CN115046441A - Movable shot drop point explosion position testing device and method - Google Patents

Movable shot drop point explosion position testing device and method Download PDF

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Publication number
CN115046441A
CN115046441A CN202210674686.7A CN202210674686A CN115046441A CN 115046441 A CN115046441 A CN 115046441A CN 202210674686 A CN202210674686 A CN 202210674686A CN 115046441 A CN115046441 A CN 115046441A
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shaped frame
explosion
shot
testing
motor
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CN115046441B (en
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李翰山
柳学斌
张晓倩
曾涛
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Xian Technological University
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Xian Technological University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
    • F42C21/00—Checking fuzes; Testing fuzes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

The invention provides a movable shot drop point explosion position testing device and a method, belonging to the field of weapon target range testing, and comprising a control module, a movable frame and two groups of testing modules, wherein a laser range finder is arranged between the two groups of testing modules; each group of test modules all includes: the translation assembly is rotatably arranged at the top of the movable frame; the U-shaped frame I is erected at the top of the translation assembly and can rotate; the U-shaped frame II is erected in the U-shaped frame I and rotates around a horizontal shaft, and one side of the U-shaped frame II is connected with an angle encoder I through a rotating shaft; the visual imaging module is arranged at the top of the U-shaped frame II and used for acquiring shot explosion images; the control module is used for collecting data of the laser range finder, the double-shaft tilt angle sensor and the angle encoder I and processing the data, controlling the distance between the two translation assemblies and the rotating angles of the U-shaped frame I and the U-shaped frame II according to a processing result, and adjusting a test area of the two visual imaging modules after intersection of shooting light. The test device has strong mobility and flexible test area arrangement.

Description

Movable shot drop point explosion position testing device and method
Technical Field
The invention relates to the technical field of weapon target range testing, in particular to a movable projectile drop point explosion position testing device and method.
Background
With the development of fuze technology, the space explosion accurate position of the shot fuze is an important index for measuring the action performance of the fuze. The detonation control of the fuze is limited by the environment, such as the terrain and the landform of an experimental scene, rain, snow, smoke dust in the environment, the surface characteristics of an attack target and the like, so that the explosion position of the shot fuze presents an uncertain distribution state, particularly in a terminal ballistic region. The space distribution of the shot falling points is very large and the randomness is relatively strong, so that the existing ground arrangement of the fixed testing device is difficult to flexibly capture the shot explosion space positions distributed randomly in a large range.
The current main testing means for the shot explosion space position are an acoustic sensor array testing device and a high-speed camera shooting testing device. The acoustic sensing array testing device mainly adopts a high-sensitivity acoustic sensor as a testing mechanism, an acoustic sensor array with a known structure is arranged on the ground of a terminal ballistic area, and the explosion position of a projectile is calculated by fusing the inherent position parameters of the arrangement of the known acoustic sensor through the time delay difference of acoustic signals of the acoustic information of projectile explosion in the arranged acoustic sensor array.
In order to obtain the space position of the shot fuse explosion in a large-range area, the method can be realized by expanding the number of the acoustic sensor arrays. However, the technical means of the acoustic sensor has a large calculation error ratio due to acoustic delay, and the delay of the acoustic sensor mainly comes from factors such as wind speed, temperature and humidity in the environment. The measurement results are also affected by the difference of the environment and the change of the experimental landform. However, the method of the acoustic sensing technology cannot meet the requirement of testing when the drop point area is greatly changed, and if the requirement of rearranging the acoustic sensors or increasing the number of the acoustic sensors is met, the increase of the number of the acoustic sensors is not beneficial to signal processing and integration of the testing device. In order to meet the requirement of the current large-area projectile landing point space position test, a highly integrated and flexibly movable test device needs to be invented.
Some documents also adopt a high-speed camera arranged on the ground to capture an image of shot explosion, and convert height information of shot explosion according to the pixel size of the high-speed camera according to the image of the marker and the shot explosion by matching with a marker with known parameters arranged on the ground. In order to obtain the space position of shot explosion, a testing method of intersection of two high-speed cameras is also adopted to obtain the space position of shot explosion. The method adopts a mechanism of arranging the high-speed camera on the ground, and when the drop point area is greatly changed, the test equipment is usually manually moved and recalibrated, so that the flexibility of field test is greatly reduced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a mobile projectile landing point explosion position testing device, which aims to solve the problem that the prior testing technology is difficult to accurately test due to strong randomness and wide scattering area of the distribution state of projectile landing point explosion positions in the technical field of weapon target range testing.
In order to achieve the above purpose, the invention provides the following technical scheme:
a movable projectile drop point explosion position testing device comprises a movable frame and two groups of testing modules arranged on the movable frame side by side, wherein a laser range finder is arranged between the two groups of testing modules; each group of the test modules comprises:
the translation assembly is arranged on the top of the movable frame and can move relative to the movable frame;
the U-shaped frame I is erected at the top of the translation assembly and can rotate relative to the translation assembly;
the U-shaped frame II is erected in the U-shaped frame I and rotates around a horizontal shaft, and one side of the U-shaped frame II is connected with an angle encoder I through a rotating shaft;
the visual imaging module is arranged at the top of the U-shaped frame II and used for acquiring shot explosion images;
the device comprises a laser range finder, an angle encoder I, a translation assembly, a U-shaped frame I, a U-shaped frame II, a vision imaging module and a control module, wherein the control module is used for acquiring data of the laser range finder and the angle encoder I, processing the data, controlling the distance between the translation assembly and the rotation angle of the U-shaped frame I and the U-shaped frame II according to a processing result, and adjusting the two test areas after intersection of shooting light of the vision imaging module.
Preferably, I one side of U type frame is provided with motor I, is provided with biax angular transducer in the middle of the top, the output shaft of motor I passes U type frame I with II opposite sides of U type frame are connected, angle encoder I sets up I opposite side of U type frame, biax angular transducer with the control module electricity is connected.
Preferably, the movable frame comprises:
four corners of the bottom of the supporting frame are respectively provided with a hydraulic rod, and the bottom of the hydraulic rod is provided with an omnidirectional wheel;
the top plate is arranged on the top of the supporting frame;
the translation assembly is arranged on top of the top plate and can move relative to the top plate.
Preferably, the translation assembly comprises:
the vertical section of the supporting plate I is I-shaped, a spur rack I is arranged on the inner wall of one side of the bottom of the supporting plate I, a plurality of first limiting holes are formed in the outer wall of the other side of the bottom of the supporting plate I along the length direction, a plurality of first balls are rotatably arranged in each first limiting hole, and the first balls are abutted to the inner wall of the supporting frame; the U-shaped frame I is erected at the top of the supporting plate I and can rotate relative to the supporting plate I;
and the motor II is arranged at the bottom of the top plate, and an output shaft of the motor II penetrates through the top plate and is provided with a gear I meshed with the straight rack I.
Preferably, the translation assembly further comprises:
the longitudinal section of the supporting plate II is in an inverted U shape, a spur rack II is arranged on the inner wall of one side of the supporting plate II, a plurality of second limiting holes are formed in the outer wall of the other side of the supporting plate II along the length direction, a plurality of second balls are rotatably arranged in each second limiting hole, and the second balls are abutted to the inner wall of the supporting plate I; the straight rack II is perpendicular to the straight rack I, and the U-shaped frame II is erected at the top of the support plate II and can rotate relative to the support plate II;
and the motor III is arranged at the bottom of the support plate I, and an output shaft of the motor III penetrates through the support plate I and is provided with a gear II meshed with the straight rack II.
Preferably, the U-shaped frame I is rotatably connected with the support plate II through a rotating shaft, a gear III is arranged on the rotating shaft, a motor IV and an angle encoder II are arranged at the bottom of the support plate II, a gear IV is arranged at the end part of an output shaft of the motor IV, a gear V is arranged on a rotating shaft of the angle encoder II, and the gear III, the gear IV and the gear V are meshed in sequence; and the angle encoder II is electrically connected with the control module.
Preferably, the vision imaging module comprises an infrared camera arranged at the top of the U-shaped frame II and an infrared optical lens arranged at the front end of the infrared camera, and the infrared camera is connected with the control module.
Another objective of the present invention is to provide a testing method for a mobile projectile drop point explosion position testing device, which includes the following steps:
selecting observation points: according to the test requirements, moving the test device to an area where a predicted projectile drop point can be observed, placing a laser range finder at the middle position of the two groups of test modules, and enabling the laser range finder to point to the projectile drop point explosion position;
adjusting the test range, including:
the two groups of translation assemblies respectively drive the two groups of test modules to approach or separate from each other, and the distance between the two vision imaging modules and the distance between the vision imaging modules and the explosion position are adjusted;
adjusting the rotation angles of the U-shaped frame I and the U-shaped frame II to enable the test range of the two visual imaging modules after the infrared optical lenses shoot the intersection to cover the shot drop point explosion area;
calculating the shot drop point explosion position, comprising:
acquiring a plurality of images of shot explosion moments by using two visual imaging modules, synchronously ranging the shot explosion positions by using a laser range finder, realizing the characteristic matching of the plurality of images by using the acquired plurality of images and a plurality of groups of ranging data through Opencv and Python software, and acquiring pixel point coordinates of the shot explosion position in each image;
and resolving the shot falling point explosion position by using a double-vision intersection test system target three-dimensional position mathematical model according to the pixel point coordinates of the shot explosion falling point position.
Preferably, the adjusting the test range specifically includes the following steps:
adjusting the inclination angle of the testing device through a hydraulic rod until the inclination angle of the U-shaped frame I is 0 degree acquired by the double-shaft inclination angle sensor;
the motor II drives the gear I to rotate, the gear I drives the straight rack I to move horizontally, the moving distance of the testing devices perpendicular to the observation direction is further adjusted, and the motor II stops running after the distance between the two testing devices reaches a preset distance;
the motor III drives the gear II to rotate, and the gear II drives the spur rack II to move along the observation direction, so that the distance from the visual imaging module to the explosion position is adjusted;
control module gathers laser range finder, angle encoder I, the data of angle encoder II, handles the data of gathering, sends control command to motor I and motor IV according to the processing result, through the perpendicular turned angle of I adjustment U type frame II of motor around the horizontal axis, through the horizontal rotation angle of motor IV adjustment U type frame II, realize that two vision imaging module shoot the test area after the meeting of field of vision scope can cover the bullet placement area of prediction.
Preferably, the method for calculating the shot drop point explosion position by using the target three-dimensional position mathematical model of the double-vision intersection testing system specifically comprises the following steps:
as is known, the center of projection O of a visual imaging module 1 Establishing a coordinate system O for the optical axis center of the infrared optical lens 1 X 1 Y 1 (ii) a Center of projection O of another visual imaging module 2 Establishing a coordinate system O for the optical axis center of the infrared optical lens 2 X 2 Y 2 The distance between the two infrared cameras is b;
the horizontal deflection angles of the two infrared optical lenses after adjustment are respectively alpha 1 And alpha 2 The pitch angles are respectively
Figure BDA0003695995640000051
And
Figure BDA0003695995640000052
focal lengths are respectively f 1 And f 2 (ii) a The distance between the two infrared cameras is b, the linear distance of the shot drop point explosion position measured by the laser range finder is L, and the pixel coordinate P of the shot drop point explosion position in the image acquired by the two infrared cameras 1 (X 1 ,Y 1 ) And P 2 (X 2 ,Y 2 )；
Based on known parameters, a target three-dimensional position mathematical model of the double-vision intersection testing system is combined, and the mathematical model for resolving the shot drop point explosion position is as follows:
Figure BDA0003695995640000053
wherein: phi is a 1 ＝arctan(Y 1 ·cosω 1 /f 1 )，φ 2 ＝arctan(Y 2 ·cosω 2 /f 2 )，ω 1 ＝arctan(X 1 /f 1 )，ω 2 ＝arctan(X 2 /f 2 )；ω 1 And ω 2 Respectively the horizontal projection angles of the shot explosion falling point position P and the optical axes of the two optical lenses;
based on the shot explosion falling point position, obtaining the position information of the ground marker of the test area by using GPS equipment, and giving a relative shot explosion falling point position according to the ground marker of the test area; if the position of the ground marker is (x) d ,y d ,z d ) The calculated function of the relative projectile explosion drop point position is then:
Figure BDA0003695995640000061
Figure BDA0003695995640000062
and
Figure BDA0003695995640000063
respectively are the space position coordinates of the two infrared optical lenses.
The mobile projectile drop point explosion position testing device and method provided by the invention have the following beneficial effects:
(1) the device utilizes the position that can conveniently remove whole device of movable frame, can adjust the relative distance of vision imaging module and the distance of vision imaging module apart from the test target in two sets of test modules through setting up translation subassembly.
(2) The double-vision imaging module is formed by adopting two vision imaging modules with self-adaption and adjustable multiple parameters, and a movable shot drop point explosion position testing system with controllable arrangement and adjustable testing area is formed by fully utilizing the characteristic that the movable frame has strong mobility in a testing target range; the device has the advantages of strong mobility, flexible arrangement and high test precision.
(3) The device can test the non-directional projectile drop point explosion position, and provides a technical means for the research of the test technology of the uncertain drop point position of the intelligent ammunition.
Drawings
In order to more clearly illustrate the embodiments of the present invention and the design thereof, the drawings required for the embodiments will be briefly described below. The drawings in the following description are only some embodiments of the invention and it will be clear to a person skilled in the art that other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of a mobile projectile drop point explosion position testing device according to the present invention;
FIG. 2 is a front view of a test module;
FIG. 3 is a schematic view of the mounting structure of a set of test modules (top and support plates II removed);
FIG. 4 is a schematic view of the mounting structure of the translation assembly;
FIG. 5 is a schematic view of the translation assembly with the top plate removed;
fig. 6 is a schematic installation diagram of a mobile projectile drop point explosion position testing device according to embodiment 1 of the present invention;
FIG. 7 is a schematic view of the mounting structure of the test module on the deck of the carriage;
FIG. 8 is a schematic diagram of pre-test adjustment of a test module according to the present invention;
fig. 9 is a schematic diagram of a shot drop point position calculation method of the test module according to the present invention.
Description of reference numerals:
the device comprises a movable frame 1, a supporting frame 101, a hydraulic rod 102, an omnidirectional wheel 103, a top plate 104, a testing module 2, a laser range finder 3, a translation assembly 4, a supporting plate I401, a spur rack I402, a first ball 403, a motor II 404, a supporting plate II 405, a spur rack II 406, a motor III 407, a gear II 408, a gear I409, a U-shaped frame I5, a U-shaped frame II 6, an angle encoder I7, a visual imaging module 8, a motor I9, a double-shaft inclination angle sensor 10, a gear III 11, a motor IV 12, a gear IV 13, a gear V14, a motor support I15, an automobile carrier 16, a carriage 17, a slide rail 18, an observation window 19, an industrial computer 20, a deck 21, a motor support II 22 and a motor support III 23.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention and can practice the same, the present invention will be described in detail with reference to the accompanying drawings and specific examples. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The invention provides a movable testing device for shot drop point explosion positions, which particularly comprises a control module, a movable frame 1 and two groups of testing modules 2 arranged on the movable frame 1 side by side as shown in figures 1 to 5, wherein a laser range finder 3 is arranged between the two groups of testing modules 2.
Specifically, each group of test modules 2 comprises a translation assembly 4, a U-shaped frame I5, a U-shaped frame II 6 and a vision imaging module 8.
The translation assembly 4 is arranged at the top of the movable frame 1 and can move relative to the movable frame 1; the U-shaped frame I5 is erected at the top of the translation component 4 and can rotate relative to the translation component 4; u type frame II 6 erects in U type frame I5 and around the horizontal axis rotation, and one side is connected with angle encoder I7 through the pivot. And the visual imaging module 8 is arranged at the top of the U-shaped frame II 6 and is used for acquiring shot explosion images. The visual imaging module 8 in this embodiment includes the infrared camera that sets up at II 6 tops of U type frame and sets up the infrared optical lens in infrared camera front end, and infrared camera is connected with control module. For convenience of description, as shown in fig. 8, two infrared cameras are defined as a first infrared camera and a second infrared camera, respectively.
The control module is used for collecting data of the laser range finder 3 and the angle encoder I7 and processing the data, controlling the distance between the two translation assemblies 4 and the rotating angles of the U-shaped frame I5 and the U-shaped frame II 6 according to the processing result, and adjusting the test area of the two visual imaging modules 8 after the intersection of the shooting light.
Specifically, as shown in fig. 2, in this embodiment, a motor i 9 is arranged on one side of a U-shaped frame i 5, a double-shaft tilt sensor 10 is arranged in the middle of the top, an output shaft of the motor i 9 penetrates through the U-shaped frame i 5 to be connected with the other side of the U-shaped frame ii 6, an angle encoder i 7 is arranged on the other side of the U-shaped frame i 5, and the angle encoder i 7, the motor i 9 and the double-shaft tilt sensor 10 are electrically connected with a control module. The double-shaft tilt angle sensor 10 is used for detecting the levelness of the U-shaped frame I5, so that the visual imaging module 8 is in a horizontal state during detection. Can drive U type frame II 6 through motor I9 and rotate, adjust U type frame II 6's vertical angle to utilize I7 rotation angle of angle encoder to measure.
Further, as shown in fig. 1 and 7, in the present embodiment, the movable frame 1 includes a support frame 101, a hydraulic rod 102, an omni wheel 103, and a top plate 104. Four corners of the bottom of the supporting frame 101 are respectively provided with a hydraulic rod 102, and the bottom of the hydraulic rod 102 is provided with an omnidirectional wheel 103. The top plate 104 is disposed on top of the support frame 101; the translation assembly 4 is disposed atop the top plate 104 and is movable relative to the top plate 104. The levelness of the two groups of adjusting modules 2 can be adjusted by means of hydraulic rods 102.
The testing arrangement accessible movable frame 1 bottom that this implementation provided omni wheel 103 is convenient carries out the position and removes, when the test point distance is far away the test environment and is not convenient for movable frame 1 to remove, as shown in fig. 6 and 7, can place whole device in carriage 18 of car carrier 16, set up a set of parallel slide rail 17 with omni wheel 103 matching on deck 21 of carriage 18, with placing on the deck of movable frame 1, omni wheel 103 can set up to electronic round, can realize automatic control, viewing window 19 has been seted up to carriage 17 one side.
In the present embodiment, as shown in fig. 4, the translation assembly 4 includes a support plate i 401, a spur rack i 402, a first ball 403, a motor ii 404, and a gear i 409. The longitudinal section of the support plate I401 is I-shaped, a straight rack I402 is arranged on the inner wall of one side of the bottom of the support plate I401, a plurality of first limiting holes are formed in the outer wall of the other side of the bottom of the support plate I along the length direction, a plurality of first balls 403 are rotatably arranged in each first limiting hole, and the first balls 403 are abutted to the inner wall of the support frame 101; u-shaped frame I5 is arranged on the top of support plate I401 and can rotate relative to support plate I401. The motor II 404 is arranged at the bottom of the top plate 104 through a motor support I15, an output shaft of the motor II penetrates through the top plate 104 and is provided with a gear I409 meshed with the spur rack I402, and the motor II 404 is electrically connected with the control module. Motor II 404 drives gear I409 and rotates, and gear I409 drives spur rack I402 and removes along roof 104 length direction, adjusts the horizontal distance between two sets of test module 2.
In order to realize fine adjustment of the distance between the adjustable vision imaging module 8 and the explosion position under the condition that the position of the whole device is fixed, as shown in fig. 5, in the embodiment, the translation assembly 4 further comprises a support plate ii 405, a spur rack ii 406, a motor iii 407 and a gear ii 408.
The longitudinal section of the support plate II 405 is inverted U-shaped, a spur rack II 406 is arranged on the inner wall of one side of the support plate II 405, a plurality of second limiting holes are formed in the outer wall of the other side of the support plate II along the length direction, a plurality of second balls are rotatably arranged in each second limiting hole, and the second balls are abutted to the inner wall of the support plate I401; the straight rack II 406 is perpendicular to the straight rack I402, and the U-shaped frame II 6 is erected at the top of the support plate II 405 and can rotate relative to the support plate II 405. As shown in FIG. 3, a motor III 407 is arranged at the bottom of the support plate I401 through a motor bracket II 22, an output shaft of the motor III penetrates through the support plate I401 and is provided with a gear II 408 meshed with a spur rack II 406, and the motor III 407 is electrically connected with the control module. The motor III 407 drives the gear II 408 to rotate, the gear II 408 drives the spur rack II 406 to move in the direction perpendicular to the length direction of the top plate 104, and the positions of the infrared cameras and the infrared optical lens of the two groups of test modules 2 away from the test points are adjusted.
In this embodiment, U type frame I5 rotates with II 405 of backup pad through the rotation axis to be connected, is provided with gear III 11 on the rotation axis, and II 405 bottoms of backup pad are provided with motor IV 12 and angle encoder II, and motor IV 12 passes through motor support III 23 and sets up in II 405 bottoms of backup pad. A gear IV 13 is arranged at the end part of an output shaft of the motor IV 12, a gear V14 is arranged on a rotating shaft of the angle encoder II, and a gear III 11, the gear IV 13 and the gear V14 are meshed in sequence; and the motor IV 12 and the angle encoder II are electrically connected with the control module. The gear IV 13 is driven to rotate through the motor IV 12, the gear IV 13 drives the gear V14 and the gear III 11 to rotate, the gear III 11 drives the U-shaped frame I5 to rotate along the horizontal direction, the horizontal angle of the infrared optical lens is adjusted, and the rotating angle of the U-shaped frame I5 is collected through the angle encoder II.
Based on the above testing apparatus, another objective of this embodiment is to provide a testing method for a mobile projectile drop point explosion position testing apparatus, in this embodiment, all control commands and control modules are set in software of an industrial computer 20, program initialization is performed before testing, so that the testing apparatus can complete self-checking and restore to an initialization state, and the current state of the testing apparatus is displayed according to an industrial computer software interface, as shown in fig. 8 and 9, the method includes the following steps:
step 1, selecting observation points: according to the test requirements, the test device is moved to the area where the expected shot drop point can be observed, and the laser range finder 3 is placed in the middle position of the two groups of test modules 2 and pointed to the shot drop point explosion position.
Step 2, adjusting the test range, including:
the two groups of translation assemblies 4 respectively drive the two groups of test modules 2 to be close to or far away from each other, and the distance between the two vision imaging modules 8 and the distance between the vision imaging modules 8 and the explosion position are adjusted.
And the rotation angles of the U-shaped frame I5 and the U-shaped frame II 6 are adjusted, so that the test range of the two visual imaging modules 8 after the infrared optical lenses shoot light rays to meet covers the shot drop point explosion area.
Specifically, adjusting the test range body comprises the following steps:
adjusting levelness: the inclination angle of the testing device is adjusted through the hydraulic rod 102 until the inclination angle of the U-shaped frame I5 collected by the double-shaft inclination angle sensor 10 is 0 degree.
And (3) adjusting the distance: the motor II 404 drives the gear I409 to rotate, the gear I409 drives the spur rack I402 to horizontally move, the moving distance of the testing devices perpendicular to the observation direction is adjusted, and the motor II 404 stops running after the distance between the two testing devices reaches a preset distance.
Adjusting an observation position: the motor III 407 drives the gear II 408 to rotate, and the gear II 408 drives the spur rack II 406 to move along the observation direction, so that the distance from the visual imaging module 8 to the explosion position is adjusted.
Adjusting an observation angle: control module gathers laser range finder 3, angle encoder I7, the data of angle encoder II, handle the data of gathering, send control command to motor I9 and motor IV 12 according to the processing result, through the perpendicular turned angle of I9 adjustment U type frame II 6 around the horizontal axis of motor IV 12 adjustment U type frame II 6's horizontal rotation angle, the test area after the meeting of two vision imaging module 8 shooting field of vision scopes can cover the bullet placement area of prediction.
Step 3, calculating the shot drop point explosion position, comprising the following steps:
the method comprises the steps of acquiring a plurality of images of shot explosion moments by using two vision imaging modules 8, synchronously ranging shot drop point explosion positions by using a laser range finder 3, matching the characteristics of the plurality of acquired images and a plurality of groups of ranging data through Opencv and Python software to realize the characteristic matching of the plurality of images, and acquiring pixel point coordinates of the shot explosion drop point positions in each image.
And resolving the shot falling point explosion position by using a double-vision intersection test system target three-dimensional position mathematical model according to the pixel point coordinates of the shot explosion falling point position.
Specifically, the method for calculating the shot drop point explosion position by using the double-vision intersection test system target three-dimensional position mathematical model comprises the following steps:
as is known, the center of projection O of a vision imaging module 8 1 Establishing a coordinate system O for the optical axis center of the infrared optical lens 1 X 1 Y 1 (ii) a Center of projection O of another visual imaging module 8 2 Establishing a coordinate system O for the optical axis center of the infrared optical lens 2 X 2 Y 2 The distance between the two infrared cameras is b.
The horizontal deflection angles of the two infrared optical lenses after adjustment are respectively alpha 1 And alpha 2 The pitch angles are respectively
Figure BDA0003695995640000111
And
Figure BDA0003695995640000112
focal lengths are respectively f 1 And f 2 (ii) a The distance between the two infrared cameras is b, the linear distance of the shot drop point explosion position measured by the laser range finder 3 is L, and the pixel coordinate P of the shot drop point explosion position in the image acquired by the two infrared cameras 1 (X 1 ,Y 1 ) And P 2 (X 2 ,Y 2 )。
Based on known parameters, a target three-dimensional position mathematical model of the double-vision intersection testing system is combined, and the mathematical model for resolving the shot drop point explosion position is as follows:
Figure BDA0003695995640000113
wherein: phi is a 1 ＝arctan(Y 1 ·cosω 1 /f 1 )，φ 2 ＝arctan(Y 2 ·cosω 2 /f 2 )，ω 1 ＝arctan(X 1 /f 1 )，ω 2 ＝arctan(X 2 /f 2 )；ω 1 And ω 2 Respectively the horizontal projection angles of the shot explosion falling point position P and the optical axes of the two optical lenses;
based on the shot explosion falling point position, obtaining the position information of the ground marker of the test area by using GPS equipment, and giving a relative shot explosion falling point position according to the ground marker of the test area; if the position of the ground marker is (x) d ,y d ,z d ) The relative shot blast landing point position is calculated as:
Figure BDA0003695995640000121
Figure BDA0003695995640000122
and
Figure BDA0003695995640000123
respectively are the space position coordinates of the two infrared optical lenses.
The invention adopts a movable testing device, and adopts a binocular vision testing mode, so that the invention has the advantages of flexible structure, convenient installation and low cost and is widely adopted. The device takes a mobile automobile as a carrier, an optical platform capable of being adjusted in two degrees of freedom and a self-adaptive adjustable multi-parameter double-vision imaging module are arranged in the carrier, and a mobile projectile drop point explosion position testing system with controllable arrangement and adjustable testing area is formed by fully utilizing the characteristic of strong mobility of a vehicle-mounted target range; the device has the advantages of strong mobility, flexible arrangement and high test precision.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. A movable testing device for shot drop point explosion positions is characterized by comprising a movable frame (1) and two groups of testing modules (2) arranged on the movable frame (1) side by side, wherein a laser range finder (3) is arranged between the two groups of testing modules (2); each group of the test modules (2) comprises:
the translation assembly (4) is arranged at the top of the movable frame (1) and can move relative to the movable frame (1);
the U-shaped frame I (5) is erected at the top of the translation component (4) and can rotate relative to the translation component (4);
the U-shaped frame II (6) is erected in the U-shaped frame I (5) and rotates around a horizontal shaft, and one side of the U-shaped frame II is connected with an angle encoder I (7) through a rotating shaft;
the visual imaging module (8) is arranged at the top of the U-shaped frame II (6) and is used for acquiring shot explosion images;
the device is characterized by further comprising a control module, wherein the control module is used for acquiring data of the laser range finder (3) and the angle encoder I (7) and processing the data, controlling the distance between the translation assemblies (4) and the rotating angles of the U-shaped frame I (5) and the U-shaped frame II (6) according to a processing result, and adjusting the test area of the visual imaging module (8) after intersection of shooting light.
2. The mobile projectile drop point explosion position testing device according to claim 1, wherein a motor I (9) is arranged on one side of the U-shaped frame I (5), a double-shaft tilt angle sensor (10) is arranged in the middle of the top of the U-shaped frame I, an output shaft of the motor I (9) penetrates through the U-shaped frame I (5) to be connected with the other side of the U-shaped frame II (6), the angle encoder I (7) is arranged on the other side of the U-shaped frame I (5), and the double-shaft tilt angle sensor (10) is electrically connected with the control module.
3. Mobile projectile landing point blast location testing device according to claim 2, characterized in that said movable frame (1) comprises:
four corners of the bottom of the supporting frame (101) are respectively provided with hydraulic rods (102), and the bottoms of the hydraulic rods (102) are provided with omnidirectional wheels (103);
a top plate (104) disposed on top of the support frame (101);
the translation assembly (4) is arranged on top of the top plate (104) and is movable relative to the top plate (104).
4. A mobile projectile landing point blast position testing device according to claim 3, wherein said translating assembly (4) comprises:
the longitudinal section of the support plate I (401) is I-shaped, a straight rack I (402) is arranged on the inner wall of one side of the bottom of the support plate I (401), a plurality of first limiting holes are formed in the outer wall of the other side of the bottom of the support plate I (401) along the length direction, a plurality of first rolling balls (403) are rotatably arranged in each first limiting hole, and the first rolling balls (403) are abutted to the inner wall of the support frame (101); the U-shaped frame I (5) is erected at the top of the support plate I (401) and can rotate relative to the support plate I (401);
and the motor II (404) is arranged at the bottom of the top plate (104), and an output shaft of the motor II penetrates through the top plate (104) and is provided with a gear I (409) meshed with the spur rack I (402).
5. The mobile shot-drop explosion position testing device according to claim 4, wherein the translating assembly (4) further comprises:
the longitudinal section of the supporting plate II (405) is inverted U-shaped, a spur rack II (406) is arranged on the inner wall of one side of the supporting plate II (405), a plurality of second limiting holes are formed in the outer wall of the other side of the supporting plate II (405) along the length direction, a plurality of second balls are rotatably arranged in each second limiting hole, and the second balls are abutted to the inner wall of the supporting plate I (401); the straight rack II (406) is perpendicular to the straight rack I (402), and the U-shaped frame II (6) is erected at the top of the support plate II (405) and can rotate relative to the support plate II (405);
and the motor III (407) is arranged at the bottom of the support plate I (401), and an output shaft of the motor III penetrates through the support plate I (401) and is provided with a gear II (408) meshed with the straight rack II (406).
6. The mobile projectile landing point explosion position testing device according to claim 5, wherein the U-shaped frame I (5) is rotatably connected with the supporting plate II (405) through a rotating shaft, a gear III (11) is arranged on the rotating shaft, a motor IV (12) and an angle encoder II are arranged at the bottom of the supporting plate II (405), a gear IV (13) is arranged at the end part of an output shaft of the motor IV (12), a gear V (14) is arranged on a rotating shaft of the angle encoder II, and the gear III (11), the gear IV (13) and the gear V (14) are sequentially meshed; and the angle encoder II is electrically connected with the control module.
7. The mobile projectile landing point explosion position testing device according to claim 6, wherein the vision imaging module (8) comprises an infrared camera arranged at the top of the U-shaped frame II (6) and an infrared optical lens arranged at the front end of the infrared camera, and the infrared camera is connected with the control module.
8. A method for testing the mobile projectile landing point blast position testing apparatus as defined in claim 7, comprising the steps of:
selecting observation points: according to the test requirements, the test device is moved to a region where a predicted shot drop point can be observed, and the laser range finders (3) are placed in the middle positions of the two groups of test modules (2) and point to the shot drop point explosion position;
adjusting the test range, including:
the two groups of translation assemblies (4) respectively drive the two groups of test modules (2) to approach or separate from each other, and the distance between the two vision imaging modules (8) and the distance between the vision imaging modules (8) and an explosion position are adjusted;
the rotation angles of the U-shaped frame I (5) and the U-shaped frame II (6) are adjusted, so that the test range of the two visual imaging modules (8) after the intersection of the shooting light rays covers the shot drop point explosion area;
calculating the shot drop point explosion position, comprising:
acquiring a plurality of images of shot explosion moments by using two visual imaging modules (8), synchronously ranging shot drop point explosion positions by using a laser range finder (3), realizing characteristic matching of the plurality of images and a plurality of groups of ranging data through Opencv and Python software, and acquiring pixel point coordinates of the shot explosion drop point positions in each image;
and resolving the shot falling point explosion position by utilizing a binocular vision intersection testing system target three-dimensional position mathematical model according to the pixel point coordinates of the shot explosion falling point position.
9. The mobile shot drop point detonation location testing method of claim 8, wherein said adjusting the test range specifically comprises the steps of:
adjusting the inclination angle of the testing device through a hydraulic rod (102) until the inclination angle of the U-shaped frame I (5) acquired by the double-shaft inclination angle sensor (10) is 0 degree;
the motor II (404) drives the gear I (409) to rotate, the gear I (409) drives the spur rack I (402) to horizontally move, the moving distance of the testing devices perpendicular to the observation direction is further adjusted, and the motor II (404) stops running when the distance between the two testing devices reaches a preset distance;
the motor III (407) drives the gear II (408) to rotate, the gear II (408) drives the spur rack II (406) to move along the observation direction, and then the distance from the visual imaging module (8) to the explosion position is adjusted;
control module gathers laser range finder (3), angle encoder I (7), the data of angle encoder II, handle the data of gathering, send control command to motor I (9) and motor IV (12) according to the processing result, through the perpendicular turned angle of motor I (9) adjustment U type frame II (6) around the horizontal axis, through the horizontal rotation angle of motor IV (12) adjustment U type frame II (6), realize that two vision imaging module (8) shoot the test area after the meeting of field of vision scope can cover the projectile placement area of prediction.
10. The mobile shot drop point explosion position testing method according to claim 9, wherein the step of calculating the shot drop point explosion position by using the target three-dimensional position mathematical model of the dual vision intersection testing system specifically comprises the following steps:
as is known, the center of projection O of a visual imaging module (8) 1 Establishing a coordinate system O for the optical axis center of the infrared optical lens 1 X 1 Y 1 (ii) a Projection center O of another visual imaging module (8) 2 Establishing a coordinate system O for the optical axis center of the infrared optical lens 2 X 2 Y 2 The distance between the two infrared cameras is b;
the horizontal deflection angles of the two infrared optical lenses after adjustment are respectively alpha 1 And alpha 2 The pitch angles are respectively
Figure FDA0003695995630000041
And
Figure FDA0003695995630000042
focal lengths are respectively f 1 And f 2 (ii) a The distance between the two infrared cameras is b, the linear distance of the shot drop explosion position measured by the laser range finder (3) is L, and the pixel coordinate P of the shot drop explosion position in the image acquired by the two infrared cameras 1 (X 1 ,Y 1 ) And P 2 (X 2 ,Y 2 )；
Based on known parameters, a target three-dimensional position mathematical model of the double-vision intersection testing system is combined to resolve the shot drop point explosion position, and the mathematical model of the target three-dimensional position is as follows:
Figure FDA0003695995630000043
wherein: phi is a 1 ＝arctan(Y 1 ·cosω 1 /f 1 )，φ 2 ＝arctan(Y 2 ·cosω 2 /f 2 )，ω 1 ＝arctan(X 1 /f 1 )，ω 2 ＝arctan(X 2 /f 2 )；
Based on the shot explosion falling point position, the GPS equipment is utilized to obtain the position information of the ground marker of the test area, and the relative shot explosion is given according to the ground marker of the test areaA landing point position; if the position of the ground marker is (x) d ,y d ,z d ) The calculated function of the relative projectile explosion drop point position is then:
Figure FDA0003695995630000051
Figure FDA0003695995630000052
and
Figure FDA0003695995630000053
respectively are the space position coordinates of the two infrared optical lenses.
CN202210674686.7A 2022-06-15 2022-06-15 Device and method for testing explosion position of drop point of movable projectile Active CN115046441B (en)

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