, the control module 6 controls the first driving motor 5 to move up and down along the track 4, so that the mounting plate 12 is crossed with the gun barrel 2 to be tested in space when being observed from the side, then the control module 6 controls the second driving motor 8 to act, and the second driving motor 8 drives the mounting plate 12 to rotate on the vertical surface until the mounting plate 12 is overlapped with the gun barrel 2 to be tested when being observed from the side;
Calculating the high and low angles: the control module 6 controls the first laser ranging module 14 and the second laser ranging module 15 to work towards the gun barrel 2, measures the distance between the first laser ranging module 14 and the gun barrel 2 and the distance between the second laser ranging module 15 and the gun barrel 2, controls the third driving motor 10 to act according to the distances measured by the first laser ranging module 14 and the second laser ranging module 15, enables the mounting plate 12 to swing relative to the gun barrel 2 until the distances measured by the first laser ranging module 14 and the second laser ranging module 15 are equal, at the moment, the image acquisition surface of the camera module 13 is parallel to the gun barrel 2, then the control module 6 controls the camera module 13 to photograph the gun barrel 2, sends a photographed result to the control module 6 to process, and the control module 6 calculates the height angle of the gun barrel 2 through an image processing method.
The device and the method combine laser ranging with image acquisition of the camera module, solve the problems of low image measurement precision and difficult alignment of laser measurement, and realize quick and accurate measurement of the high and low angles of the gun barrel; the angle measurement precision is improved, and the absolute measurement error is not more than 0.5 mil when the base line is 2 m; compared with methods such as GPS, the device has short preparation time, high speed and high data update rate; indirect measurement is adopted, so that the influence of the movement of the gun barrel is avoided; the device and the method are simple, convenient and easy to use, and the manufacturing cost is low.

Claims (2)

1. A gun barrel high-low angle side direction measuring device which characterized in that: the device comprises a mounting substrate (1), wherein the substrate is fixed on a base (3) at the lower side of a gun barrel (2) to be measured, the mounting substrate (1) is parallel to the gun base to be measured, a vertical guide rail (4) is fixed on the mounting substrate (1), a first driving motor (5) is arranged on the guide rail (4), and the first driving motor (5) can move up and down along the guide rail (4) under the control of a control module (6); the device is characterized in that a first connecting block (7) is horizontally fixed on a shell of the first driving motor (5), a second driving motor (8) horizontally arranged is fixed on the first connecting block (7), a second connecting block (9) is connected to a power output end of the second driving motor (8), the second driving motor (8) can drive the second connecting block (9) to rotate on a vertical surface under the control of the control module (6), a third driving motor (10) is fixed on the second connecting block (9), a power output end of the third driving motor (10) is vertically arranged, a third connecting block (11) is arranged at a power output end of the third driving motor (10), a mounting plate (12) is fixedly connected to the third connecting block (11), a camera module (13) is installed on the side face of the mounting plate towards a measured gun tube (2), an image acquisition surface of the camera module (13) faces towards the gun tube (2), a first ranging module (14) and a second ranging module (15) are positioned on the left side of the laser ranging module (12) and the laser ranging module (12) are fixed on the right side of the mounting plate (12), the system comprises a first laser ranging module (14), a second laser ranging module (15) and a camera module (13), wherein the signal output end of the camera module (13) is connected with the signal input end of a control module (6), the control input end of a driving motor is connected with the control output end of the control module (6), the control module (6) adjusts the position of the camera module (13) according to the data measured by the first laser ranging module (14) and the second laser ranging module (15) so that the image acquisition surface of the camera module (13) is parallel to a gun barrel (2), then the camera module (13) shoots the gun barrel (2), the shot result is sent to the control module (6) for processing, and the control module (6) calculates the height angle of the gun barrel (2) through an image processing method;
The center line of the first laser ranging module (14) in the left-right direction, the center line of the second laser ranging module (15) in the left-right direction and the center line of the camera module (13) in the left-right direction are on the same straight line; the first driving motor (5), the second driving motor (8) and the third driving motor (10) are motors with self-locking functions; the measuring device also comprises a man-machine interaction module which is connected with the control module in a bidirectional way and is used for inputting control commands and displaying output data; the measuring device also comprises a wireless data transmission module which is connected with the control module in a bidirectional way and used for uploading and downloading data.
2. A measuring method of a high-low angle side measuring device according to claim 1, comprising the steps of:
And (3) adjusting an initial position: firstly, a control module (6) controls the first driving motor (5) to move up and down along the guide rail (4) so that the mounting plate (12) is crossed with the gun barrel (2) to be tested in space when being observed from the side, then the control module (6) controls the second driving motor (8) to act, and the second driving motor (8) drives the mounting plate (12) to rotate on a vertical plane until the mounting plate (12) is overlapped with the gun barrel (2) to be tested when being observed from the side;
Calculating the high and low angles: the control module (6) controls the first laser ranging module (14) and the second laser ranging module (15) to work on the gun barrel (2), measures the distance between the first laser ranging module (14) and the gun barrel (2) and the distance between the second laser ranging module (15) and the gun barrel (2), controls the third driving motor (10) to act according to the distance measured by the first laser ranging module (14) and the second laser ranging module (15), enables the mounting plate (12) to swing relative to the gun barrel (2) until the distances measured by the first laser ranging module (14) and the second laser ranging module (15) are equal, at the moment, the image acquisition surface of the image pickup module (13) is parallel to the gun barrel (2), then the control module (6) controls the image pickup module (13) to photograph the gun barrel (2), and sends a result to the control module (6) to photograph the gun barrel (2), and the image pickup module (6) calculates the height angle of the gun barrel (2) through the control module.
CN201910542794.7A 2019-06-21 2019-06-21 Device and method for measuring high-low angle side direction of gun barrel Active CN110220482B (en)

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CN115031665B (en) * 2022-08-12 2023-01-10 河北天启通宇航空器材科技发展有限公司 Operating lever angle testing method

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