RU2478185C1 - Apparatus for determining spatial orientation of objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: apparatus has a reflector made in form of a unit of rectangular prisms, a lens, two rigidly connected marks with illuminators mounted in the object plane of the lens, spaced apart symmetrically about the axis of the lens, a fixing element which determines the controlled direction, and a receiver in form of a charge-coupled photoelectric device with a control unit and a signal processing unit. The lens used is a telescopic lens whose object plane is superimposed with its focal plane. Between the telescopic lens and the reflector there is a revolving shutter for providing alternate covering of half of the clear aperture of the telescopic lens during focusing. The signal processing unit includes an electronic system for automatically changing the scaling factor depending on the range and distance of measurement.

EFFECT: high measurement accuracy, enabling operation of the apparatus during change in distance, higher range of measured angles without errors, easy adjustment, smaller size.

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Description

The invention relates to measuring equipment and can be used to determine the mutual reversal of objects spaced apart in space, to check the twisting of surfaces relative to each other, to parallelly transfer the line of sight, to transmit the distance to the base direction, etc. Such tasks are often encountered, for example, when checking the location surfaces separated by an opaque barrier on ships, airplanes, in the field when transmitting an azimuthal direction. The specific features in which such products are mounted and assembled exclude the use of existing control means either due to insufficient accuracy, or due to the restriction of the control distance, or because of the complexity of the setting.

For example, a device is known (copyright certificate No. 741045 dated 12/28/1977) for controlling the flatness of surfaces separated by an opaque barrier, consisting of two optically coupled units with elements defining a basic and controlled direction, designed to control the foundation frame directly afloat. It contains a system of two lenses with prism reflectors, the edges of the right angle of which are parallel and connected with the indicated directions, two marks located along the edge of the reflector, an image registration unit and a microscope. One of the lenses is placed in a fixed block, the other lens and all the optical nodes of the device are placed in a block that rotates relative to the optical axis of the system. The principle of operation of the device is based on the property of a rectangular reflector to rotate the image of an object reflected from it by a double angle. The device has a fairly high accuracy, but can only work at one precisely calibrated distance. If the focus of the lenses, for example, is 1000 mm, then the distance will be 2000 mm and cannot change during operation, moreover, it is very difficult to configure the device and its certification.

The device described in the journal "Optical-Mechanical Industry" 1987, No. 12, p. 18-20 of a similar principle of operation, also contains two prism reflectors, a lens and a mark spaced apart from the axis of the lens parallel to the edges of the reflectors. The device allows you to change the distance, but the range is negligible and is limited by the value of the focal length of the lens and the dimensions of the device.

A device for determining the spatial orientation of objects is known, described in patent No. 218311 of 05/10/2001, which contains two prism reflectors, a lens, a stamp block with illuminators, an image combining unit, a photoelectric receiver, and an anchor element that determines the controlled direction. As indicated in the description of the invention, the marks are located in the objective plane of the lens. This symptom is. a significant drawback, as it does not ensure the operation of the device when changing the distance. When installing marks in the objective plane of the lens, a very accurate location of the receiver in the image plane and the reflector relative to the lens is required. All the planes in which the object is located relative to the lens are subject planes, but a parallel beam of rays does not always come out of the lens. To ensure the operation of the device without limiting the distance, it is necessary to arrange grades in the focal plane of the lens, i.e. the subject plane should be aligned with the focal plane. Only in this case, parallelism of the beam of rays emerging from the lens, the possibility of changing the distance and the constancy of the scale are ensured. In the device described in patent No. 218311, this is not provided. In addition, in the optical scheme of the device to obtain the required dimensions at a significantly large focal length (f = 1800 mm), a mirror-lens lens with aspherical surfaces is used, which is very difficult to manufacture, and therefore the device made according to the specified patent and described in " Optical Journal ”, 76, 9, 2009, pp. 56-58, did not find practical application.

Closest to the totality of features of the design, purpose and principle of operation of the proposed invention is a device for determining the spatial orientation of objects described in patent No. 2408840, etc. of 10.29.2009. The device contains a reflector in the form of a block of rectangular prisms, a lens mounted in the object plane of the lens, two brands that are rigidly interconnected with illuminators, forming two optical channels whose axes are symmetrical about the axis of the lens, an anchor element that determines the controlled direction, and a receiving device in the form of a photoelectric charge-coupled device with a control unit and a signal processing unit, which has two photosensitive registers parallel to each other and perpendicular lines marks. Stamps are made in the form of line rasters and are supplemented with elements whose cross section changes when the image of the stamps is shifted along the line of stamps. These displacements arising from the rotation of the reflector along the edge and introducing errors in the measurements are measured during the certification of the device and make appropriate corrections. Corrections are also made due to the increase in the measurement range. This task is very laborious.

As in the previous device, the arrangement of marks in the objective plane of the lens, not aligned with the focal plane, does not form an autocollimation system, a parallel beam of rays does not come out of the lens, and therefore at different distances the image is defocused and the transformation scale changes, and therefore, such a device cannot be used to determine the spatial orientation of objects in moving installations. In addition, if the marks are not installed in the focal plane of the lens and non-parallel beams of rays are incident on the prism reflector, then the main positive properties of the rectangular prism reflector are not fulfilled: the rays are reflected in the same direction and the system is insensitive to the tilts of the reflector in a plane perpendicular to its edge, which may cause glare and a complex picture in the image plane and reduce the accuracy of the measurement.

In the proposed device, the spatial orientation of the objects eliminates the disadvantages of the above device. The inventive device has significant distinguishing features.

First, marks are set in the focal plane of the lens. The technical effect is to increase the accuracy of the device, the ability to work at different distances, on moving units without refocusing, without changing the scale. Beams of parallel rays are incident and reflected back from the lens onto the prism reflector. At the same time, the system is insensitive to the slopes of the prism reflector and the main principle of the device is fulfilled: when the directions of the line of marks and edges of the reflector are mismatched, autocollimation allows measurements to be made with increased sensitivity and high accuracy.

Secondly, a telephoto lens was used as a lens, the task of which was to significantly reduce the dimensions of the device. With a sufficiently large focal length (f = 1000 mm), the focal plane in which the marks are located is slightly removed from the lens (S = 80 mm). The technical effect is to reduce the size of the device without reducing the measured path.

Thirdly, in the proposed device, a rotary shutter is installed, which is located between the telephoto lens and the prism reflector in the plane of the position of the pupil and turns on when focusing. Calculations and practical tests of the device showed how important it is to combine the objective plane of the lens with the focal plane. A misalignment of 0.1 mm already unacceptably changes the focus of the images and the scale of the measured values at different distances. Achieving such accurate results is a time-consuming task with a lens with a large focal length, with an off-axis arrangement of the grades and a variable distance. The inclusion of a shutter, which alternately overlaps one half of the light diameter of the lens, then the other, greatly simplifies this task. Evaluating the results of overlap by the receiver counter and leveling them by installing the appropriate gasket under the lens, provide focusing with the required high accuracy. The technical effect is to simplify the configuration of the device, improving the accuracy of measurements at all distances.

Fourthly, in the proposed device, the signal processing unit is equipped with an electronic system for automatically entering the value of the scale factor K depending on the range of measured angles and the measurement range, which can significantly increase the range of measured angles without increasing the measurement error. The measured rotation angle of the prism reflector W is determined by the magnitude of the mutual displacement L of the brand images in the focal plane of the telephoto lens along the receiver registers, which is determined by the formula L = b tg2W, where b is the distance between the registers. The formula for determining the angle W = K · L, where K is a scale factor. The value of K is determined by the formula K = W / L and cannot have a constant value when measuring different values of W. With an increase in the measurement range, the measurement error inevitably increases due to the nonlinearity of the dependence of the function tg2W on L. In the device (prototype) described above, to eliminate the error, corrections at K = const with a resolution of one angle. s to the appropriate measuring ranges. The work of introducing corrections is very laborious and limits the range of measured angles. In addition, the introduction of amendments to additional elements of the grades, carried out in the prototype, is also possible only with small measurement ranges, because when the reflector is rotated to a double angle, it is deployed with the image of the image grades of additional elements. There is a difference in the durations of the video signals, the counter will show the horizontal alignment, according to which corrections are introduced, at zero horizontal alignment, i.e. when the measuring range is increased, amendments introduce an additional error. In the claimed device, the elimination of errors due to the nonlinearity of the rotation angle function W is carried out by changing the scale factor K as a function of the measured magnitude of the image displacement L by introducing this function into the electronic system of the signal processing unit. EFFECT: increased measurement range without errors, simplification and acceleration of the measurement process.

Figure 1 shows a schematic diagram of the inventive device. The device consists of two blocks. Block I is a reflective element 1, composed of several dihedral reflectors, the edges of the right angles of which lie in the same plane, and has a mirror element And the binding of the Central edge to a given direction. Block II - lighting and receiving with the element B, which determines the controlled direction. Block II contains two identical lighting systems 2 and 3, brands 4 and 5, installed in the focal plane 6 of the telephoto lens 7, photosensitive registers 8 and 9 located in the focal plane 10 of the telephoto lens 7, conjugated with the focal plane 6, an optical unit 11 with a beam splitter, providing high-precision pairing of grades 4 and 5 with registers 8 and 9, a photodetector 12, a computing unit 13, a control unit 14 with an electronic system 15 for automatically entering the value of the scale factor K. The shutter 16, which is turned on when focusing the TV Lens 7, is located between the telephoto lens 7 and the reflector 1.

On figa shows a diagram of the coordinate axes in the plane of the registers 8 and 9 of the photodetector and the position of the grades 4 and 5, made in the form of a set of transparent and opaque strokes. The marks are symmetrically spaced relative to the X axis of the telephoto lens 7 at a base distance b parallel to the Y axis. The registers are located along the measuring axis Z and are also spaced at a distance b.

The device operates as follows. Illuminators 1 and 2 illuminate brands 4 and 5 installed in the focal plane 6 of the telephoto lens 7. The light beams passing through the beam splitter get into the telephoto lens 7. From the telephoto lens to the prism reflector 1, beams of parallel rays that are focused by it fall and are reflected back onto the telephoto lens, pass again, the beam splitter 11 and enter the photodetector on registers 8 and 9. The photodetector device together with the signal processing unit converts the spatial position of the light indices on the photosensitive registers into a time scan ideosignalov, wherein the measured time interval between the video signals that adequate distance between indices. The angle of rotation of the prism reflector W is determined by the magnitude of the mutual displacement L of the image marks along the registers.

Change in the scale factor K with an increase in the measuring range W The mutual shift of the brand images along the L registers during the rotation is determined both by the value of the image rotation angle 2W and the distance between the registers b: L = b · tg2W (b = 12.5 mm) Angle of development, reflector W, arc.s, Image Angle. 22W, angle s tg 2W W / tg2W, arc L = t · tg2W, mm K = W / L, angle s / mm 1000 2000 0.00966 103455.4 0,120825 8278.15 1800 3600 = 1 ° 0.0175 0.21875 8228.6 2000 4000 0.019434 102910.8 0.242928 8233.84 2700 5400 = 1.5 ° 0,0262 0.3275 8244.3 3000 6000 0,0291 103092.8 0.36375 8,247.4 3600 7200 = 2 ° 0,0349 0.43625 8252 4000 8000 0,03876 103,207.15 0.48446 8256.6 4500 9000 = 2.5 ° 0.0433 0.54625 8233 5000 1000 0,04853 103 019.95 0.60668 8,241.6 5400 10800 = 3 ° 0,0524 0.655 8244.3 6000 12000 0,0582 103092.8 0.7275 8,247.4 6300 12600 = 3.5 ° 0,0612 0.765 8,235.3 7000 14000 0,067957 103092.8 0,84946 8240.5 7200 14400 = 4 ° 0.0699 0.8738 8240.3 8000 16000 0,077734 102960,1 0.97168 8233.17 8100 16200 = 4.5 ° 0,0787 0.98375 8233.8 9000 18000, 0.0875 102857.1 1,09375 8228.57 The first column is the angle of the reflector W, angl.s The second column is the image rotation angle 2W, angular sec The third column is the tangent value of 2W The fourth column is the ratio of W to the tangent 2W, angle c The fifth column is the mutual displacement of the images of the marks along the registers L, mm The sixth column is the value of the scale factor K

W = LK = btg2wk

From the presented table it is seen what happens with the image in the plane of the registers, how the offset value L changes and how the scale factor K changes with an increase in the measurement range W. Therefore, with an increase in the measurement range, the error increases when using the scale factor of a constant value. In the prototype, for example, the measurement range is limited to 1.5 degrees with an error of 5 angles. from. In the claimed device, the introduction of the signal processing unit of the system to automatically change the value of the variable K allows you to measure 2.5 degrees without error.

The operation of the shutter, which facilitates and refines the focusing process, is illustrated in figures 2a, 2b, and 2c, where 1 is a telephoto lens, 2 is a shutter, 3 is the focal plane of the lens, in which marks 4, 5, and the focal plane of the lens, in which the receiver registers 8, 9 are located. When this condition is met, by shutting one or the other half of the lens’s light diameter with a shutter, the receiver receives the same results on the counter (Fig. 2a). When defocusing (shifting the lens and its focal plane to the right (Fig.2b) or left (Fig.2c) along the axis relative to the object plane in which the marks are located), different positions of the images along the registers are observed. Figure 2b shows that when the upper part of the lens is blocked by a curtain, the image shifts upward in the plane of the registers; when the lower part of the lens is blocked, the image shifts downward. Figure 2c shows that when the upper part of the lens is covered with a curtain, the image is shifted down in the register plane, and when the lower part of the lens is blocked, the image is shifted up in the register plane. In such a simple way, from the counter readings, the direction and amount of defocus are determined and the lens is placed in the desired position by installing a gasket.

Thus, the use of a telephoto lens specially designed for this device, the installation of marks in the focal plane of a telephoto lens, the inclusion of a curtain as a criterion for accurate focusing and the use of a variable scale factor in the reading device of the system is new in the claimed device.

The technical result - improving the measurement accuracy, reducing the dimensions of the device, the ability to work at different distances, increasing the range of measured angles without introducing measurement errors, simplifying alignment.

The inventive device for determining the spatial orientation of objects is a high-precision optical-electronic device. Its performance directly depends on the quality of manufacture, assembly and alignment of the constituent optical nodes and parts. Distinctive features claimed in this device contribute to the solution of this problem. Since these signs are necessary to achieve the goal and a positive effect, the difference is significant.

At our enterprise for special subjects, two versions of autocollimation systems of vertical transmission of azimuthal direction (VPAN) were developed: with a constant distance and with a variable, with the principle of operation of the systems described above (ed. St. No. 100957, author St. No. 134981, author St. No. 153188) the device IS-77 is manufactured, described in the journal BOT. The design documentation of the VPAN system was developed and transferred to the enterprise FSUE NIIKI OEP for mastering serial production. At present, a device for determining the spatial orientation of objects using the declared features has been manufactured at FSUE NIIKI OEP, tests have been conducted, and positive results have been obtained. The production of a batch of devices according to the proposed invention is mastered. Thanks to the use of the claimed features, it was possible to improve the quality of the assembled devices in mass production.

Literature

1. Delyunov N.F., Leontiev G.V., Myasnikov Yu.A. Device for monitoring the flatness of surfaces separated by an opaque barrier. // Auth. St. USSR 741045, IPC G01B 11/30, prior. 12/28/77.

2. Pinaev L.V. A system of two rectangular mirrors and its properties. // OMP. 1987. No. 12. S. 18-20.

3. Shevtsov I.V., Zhukov Yu.P., Chudakov Yu.I., Ponomarev V.Ya., Petrov L.P. The device spatial orientation of objects. // Patent of Russia No. 2182311. 2001.

4. Shevtsov I.V., Chudakov Yu.I. Zhukov Yu.P., Lovchiy I.L., Petrov L.P., Tsvetkov V.I., Shevtsov S.E. A device for determining the spatial orientation of objects. // Patent of Russia №2408840. 2009.

5. Zhukov Yu.P., Lovchiy I.L., Chudakov Yu.I., Shevtsov I.V. High-precision device for spatial orientation of objects. // WMD. 2009. No9 p. 18-20.

Claims (1)

A device for determining the spatial orientation of objects, containing a reflector made in the form of a block of rectangular prisms, a lens, two brands that are rigidly interconnected with illuminators, mounted in the objective plane of the lens, spaced symmetrically about the axis of the lens, an anchor element that determines the controlled direction, and a receiving device in the form charge-coupled photovoltaic device, with a control unit and a signal processing unit, characterized in that the objective plane of the objective lens is compatible The camera has a focal plane of the lens, a telephoto lens is used as the lens, and the brands are located in the focal plane of the telephoto lens, a rotary shutter is installed between the telephoto lens and the reflector to provide alternate overlap of half the light diameter of the telephoto lens during focusing, and an electronic system for automatically changing the value is included in the signal processing unit scale factor depending on the range and distance of measurement, which eliminates the need for labor-intensive and e accurate corrections.

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