CN115046441B - Device and method for testing explosion position of drop point of movable projectile - Google Patents

Device and method for testing explosion position of drop point of movable projectile Download PDF

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Publication number
CN115046441B
CN115046441B CN202210674686.7A CN202210674686A CN115046441B CN 115046441 B CN115046441 B CN 115046441B CN 202210674686 A CN202210674686 A CN 202210674686A CN 115046441 B CN115046441 B CN 115046441B
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shaped frame
explosion
testing
motor
shot
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CN115046441A (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

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

Abstract

The invention provides a device and a method for testing the explosion position of a movable projectile falling point, which belong to the field of weapon shooting range testing, and comprise 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 set of test modules 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 I 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 is used for collecting shot explosion images; the control module is used for acquiring and processing data of the laser range finder, the double-shaft inclination angle sensor and the angle encoder I, controlling the distance between the two translation assemblies and the rotation angle of the U-shaped frame I and the U-shaped frame II according to the processing result, and adjusting the testing area after the shooting light rays of the two vision imaging modules meet. The testing device is high in mobility and flexible in arrangement of the testing area.

Description

Device and method for testing explosion position of drop point of movable projectile
Technical Field
The invention relates to the technical field of weapon range testing, in particular to a device and a method for testing the explosion position of a movable projectile drop point.
Background
With the development of fuze technology, the spatial explosion precision position of the pellet fuze is an important index for measuring the action performance of the fuze. The detonator detonation control is limited by the environment, such as the topography of experimental scenes, the characteristics of rain, snow, smoke dust and the surface of an attack target in the environment, and the like, so that the explosion position of the pellet detonator presents an uncertain distribution state, especially in a terminal ballistic region. The space of the shot drop points is greatly scattered and has strong randomness, so that the existing fixed testing device laid on the ground is difficult to flexibly capture the shot explosion space positions which are randomly distributed in a large range.
The main testing means of the current explosive space position of the projectile comprises an acoustic sensor array testing device and a high-speed shooting testing device. The acoustic sensor 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 region, and the explosion position of the projectile is calculated by fusing the time delay difference value of acoustic signals in the arranged acoustic sensor array of acoustic information of the explosion of the projectile and the inherent position parameters of the arrangement of the known acoustic sensor.
In order to obtain the spatial location of the shot fuse explosion in a wide area, this can be achieved by expanding the number of acoustic sensor arrays. However, the acoustic delay caused by the technical means of the acoustic sensor causes larger calculation errors, and the acoustic delay of the acoustic sensor mainly comes from factors such as wind speed, temperature, humidity and the like in the environment. As the environment varies and the topography of the experiment changes, the measurement results are also affected. However, the method of the acoustic sensing technology cannot meet the test with larger variation of the drop point area, 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 the signal processing and the integration of the test device. In order to meet the current large-area shot drop point spatial position test, a highly integrated and flexible-movement test device is necessary to be invented.
In some documents, a high-speed camera is arranged on the ground to capture an image of the explosion of the projectile, and a marker with known parameters is arranged on the ground, so that the height information of the explosion of the projectile is converted according to the pixel size of the high-speed camera and the image of the explosion of the projectile. In order to obtain the space position of the explosion of the projectile, there is also a test method of intersection of two high-speed cameras to obtain the space position of the explosion of the projectile. The method adopts a mechanism of arranging the high-speed camera on the ground, and when the landing point area is changed greatly, the test equipment is manually moved and calibrated again, so that the flexibility of on-site test is greatly reduced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a movable shot drop point explosion position testing device, which aims to solve the problem that the existing testing technology is difficult to accurately test due to strong randomness and wide scattering area of shot drop point explosion position distribution state in the technical field of weapon range testing.
In order to achieve the above object, the present invention provides the following technical solutions:
the movable shot drop point explosion position testing device comprises a movable frame and two groups of testing modules which are arranged on the movable frame side by side, wherein a laser range finder is arranged between the two groups of testing modules; each set of the test modules includes:
the translation assembly is arranged at 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 I 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 is used for acquiring shot explosion images;
the device comprises a translation assembly, a visual imaging module, a laser range finder, an angle encoder I, a control module and a control module, wherein the control module is used for acquiring data of the laser range finder and the angle encoder I and processing the data, controlling the distance between the two translation assemblies and the rotation angle of the U-shaped frame I and the U-shaped frame II according to processing results, and adjusting the testing area after the shooting rays of the visual imaging module meet.
Preferably, a motor I is arranged on one side of the U-shaped frame I, a double-shaft inclination sensor is arranged in the middle of the top of the U-shaped frame I, an output shaft of the motor I penetrates through the U-shaped frame I and is connected with the other side of the U-shaped frame II, an angle encoder I is arranged on the other side of the U-shaped frame I, and the double-shaft inclination sensor is electrically connected with the control module.
Preferably, the movable frame comprises:
the 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 at the top of the supporting frame;
the translation assembly is disposed on top of the top plate and is movable relative to the top plate.
Preferably, the translation assembly comprises:
the longitudinal section of the support plate I is I-shaped, a straight rack I is arranged on the inner wall of one side of the bottom of the support plate I, a plurality of first limiting holes are formed in the outer wall of the other side of the support 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 support frame; the U-shaped frame I is erected on 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 support plate II is of an inverted U shape, a straight rack II is arranged on the inner wall of one side of the support plate II, 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 I; the straight rack II is perpendicular to the straight rack I, and the U-shaped frame II is erected on the top of the supporting plate II and can rotate relative to the supporting plate II;
and the motor III is arranged at the bottom of the supporting plate I, and an output shaft of the motor III penetrates through the supporting plate I and is provided with a gear II meshed with the straight rack II.
Preferably, the U-shaped frame I is rotationally connected with the supporting 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 supporting 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 sequentially meshed; the angle encoder II is electrically connected with the control module.
Preferably, the visual 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 object of the present invention is to provide a testing method of a mobile shot drop point explosion position testing device, comprising the following steps:
selecting observation points: according to the test requirements, moving the test device to a region where the expected shot drop point can be observed, and placing a laser range finder at the middle position of the two groups of test modules to enable the laser range finder to point to the shot drop point explosion position;
adjusting the test range, comprising:
the two groups of translation assemblies respectively drive the two groups of test modules to approach or depart, and the distance between the two visual imaging modules and the distance between the visual imaging modules and the explosion position are adjusted;
the rotation angles of the U-shaped frame I and the U-shaped frame II are adjusted, so that the testing range of the two visual imaging modules after the infrared optical lenses shooting light rays meet covers the shot drop point explosion area;
calculating a shot drop point explosion location, comprising:
acquiring a plurality of images of the shot explosion moment by using two visual imaging modules, synchronously measuring the shot landing explosion position by using a laser range finder, realizing the characteristic matching of the acquired plurality of images and a plurality of groups of ranging data by using Opencv and Python software, and acquiring the pixel point coordinates of the shot explosion landing position in each image;
and according to the pixel point coordinates of the explosion landing point position of the projectile, calculating the explosion landing point position of the projectile by using a target three-dimensional position mathematical model of the double-vision intersection test system.
Preferably, the adjusting the test range specifically includes the following steps:
the inclination angle of the testing device is adjusted through the 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 horizontally move, the moving distance of the testing device perpendicular to the observing direction is further adjusted, and the motor II stops running when 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 straight rack II to move along the observing direction, so that the distance from the visual imaging module to the explosion position is adjusted;
the control module collects data of the laser range finder, the angle encoder I and the angle encoder II, processes the collected data, sends control instructions to the motor I and the motor IV according to processing results, adjusts the vertical rotation angle of the U-shaped frame II around the horizontal axis through the motor I, adjusts the horizontal rotation angle of the U-shaped frame II through the motor IV, and realizes that a test area after the intersection of the two visual imaging modules shooting visual fields can cover an expected shot drop point area.
Preferably, the calculating the explosion position of the ball drop point by using the mathematical model of the three-dimensional position of the target of the dual-vision intersection test system specifically comprises the following steps:
as is known, the projection center O of a visual imaging module 1 For the optical axis center of the infrared optical lens, a coordinate system O is established 1 X 1 Y 1 The method comprises the steps of carrying out a first treatment on the surface of the Projection center O of another visual imaging module 2 For the optical axis center of the infrared optical lens, a coordinate system O is established 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 respectivelyAndfocal lengths f respectively 1 And f 2 The method comprises the steps of carrying out a first treatment on the surface of the The distance between the two infrared cameras is b, the straight line distance of the explosion position of the shot falling point measured by the laser range finder is L, and the two infrared cameras acquire the pixel coordinate P of the explosion position of the shot falling point in the image 1 (X 1 ,Y 1 ) And P 2 (X 2 ,Y 2 )；
Based on known parameters and combined with a target three-dimensional position mathematical model of the double-vision intersection test system, the mathematical model for calculating the explosion position of the ball drop point is as follows:
wherein: phi (phi) 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 omega 2 Respectively the horizontal projection angles of the explosion falling point position P of the projectile and the optical axes of the two optical lenses;
based on the shot explosion drop point position, acquiring position information of a ground marker of the test area by using GPS equipment, and giving out a relative shot explosion drop 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 calculation function of the relative shot blast landing point position is:
and->The spatial position coordinates of the two infrared optical lenses are respectively.
The device and the method for testing the explosion position of the drop point of the movable projectile have the following beneficial effects:
(1) The device utilizes the movable frame can conveniently move the position of whole device, can adjust the relative distance of vision imaging module and the distance of vision imaging module apart from test target in two sets of test module through setting up translation subassembly.
(2) Two visual imaging modules with self-adaption and adjustable multiple parameters are adopted to form a double visual imaging module, the characteristic that the movable frame has strong mobility in a test target range is fully utilized, and a movable projectile drop point explosion position test system with controllable arrangement and adjustable test area is formed; the device has strong mobility, flexible arrangement and high test precision.
(3) The device can test the explosion position of the dropping point of the unoriented projectile, and provides a technical means for the technical research of the test of the uncertain dropping 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 of the embodiments of the present invention and other drawings may be made by those skilled in the art without the exercise of inventive faculty.
FIG. 1 is a schematic 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 (with top plate and support plate 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 diagram illustrating the installation of a mobile projectile drop point explosion position testing apparatus 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 a car;
FIG. 8 is a schematic diagram illustrating the adjustment of the test module before testing according to the present invention;
fig. 9 is a schematic diagram of a method for solving the shot drop point position of the test module according to the present invention.
Reference numerals illustrate:
the movable frame 1, the supporting frame 101, the hydraulic rod 102, the omnidirectional wheel 103, the top plate 104, the test module 2, the laser range finder 3, the translation assembly 4, the supporting plate I401, the straight rack I402, the first ball 403, the motor II 404, the supporting plate II 405, the straight rack II 406, the motor III 407, the gear II 408, the gear I409, the U-shaped frame I5, the U-shaped frame II 6, the angle encoder I7, the visual imaging module 8, the motor I9, the double-shaft inclination sensor 10, the gear III 11, the motor IV 12, the gear IV 13, the gear V14, the motor bracket I15, the automobile carrier 16, the carriage 17, the slide rail 18, the observation window 19, the industrial computer 20, the deck 21, the motor bracket II 22 and the motor bracket III 23.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the embodiments, so that those skilled in the art can better understand the technical scheme of the present invention and can implement the same. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
The invention provides a mobile projectile drop point explosion position testing device, 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, wherein a laser range finder 3 is arranged between the two groups of testing modules 2, as shown in fig. 1 to 5.
Specifically, each set of test modules 2 includes 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 on top of the movable frame 1 and can move relative to the movable frame 1; the U-shaped frame I5 is erected on the top of the translation assembly 4 and can rotate relative to the translation assembly 4; the U-shaped frame II 6 is erected in the U-shaped frame I5 and rotates around a horizontal shaft, and one side of the U-shaped frame II is connected with an angle encoder I7 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 collecting shot explosion images. In this embodiment, the visual imaging module 8 includes an infrared camera disposed at the top of the U-shaped frame ii 6 and an infrared optical lens disposed at the front end of the infrared camera, where the infrared camera is connected with the 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 acquiring and processing data of the laser range finder 3 and the angle encoder I7, controlling the distance between the two translation assemblies 4 and the rotation angle of the U-shaped frame I5 and the U-shaped frame II 6 according to the processing result, and adjusting the testing area after the shooting light rays of the two visual imaging modules 8 meet.
Specifically, as shown in fig. 2, in this embodiment, a motor i 9 is disposed on one side of the U-shaped frame i 5, a dual-axis inclination sensor 10 is disposed in the middle of the top, an output shaft of the motor i 9 passes through the U-shaped frame i 5 and is connected to the other side of the U-shaped frame ii 6, an angle encoder i 7 is disposed on the other side of the U-shaped frame i 5, and the angle encoder i 7, the motor i 9 and the dual-axis inclination sensor 10 are all electrically connected to the control module. The dual-axis inclination sensor 10 is used for detecting levelness of the U-shaped frame I5, so that the visual imaging module 8 is in a horizontal state when detecting. Can drive U type frame II 6 through motor I9 and rotate, adjust the vertical angle of U type frame II 6 to utilize angle encoder I7 to measure the rotation angle.
Further, as shown in fig. 1 and 7, in the present embodiment, the movable frame 1 includes a support frame 101, a hydraulic lever 102, an omni-wheel 103, and a top plate 104. The bottom four corners of braced frame 101 are provided with hydraulic stem 102 respectively, and hydraulic stem 102 bottom is provided with omnidirectional wheel 103. The top plate 104 is provided 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 through the hydraulic rod 102.
The test device provided by the implementation can conveniently carry out position movement through the omnidirectional wheel 103 arranged at the bottom of the movable frame 1, when the test point is far away from the test environment and the movable frame 1 is inconvenient to move, as shown in fig. 6 and 7, the whole device can be placed in a carriage 18 of an automobile carrier 16, a group of parallel sliding rails 17 matched with the omnidirectional wheel 103 are arranged on a deck 21 of the carriage 18, the movable frame 1 is placed on the deck, the omnidirectional wheel 103 can be arranged as an electric wheel, automatic control can be realized, and an observation window 19 is arranged on one side of the carriage 17.
In this embodiment, as shown in fig. 4, the translation assembly 4 includes a support plate i 401, a straight rack i 402, a first ball 403, a motor ii 404, and a gear i 409. The longitudinal section of the supporting plate I401 is I-shaped, a straight rack I402 is arranged on the inner wall of one side of the bottom of the supporting plate I401, a plurality of first limiting holes are formed in the outer wall of the other side 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 supporting frame 101; the U-shaped frame I5 is erected on the top of the supporting plate I401 and can rotate relative to the supporting plate I401. The motor II 404 is arranged at the bottom of the top plate 104 through the motor bracket I15, an output shaft of the motor II passes through the top plate 104 and is provided with a gear I409 meshed with the straight rack I402, and the motor II 404 is electrically connected with the control module. The motor II 404 drives the gear I409 to rotate, the gear I409 drives the straight rack I402 to move along the length direction of the top plate 104, and the horizontal distance between the two groups of test modules 2 is adjusted.
In order to achieve fine adjustment of the distance of the adjusting vision imaging module 8 from the explosion position under the condition of fixed position of the whole device, as shown in fig. 5, in this embodiment, the translation assembly 4 further includes a support plate ii 405, a straight rack ii 406, a motor iii 407, and a gear ii 408.
The longitudinal section of the support plate II 405 is of an inverted U shape, a straight 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 with the inner wall of the support plate I401; the straight rack II 406 and the straight rack I402 are mutually perpendicular, and the U-shaped frame II 6 is erected on the top of the supporting plate II 405 and can rotate relative to the supporting plate II 405. As shown in fig. 3, a motor iii 407 is disposed at the bottom of the support plate i 401 by a motor support ii 22, and an output shaft thereof passes through the support plate i 401 and is provided with a gear ii 408 engaged with the straight 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 straight rack II 406 to move along the length direction of the top plate 104, and the positions of the infrared cameras and the infrared optical lenses of the two groups of test modules 2 from the test points are adjusted.
In this embodiment, U type frame I5 is rotated through rotation axis and backup pad II 405 and is connected, is provided with gear III 11 on the rotation axis, and backup pad II 405 bottom is provided with motor IV 12 and angle encoder II, and motor IV 12 passes through motor support III 23 to be set up in backup pad II 405 bottom. 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 motor IV 12 drives the gear IV 13 to rotate, 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 angle of rotation of the U-shaped frame I5 is collected through the angle encoder II.
Based on the above testing device, another object of the present embodiment is to provide a testing method of a mobile device for testing the explosion position of the drop point of a projectile, in this embodiment, all control instructions and control modules are set in the software of the industrial computer 20, and program initialization is performed before testing, so that the testing device can complete self-checking and restore to an initialized state, and the current state of the testing device is displayed according to the software interface of the industrial computer, as shown in fig. 8 and 9, and the method includes the following steps:
step 1, selecting observation points: according to the test requirements, the test device is moved to an area where the expected shot drop can be observed, and the laser rangefinder 3 is placed in the middle of the two sets of test modules 2 and directed to the shot drop explosion position.
Step 2, adjusting a test range, including:
the two groups of translation assemblies 4 respectively drive the two groups of test modules 2 to approach or depart from each other, and the distance between the two visual imaging modules 8 and the distance between the visual imaging modules 8 and the explosion position are adjusted.
The rotation angles of the U-shaped frame I5 and the U-shaped frame II 6 are adjusted, so that the testing range of the two visual imaging modules 8 after the shooting light rays meet is covered in the shot landing explosion area.
Specifically, the adjustment of the test range body includes the following steps:
levelness adjustment: the inclination angle of the testing device is adjusted through the hydraulic rod 102 until the inclination angle of the U-shaped frame I5 acquired by the double-shaft inclination angle sensor 10 is 0 degrees.
And (3) adjusting the distance: the motor II 404 drives the gear I409 to rotate, the gear I409 drives the straight rack I402 to horizontally move, the moving distance of the testing device perpendicular to the observing direction is adjusted, and the motor II 404 stops running after the distance between the two testing devices reaches a preset distance.
And (3) adjusting the observation position: the motor III 407 drives the gear II 408 to rotate, and the gear II 408 drives the straight rack II 406 to move along the observing direction, so that the distance from the visual imaging module 8 to the explosion position is adjusted.
And (3) observation angle adjustment: the control module collects data of the laser range finder 3, the angle encoder I7 and the angle encoder II, processes the collected data, sends control instructions to the motor I9 and the motor IV 12 according to processing results, adjusts the vertical rotation angle of the U-shaped frame II 6 around a horizontal axis through the motor I9, adjusts the horizontal rotation angle of the U-shaped frame II 6 through the motor IV 12, and achieves that a testing area after the intersection of the two visual imaging modules 8 shooting visual fields can cover an expected shot drop point area.
Step 3, calculating the explosion position of the ball drop point, which comprises the following steps:
the method comprises the steps of acquiring a plurality of images of the shot explosion moment by using two visual imaging modules 8, synchronously measuring the shot landing explosion position by using a laser range finder 3, realizing the characteristic matching of the acquired plurality of images and a plurality of groups of ranging data by using Opencv and Python software, and acquiring the pixel point coordinates of the shot explosion landing position in each image.
And according to the pixel point coordinates of the explosion landing point position of the projectile, calculating the explosion landing point position of the projectile by using a target three-dimensional position mathematical model of the double-vision intersection test system.
Specifically, the method for calculating the explosion position of the ball drop point by using the mathematical model of the three-dimensional position of the target of the double-vision intersection test system comprises the following steps:
as is known, the projection center O of a visual imaging module 8 1 For the optical axis center of the infrared optical lens, a coordinate system O is established 1 X 1 Y 1 The method comprises the steps of carrying out a first treatment on the surface of the Projection center O of another visual imaging module 8 2 For the optical axis center of the infrared optical lens, a coordinate system O is established 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 respectivelyAndfocal lengths f respectively 1 And f 2 The method comprises the steps of carrying out a first treatment on the surface of the The distance between the two infrared cameras is b, the straight line distance of the explosion position of the ball drop point measured by the laser range finder 3 is L, and the two infrared cameras collect the pixel coordinate P of the explosion position of the ball drop point in the image 1 (X 1 ,Y 1 ) And P 2 (X 2 ,Y 2 )。
Based on known parameters and combined with a target three-dimensional position mathematical model of the double-vision intersection test system, the mathematical model for calculating the explosion position of the ball drop point is as follows:
wherein: phi (phi) 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 omega 2 Respectively the horizontal projection angles of the explosion falling point position P of the projectile and the optical axes of the two optical lenses;
based on the shot explosion drop point position, acquiring position information of a ground marker of the test area by using GPS equipment, and giving out a relative shot explosion drop 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 calculation function of the relative shot blast landing point position is:
and->The spatial position coordinates of the two infrared optical lenses are respectively.
The invention adopts a movable testing device, and has flexible structure, convenient installation and low cost by a binocular vision testing mode. 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 dual-vision imaging module are arranged in the carrier, the characteristic of strong mobility of the vehicle in a test target range is fully utilized, and a mobile projectile drop point explosion position test system with controllable arrangement and adjustable test area is formed; the device has strong mobility, flexible arrangement and high test precision.
The above embodiments are merely preferred embodiments of the present invention, the protection scope of the present invention is not limited thereto, and any simple changes or equivalent substitutions of technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention disclosed in the present invention belong to the protection scope of the present invention.

Claims (7)

1. The movable shot drop point explosion position testing device is characterized by comprising a movable frame (1) and two groups of testing modules (2) which are 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 set of said test modules (2) comprises:
a translation assembly (4) arranged on top of the movable frame (1) and capable of moving relative to the movable frame (1);
the U-shaped frame I (5) is erected on the top of the translation assembly (4) and can rotate relative to the translation assembly (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 I 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 collecting shot explosion images;
the device comprises a visual imaging module (8), a laser range finder (3), an angle encoder I (7), a control module and a control module, wherein the control module is used for acquiring and processing data of the laser range finder (3) and the angle encoder I (7), controlling the distance between two translation assemblies (4) and the rotation angle of a U-shaped frame I (5) and a U-shaped frame II (6) according to processing results, and adjusting the test area after shooting rays of the two visual imaging modules (8) meet;
the movable rack (1) comprises:
the 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);
a top plate (104) provided on top of the support frame (101);
the translation assembly (4) is arranged on the top of the top plate (104) and can move relative to the top plate (104);
the translation assembly (4) comprises:
the longitudinal section of the supporting 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 supporting plate I (401), a plurality of first limiting holes are formed in the outer wall of the other side of the supporting 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 in butt joint with the inner wall of the supporting frame (101); the U-shaped frame I (5) is erected on the top of the supporting plate I (401) and can rotate relative to the supporting plate I (401);
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 straight rack I (402);
the translation assembly (4) further comprises:
the longitudinal section of the support plate II (405) is of an inverted U shape, a straight 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 I (401); the straight rack II (406) is perpendicular to the straight rack I (402), and the U-shaped frame II (6) is erected on the top of the supporting plate II (405) and can rotate relative to the supporting plate II (405);
and the motor III (407) is arranged at the bottom of the supporting plate I (401), and an output shaft of the motor III penetrates through the supporting plate I (401) and is provided with a gear II (408) meshed with the straight rack II (406).
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 inclination 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 double-shaft inclination sensor (10) is electrically connected with the control module.
3. The mobile projectile drop point explosion position testing device according to claim 1, wherein the U-shaped frame I (5) is rotationally 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; the angle encoder II is electrically connected with the control module.
4. A mobile projectile drop point explosion position testing device according to claim 3, wherein the visual 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.
5. A method of testing a mobile projectile drop point blast location testing apparatus in accordance with claim 4, comprising the steps of:
selecting observation points: according to the test requirements, moving the test device to a region where the expected shot drop point can be observed, and placing a laser range finder (3) at the middle position of the two groups of test modules (2) and enabling the laser range finder to point to the shot drop point explosion position;
adjusting the test range, comprising:
the two groups of translation assemblies (4) respectively drive the two groups of test modules (2) to approach or depart, and the distance between the two visual imaging modules (8) and the distance between the visual imaging modules (8) and the 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 testing range of the two visual imaging modules (8) after the infrared optical lenses shooting light rays meet covers the shot drop point explosion area;
calculating a shot drop point explosion location, comprising:
acquiring a plurality of images of the shot explosion moment by using two visual imaging modules (8), synchronously measuring the shot landing explosion position by using a laser range finder (3), realizing the characteristic matching of the acquired plurality of images and a plurality of groups of ranging data by using Opencv and Python software, and acquiring the pixel point coordinates of the shot explosion landing position in each image;
and according to the pixel point coordinates of the explosion landing point position of the projectile, calculating the explosion landing point position of the projectile by utilizing a binocular vision intersection testing system target three-dimensional position mathematical model.
6. The method for testing the explosion position of the movable projectile falling point according to claim 5, wherein the adjusting the testing range comprises the following steps:
the inclination angle of the testing device is adjusted through the 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 straight rack I (402) to horizontally move, the moving distance of the testing device perpendicular to the observing direction is further adjusted, and when the distance between the two testing devices reaches a preset distance, the motor II (404) stops running;
the motor III (407) drives the gear II (408) to rotate, and the gear II (408) drives the straight 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;
the control module collects data of the laser range finder (3), the angle encoder I (7) and the angle encoder II, processes the collected data, sends control instructions to the motor I (9) and the motor IV (12) according to processing results, adjusts the vertical rotation angle of the U-shaped frame II (6) around a horizontal axis through the motor I (9), adjusts the horizontal rotation angle of the U-shaped frame II (6) through the motor IV (12), and achieves that a test area after intersection of the shooting visual field ranges of the two visual imaging modules (8) can cover an expected shot drop point area.
7. The method for testing the explosion position of the movable projectile falling point according to claim 6, wherein the calculation of the explosion position of the projectile falling point by using a target three-dimensional position mathematical model of a binocular vision intersection testing system specifically comprises the following steps:
as is known, the projection center O of a visual imaging module (8) 1 For the optical axis center of the infrared optical lens, a coordinate system O is established 1 X 1 Y 1 The method comprises the steps of carrying out a first treatment on the surface of the Projection center O of another visual imaging module (8) 2 For the optical axis center of the infrared optical lens, a coordinate system O is established 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 respectivelyAnd->Focal lengths f respectively 1 And f 2 The method comprises the steps of carrying out a first treatment on the surface of the The distance between the two infrared cameras is b, the straight line distance of the explosion position of the ball drop point measured by the laser range finder (3) is L, and the two infrared cameras collect the pixel coordinate P of the explosion position of the ball drop point in the image 1 (X 1 ,Y 1 ) And P 2 (X 2 ,Y 2 )；
Based on known parameters, combining a target three-dimensional position mathematical model of the dual-vision intersection test system, and calculating the explosion position of the ball drop point, wherein the mathematical model of the target three-dimensional position is as follows:
wherein: phi (phi) 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 drop point position, acquiring position information of a ground marker of the test area by using GPS equipment, and giving out a relative shot explosion drop 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 calculation function of the relative shot blast landing point position is:
and->The spatial position coordinates of the two infrared optical lenses are respectively.
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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