CN108375350A - A kind of high-precision cylinder bullet angle measuring device based on image - Google Patents
A kind of high-precision cylinder bullet angle measuring device based on image Download PDFInfo
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- CN108375350A CN108375350A CN201711101340.3A CN201711101340A CN108375350A CN 108375350 A CN108375350 A CN 108375350A CN 201711101340 A CN201711101340 A CN 201711101340A CN 108375350 A CN108375350 A CN 108375350A
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- code
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- photogrammetric
- benchmark
- cylinder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of high-precision cylinder bullet angle measuring device based on image, the device are equipped with end benchmark ejector on the lock ereisma of body end, and repacking is set for that will assemble immeasurablel benchmark extraction on two bodies after being oriented to button；Cylinder benchmark ejector is mounted on the end face of the double helix guide rail of cylinder front end, and the nail of the double-pin by being installed on cylinder benchmark ejector is close on the medial surface of double helix guide rail, to draw sightless cylinder benchmark in cylinder；Single CCD is focused on cylinder benchmark ejector and on the benchmark ejector of end by zoom lens successively to obtain large and small photogrammetric code-disc image.Angle is identified by the line of codes extracted on large and small photogrammetric code-disc and extracts an angular coordinate, after the processing such as distortion that disappear, missile orientation navigational material initial angle can accurately be found out by finding out the front and back spin matrix of angle point target rotation by the method for best fit.
Description
Technical field
The present invention is a kind of high-precision cylinder bullet angle measuring device based on image, belongs to geometric sense in weaponry production and examines
Survey field can directly measure the body angle that threadingly track rotates in the launching tube with helical track.
Background technology
Body launching trajectory with helix just can be used after needing long-term place, and it is extremely low that this requires inertial navigation component to have
Zero bias rate.It is influenced by zero bias factor, the precision for the optical fibre gyro class directed navigation device placed for a long time is simultaneously unsatisfactory.In force
Before device manufacture, from the angle of system, under conditions of directed navigation device precision is certain, by reasonably establishing acceleration
The error model of meter and gyroscope, designs effective filter, every error of directed navigation device is made accurately to be recognized,
And it is compensated in navigation procedure to reduce the influence of zero bias.The method is verified, and inertial navigation system can be effectively improved by being one kind
The method for navigation accuracy of uniting.After weapon manufacture, to the guided missile that each will emit, rotated in launching tube by measuring body
Angle as directed navigation device initial angle, the rotation angle demarcated before the initial angle measured and manufacture is compared, by what is compared
Difference carries out zero offset compensation as offset to the navigational material for the guided missile placed for a long time, some existing weapons just use this side
Case.
Body with helical track launching tube is first guided by the guide thread inside launching tube when emitting, igniting
If body can carry out Accurate Calibration along the angle that cylinder internal thread sliding rail is rotated afterwards, which will be used as body navigational material
The initial value of (fibre optic gyroscope) compensates the drift of body navigational material after transmitting automatically, so that it is guaranteed that body is detached from transmitting
Navigation accuracy after cylinder.Therefore cylinder internal thread sliding rail institute rotation angle calibration it is accurate whether be directly related to the navigation of body
And accuracy at target.Each piece of body after mounting will accurately measure the angle and be recorded in body.Body is passing through
Too far way transport or it is long-term place after, the problem of can which keep stable, this is urgent need to resolve.Therefore in body target range and bullet
The quick field calibration system that a set of navigational material is required to during body later maintenance to carry out directed navigation device initial angle
Quickly detection.There is no feasible technical solutions or equipment to realize that quickly accurate measure and navigation device initial angle, that is, body exists at present
This function of threadingly track is rotated in cylinder angle..
Invention content
The purpose of the present invention is：To solve the problems, such as that quickly accurate measure and navigation device initial angle, the present invention propose one
High-precision cylinder bullet angle measuring device of the kind based on image.
The technical scheme is that：A kind of high-precision cylinder bullet angle measuring device based on image, it is characterised in that：Pass through
End benchmark ejector is installed on the lock ereisma of body end, by the base of the immeasurablel guiding button on body after assembly
Standard is drawn；On the medial surface for the double helix guide rail that cylinder benchmark ejector is mounted on cylinder front end by double-pin nail thereon,
To which sightless cylinder benchmark in cylinder be drawn；Monocular CCD is focused to draw in end benchmark by zoom lens and be filled successively
Set and cylinder benchmark ejector on, by extract it is large and small measure code-disc on line of codes identify angle, extraction angular coordinate simultaneously
The processing such as distortion that disappear are carried out, the front and back spin matrix of angle point target rotation is found out by the method for best fit, passes through spin matrix
Missile orientation navigational material initial angle can accurately be found out.
End benchmark ejector is equipped with dowel hole and the small photogrammetric code-disc of installation, end benchmark ejector
By being fitted on lock ereisma with extraction pin on tip lock ereisma；Two guiding button lines on body and tip lock ereisma
After the angle of the upper center line for drawing pin is measured using three coordinates, end benchmark ejector is obtained using photogrammetric survey method
Angle position, that is, obtain body on two guiding buttons angle, by two bodies be oriented to button assembly after immeasurability
Benchmark draw.
Cylinder benchmark ejector includes big photogrammetric code-disc, big photogrammetric code-disc mounting bracket, the extraction of cylinder benchmark
Disk, cylinder benchmark draw pin, big photogrammetric code-disc and small photogrammetric code-disc alignment pin；Cylinder benchmark is drawn disk and is equipped with
Prominent flange form positioning reference plane, contacts with the end face of double helix guide rail, coordinates the double-pin installed on cylinder benchmark ejector
Nail is close on the medial surface of double helix guide rail, and big photogrammetric code-disc is drawn pin angle position with cylinder benchmark and fixed；It takes the photograph greatly
Shadow measures code-disc and small photogrammetric code-disc mounted on the rotation angle that the angle of zero groove on cylinder is double helix guide rail in cylinder
Degree.
Pass through relative angle after the big photogrammetric code-disc of photogrammetry acquisition and small photogrammetric code-disc installation；By fixed
End benchmark ejector is installed to cylinder benchmark and drawn in side surface by position pin hole, big photogrammetric code-disc and small photogrammetric
Code-disc is positioned by the alignment pin at cylinder both ends；Big photogrammetric code-disc and small photography code are determined using photogrammetry
The circle center line connecting of the initial position of disk, big photogrammetric code-disc and small photogrammetric code-disc alignment pin is drawn with cylinder benchmark to be filled
The angle set between the line of centres of installation double-pin nail is measured by three coordinate measuring machine, then the angle is big photogrammetric code
The position relationship of disk and small photogrammetric code-disc initial angle.
It is an advantage of the invention that：The present invention proposes a kind of high-precision cylinder bullet angle measuring device based on image, solves
Quickly the problem of accurate measure and navigation device initial angle.End benchmark ejector is mounted on the lock ereisma of body and can not survey
Body on be oriented to button benchmark measurable Digital Photogrammetric System benchmark is transformed by small photogrammetric coding disk.Cylinder benchmark draws
Go out device to draw sightless cylinder benchmark in cylinder, the target point data by extracting large and small photogrammetric code-disc is realized
The initial angular measurement of missile orientation navigational material, this method have many advantages, such as that time of measuring is short, non-contact, strong environmental adaptability,
Solves the problems, such as the measurement of missile orientation navigational material initial angle.
Description of the drawings
Fig. 1 is the working effect figure of the present invention.
Fig. 2 is the end benchmark ejector structure chart of the present invention.
Fig. 3 is the cylinder benchmark ejector structure chart of the present invention.
Fig. 4 is the big small-sized photogrammetric code-disc alignment structures figure of the present invention.
Specific implementation mode
Below in conjunction with attached drawing and embodiment, the present invention is further described：The end benchmark ejector installation of the device
On the lock ereisma of body, lock ereisma is fixedly installed to the tail portion of body.Error, afterbody can be brought due to processing and assembling
The guiding button of both sides and the angle meeting off-design value of two positioning pin centers on lock ereisma can be used to solve the problems, such as this
Three coordinate measuring engine measurement goes out the angle of every hair bullet, the offset angle of introducing1The alignment pin position of tail portion on ereisma is locked by measurement
It can determine that body is oriented to button position, body, which is oriented to button and draws, is furnished with pin hole in tooling, small photogrammetric coding disk is mounted on and leads
It is drawn in tooling to button benchmark, the zero line of small photogrammetric code-disc and the angle of pin hole circle center line connecting are then solid after installation is complete
It is fixed, immesurable guiding button benchmark on body is finally transformed into measurable Digital Photogrammetric System by small photogrammetric coding disk
Benchmark.
Cylinder benchmark ejector is mounted on the outlet end of cylinder and is in direct contact with screw thread sliding rail, because of sliding rail exit
Position reference be difficult to directly measure, it is fixed that the ejector of cylinder benchmark guiding button is designed as the outlet of ranging offset guide rail thus
Thus one fixed value H of plane introduces system angle α4.Big photogrammetric code-disc is fixedly connected with rear group with the ejector of cylinder benchmark
At cylinder benchmark ejector, it is oriented to button after installation is complete and is then fixed with the zero-bit angle on big photogrammetric code-disc, therefore is logical
The big photogrammetric code-disc crossed on cylinder benchmark ejector can draw sightless cylinder benchmark in cylinder.Due to processing and
Rigging error, the center line of zero graduation line and two guiding buttons is difficult to be completely superposed after big photogrammetric code-disc installation, is thus drawn
Enter a deviation angle, since zero groove air brushing is on photogrammetric plate, it is three-dimensional cylinder to be oriented to button, therefore uses optical three-coordinate also
Hardly possible accurately measures the deviation angle.Also due to processing and rigging error, it is difficult to by the lower Item disk on the benchmark ejector of end
Zero graduation line is strictly aligned with the center line of two mounting-positioning holes, thus introduces another deviation angle, which is equally difficult to
It is accurate to measure.The present invention solves the problem with the following method, two diameters of radial design on the front end face for being oriented to button main body
Pin hole simultaneously installs shop bolt, small photography mounting plate is installed to by dowel hole on the end face for being oriented to button main body, Zhi Houli
The angle [alpha] of large and small photography code-disc initial position is measured with photogrammetry2, positioning pin circle center line connecting on end face on cylinder
Guiding button the line of centres angle α3It is measured using three coordinates, then can determine big photogrammetric code-disc and small photogrammetric code
The relationship of disk initial angle.The position relationship of large and small photogrammetric code-disc can get the opposite rotation of large and small photogrammetric code-disc after determining
Gyration.Big coding disk, which is oriented to button centre-to-centre spacing positioning surface height difference H, can make measured missile orientation navigational material initial angle and reality
There are a deviation angles for the initial angle on border, if the helical pitch of cylinder is L, the deviation angle thus introduced is represented by α4=H/L
360, then α calculating in total drift angle is as follows：
Deviation angle:α6=α5+α3-α2
Total drift angle:α=α6+α4-α1
α1：Body is oriented to button and locks the angle of ereisma positioning pin center
α2：The angle of big photography code-disc and small photogrammetric code-disc initial zero position line when initial zero position determines
α3：The angle of positioning pin circle center line connecting and the line of centres of the guiding button on cylinder on end face
α4：Big coding disk is oriented to the deviation angle that button centre-to-centre spacing positioning surface height difference introduces
α5：The angle of big photography code-disc and small photogrammetric code-disc initial zero position line when practical measurement
α6：It is oriented to the positioning pin line of centres and small photogrammetric code-disc pin hole circle center line connecting on button mounting body front end face
Angle
Angle Method is obtained using CCD：Due to camera lens processing and installation error, the image that CCD is obtained certainly exists distortion,
And CCD planes can not possibly be substantially parallel with measured object, therefore to determine that CCD obtains the two-dimensional coordinate and mesh of the target point on image
It needs to demarcate CCD before relationship between the practical three-dimensional coordinate of punctuate.The internal reference of CCD can be obtained by CCD calibration
Number and outer parameter.Obtaining intrinsic parameter is distorted to eliminate, and it is to determine that the image coordinate system of camera is sat with object to obtain outer parameter
The spatial relation between three-dimensional system of coordinate in mark system.Video camera after calibration could pass through the two dimension in the plane of delineation
Coordinate exact inference goes out physical location of the target in physical space.Camera calibrated problem to be solved is exactly to establish object
The transformational relation of world coordinates and the image plane coordinate of image in video camera, needs to be converted to camera calibration problem herein and asks two
Plane, demand solve the perspective projection matrix between video camera imaging plane and objective plane.Camera calibration determines object
World coordinates with its camera image plane coordinate one-to-one relationship.There are many calibration of camera internal parameters methods, wherein
By the method that on-gauge plate is demarcated can obtain it is satisfied as a result, therefore the present invention using 9 × 6 standard gridiron pattern come
Calibration for cameras.In the case where not adjusting camera, the intrinsic parameter of camera is fixed, this is the base that phase function measures
Plinth.Each image has the outer parameter of corresponding imaging system, wherein comprising between testee coordinate system and camera coordinates system
Rotation and translation relationship.Exactly because the corresponding object coordinates of different images tie up to, the position in camera coordinates system is different just to be made
We can calculate the relationship between two coordinate systems using outer parameter.Needs by using passing through in advance when calculating outer parameter
The intrinsic parameter that camera calibrated obtains is to reduce influence of the lens distortion to measurement result.In actually measuring, the position of camera is solid
Fixed motionless, testee rotates by a certain angle around own axes (substantially parallel with camera optical axis), which is to be measured.It is right
The rotation angle measures, and actually solves R matrixes.Object coordinates system can be solved rotating around x-axis, y from R matrixes
Axis and the respective rotation angle of z-axis, are indicated with α, β and γ respectively.The mathematical relationship of spin matrix R and rotation angle α, β and γ
For：
Can be with the element representation in R by rotation angle by calculating：
γ is using photogrammetric required angle.
High-precision cylinder bullet angle measuring device overall work state such as Fig. 1 of the present invention based on image, shown in 2.Work
Monocular CCD1 is fixedly mounted on tripod when making, and position is adjusted to coaxial with body 3 and is placed on 3 tail end of body.Body 3
In the internal cylinder 4 with double helix guide rail, cylinder is placed on cylinder supporting rack 6 and fixes；End benchmark is drawn
Device 2 is mounted on the lock ereisma 2-2 of 3 end of body；The double helix that cylinder benchmark ejector 5 is mounted on 4 front end of cylinder is led
On the end face of rail, and the nail of the double-pin by being installed on cylinder benchmark ejector 5 5-4 is close to the medial surface in double helix guide rail
On, to which sightless cylinder benchmark in cylinder 4 be drawn.
Shown in attached drawing 2, it is equipped with pin hole on end benchmark ejector 2 of the present invention, passes through tip lock ereisma
The end benchmark installed on 2-2 is drawn pin 2-1 and is mounted on lock ereisma 2-2,3 guiding button 2-3 and tip lock on two bodies
The centerlines that two end benchmark extraction pin 2-1 are installed on ereisma 2-2 are α1, the angle is measured using three coordinates.
Shown in attached drawing 3,5 agent structure of cylinder benchmark ejector of the present invention includes big photogrammetric code-disc
5-1, big photogrammetric code-disc mounting bracket 5-2, cylinder benchmark draw disk 5-3, and cylinder benchmark draws pin 5-4, and size is photogrammetric
Code-disc alignment pin 5-5.Big photogrammetric code-disc 5-1 is fixedly mounted on big photogrammetric code-disc mounting bracket 5-2, bullet by screw
Cylinder benchmark draws disk 5-3 and is fixedly mounted on big photogrammetric code-disc mounting bracket 5-2 by screw and pin, and cylinder benchmark draws disk
It is designed with prominent flange form positioning reference plane on 5-3, is contacted with the end face of double helix guide rail, cooperation cylinder benchmark ejector 5
The double-pin nail 5-4 of upper installation is close on the medial surface of double helix guide rail, and sightless cylinder benchmark in cylinder 4 is drawn.
Shown in attached drawing 4, zero graduation line and lower Item disk zero after big photogrammetric code-disc 5-1 installations of the present invention
The acquisition scheme of graduation mark angle is as follows：End benchmark ejector 2 is installed to cylinder benchmark by dowel hole and draws disk
On large and small photogrammetric code-disc alignment pin 5-5 on the end faces 5-3, at the beginning of measuring size photography code-disc using photogrammetry later
The folder degree α of beginning position2, size photogrammetric code-disc alignment pin 5-5 circle center line connectings and cylinder benchmark ejector 5 on end face
The angle α of the line of centres of the double-pin nail 5-4 of upper installation3It is measured with three coordinates, then can determine that big photogrammetric code-disc is taken the photograph with small
Shadow measures the angle of code-disc initial position.The position relationship is big in the initial angular measurement of progress missile orientation navigational material after determining
Photogrammetric code-disc 5-1 can be measured with small photogrammetric code-disc relative rotation angle.Big coding disk is oriented to the centre distance of button
The height difference H of positioning surface can be such that the missile orientation navigational material initial angle of measurement is deposited with actual missile orientation navigational material initial angle
In a fixed deviation angle, which is obtained by theoretical calculation,.Because the relatively entire helical pitches of height difference H are smaller, height difference
The foozle of H is negligible.
Shown in attached drawing 4, combined using line coding and angle point coding on the photogrammetric code-disc of size of the present invention
Method be designed.The line coding used on the photogrammetric code-disc of size matches close angle in the form of sector structure is chequered with black and white
Point coding can obtain the identification of large and small code-disc zero line.Angular coordinate is extracted after angle recognition, with most after the processing such as distortion that disappear
The method of good fitting finds out the front and back spin matrix of angle point target rotation, you can accurately finds out missile orientation navigational material initial angle.
Claims (5)
1. a kind of high-precision cylinder bullet angle measuring device based on image, it is characterised in that：By on the lock ereisma of body end
End benchmark ejector is installed, the benchmark of the immeasurablel guiding button on body after assembly is drawn；Cylinder benchmark is drawn
On the medial surface for the double helix guide rail that device is mounted on cylinder front end by double-pin nail thereon, thus will be sightless in cylinder
Cylinder benchmark is drawn；Monocular CCD is focused by zoom lens successively in end benchmark ejector and cylinder benchmark ejector
On, it identifies angle by extracting the large and small line of codes measured on code-disc, extracts angular coordinate and carry out the processing such as distortion that disappear, lead to
The method for crossing best fit finds out the front and back spin matrix of angle point target rotation, and missile orientation can be accurately found out by spin matrix
Navigational material initial angle.
2. the cylinder bullet angle measuring device according to right 1, it is characterised in that：End benchmark ejector is equipped with dowel hole
And the small photogrammetric code-disc of installation, end benchmark ejector with extraction pin on tip lock ereisma by being fitted to lock bullet
On device；The angle of two guiding button lines and the center line that pin is drawn on tip lock ereisma on body is measured using three coordinates
Afterwards, the angle position of end benchmark ejector is obtained using photogrammetric survey method, that is, obtains two guiding buttons on body
Angle, by immeasurablel benchmark is drawn after being oriented to button assembly on two bodies.
3. cylinder benchmark ejector according to claim 1 or 2, it is characterised in that：Including big photogrammetric code-disc, greatly
Photogrammetric code-disc mounting bracket, cylinder benchmark draw disk, cylinder benchmark extraction pin, big photogrammetric code-disc and small photogrammetric code
Disk alignment pin；Cylinder benchmark draws disk and is equipped with prominent flange form positioning reference plane, contacts, matches with the end face of double helix guide rail
It closes the double-pin nail installed on cylinder benchmark ejector to be close on the medial surface of double helix guide rail, big photogrammetric code-disc and bullet
Cylinder benchmark is drawn pin angle position and is fixed；Big photogrammetric code-disc and small photogrammetric code-disc are mounted on the folder of zero groove on cylinder
Angle is the rotation angle of double helix guide rail in cylinder.
4. cylinder benchmark ejector according to claim 1 or 2, it is characterised in that：It is obtained by photogrammetry big
Relative angle after photogrammetric code-disc and small photogrammetric code-disc installation；End benchmark ejector is installed by dowel hole
Drawn in side surface to cylinder benchmark, big photogrammetric code-disc and small photogrammetric code-disc by the alignment pin at cylinder both ends into
Row positioning；The initial position of big photogrammetric code-disc and small photography code-disc, big photogrammetric code-disc are determined using photogrammetry
With the line of centres of the circle center line connecting of small photogrammetric code-disc alignment pin and installation double-pin nail on cylinder benchmark ejector it
Between angle measured by three coordinate measuring machine, then the angle is big photogrammetric code-disc and small photogrammetric code-disc initial angle
Position relationship.
5. cylinder benchmark ejector according to claim 3, it is characterised in that：Big photography is obtained by photogrammetry
Relative angle after measurement code-disc and small photogrammetric code-disc installation；End benchmark ejector is installed to bullet by dowel hole
Cylinder benchmark is drawn in side surface, and big photogrammetric code-disc and small photogrammetric code-disc are determined by the alignment pin at cylinder both ends
Position；Determine the initial position of big photogrammetric code-disc and small photography code-disc using photogrammetry, big photogrammetric code-disc and small
Between the line of centres for installing double-pin nail on the circle center line connecting and cylinder benchmark ejector of photogrammetric code-disc alignment pin
Angle is measured by three coordinate measuring machine, then the angle is the position of big photogrammetric code-disc and small photogrammetric code-disc initial angle
Relationship.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711101340.3A CN108375350B (en) | 2017-11-09 | 2017-11-09 | High-precision barrel elastic angle measuring device based on images |
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| CN201711101340.3A CN108375350B (en) | 2017-11-09 | 2017-11-09 | High-precision barrel elastic angle measuring device based on images |
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| CN108375350B CN108375350B (en) | 2019-12-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110567318A (en) * | 2019-08-02 | 2019-12-13 | 上海航天精密机械研究所 | automatic detection device for launching tube and control method thereof |
| CN111504255A (en) * | 2020-04-28 | 2020-08-07 | 湖北三江航天万峰科技发展有限公司 | Three-dimensional alignment precision automatic measuring device and method based on machine vision |
| CN112747651A (en) * | 2019-10-29 | 2021-05-04 | 沪东重机有限公司 | Method for measuring angle of nozzle spray hole of marine diesel injector |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112747651A (en) * | 2019-10-29 | 2021-05-04 | 沪东重机有限公司 | Method for measuring angle of nozzle spray hole of marine diesel injector |
| CN111504255A (en) * | 2020-04-28 | 2020-08-07 | 湖北三江航天万峰科技发展有限公司 | Three-dimensional alignment precision automatic measuring device and method based on machine vision |
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