CN108801061B - A discrete target position testing device and testing method - Google Patents
A discrete target position testing device and testing method Download PDFInfo
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- CN108801061B CN108801061B CN201810437783.8A CN201810437783A CN108801061B CN 108801061 B CN108801061 B CN 108801061B CN 201810437783 A CN201810437783 A CN 201810437783A CN 108801061 B CN108801061 B CN 108801061B
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- 238000012360 testing method Methods 0.000 title claims abstract description 69
- 238000001514 detection method Methods 0.000 claims abstract description 112
- 230000003287 optical effect Effects 0.000 claims description 20
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010304 firing Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/02—Photo-electric hit-detector systems
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Abstract
本发明提供一种分立式目标位置测试装置，其包括线激光发射装置、第一线激光反射装置、第二线激光反射装置、光电探测接收装置、线阵CCD装置以及智能信号采集仪，其中，线阵CCD装置布置在线激光发射装置和第一线激光反射装置的连线中点处，通过线激光发射装置、第一线激光反射装置、第二线激光反射装置、光电探测接收装置以及线阵CCD装置形成四个探测光幕。本发明改善了传统一体式结构不利于搬运，标定后不能移动且无法测量多目标同时着靶的缺点，节约了成本，方便搬运，标定灵活，同时可以测量多目标同时着靶的位置坐标。
The invention provides a discrete target position testing device, which includes a line laser emitting device, a first line laser reflection device, a second line laser reflection device, a photoelectric detection receiving device, a line array CCD device and an intelligent signal acquisition device, wherein, The line array CCD device is arranged at the midpoint of the line connecting the line laser emitting device and the first line laser reflection device, through the line laser emission device, the first line laser reflection device, the second line laser reflection device, the photodetection receiving device and the line array CCD The device forms four detection light curtains. The invention improves the shortcomings of the traditional one-piece structure, which is unfavorable for handling, cannot move after calibration, and cannot measure the simultaneous landing of multiple targets.
Description
Technical Field
The invention relates to the technical field of photoelectric testing, in particular to a discrete target position testing device and a testing method.
Background
In the field of weapon target range testing, along with the development of weapon development technology, the high-precision measurement of the speed and the position of a high-speed continuous launching target and the matching identification of multi-target parameters are one of important assessment parameters for weapon verification. At present, the target parameters are measured by four-light-curtain intersection testing system, six-light-curtain intersection testing system, linear array CCD intersection testing system, net target testing system, acoustic target testing system and other testing devices. The four-light-curtain intersection testing system mainly adopts four sky-curtain targets or four light-curtain targets as a main body, can obtain single-target speed and position parameters, and requires that a target vertically passes through a light curtain, otherwise, the testing coordinate error is large and the target parameters need to be corrected; the six-light-curtain intersection testing system mainly adopts six sky-curtain targets or six light-curtain targets as a main body, and can obtain parameters such as single-target flight speed, azimuth angles, vertical target coordinates and the like; the CCD intersection testing system adopts a plurality of CCD cameras to intersect to form a detection target surface, is complex in structure, cannot accurately control the contact ratio of a plurality of surfaces, cannot accurately obtain an intersection angle, and causes low precision of measured target parameters and leakage measurement. The test systems can realize the test of single target parameters and also can realize the multi-target test under the condition of low-frequency target continuous firing, but when high-frequency multi-target continuous firing is carried out, a plurality of targets have diversity and randomness in the flight process, the conditions of shielding, overlapping and simultaneously reaching the same detection light curtain exist in a detection zone, at the moment, the test systems cannot accurately match and identify the plurality of targets which are continuously fired at a high speed, and the parameters of speed, position and the like corresponding to the plurality of targets cannot be measured at high precision.
Disclosure of Invention
The invention provides a discrete target position testing device and a testing method, which are used for solving the technical problems in the prior art.
The invention provides a discrete target position testing device which comprises a linear laser emitting device, a first linear laser reflecting device, a second linear laser reflecting device, a photoelectric detection receiving device, a linear array CCD device and an intelligent signal acquisition instrument, wherein the linear array CCD device is arranged at the middle point of the connecting line of the linear laser emitting device and the first linear laser reflecting device, and four detection light curtains are formed by the linear laser emitting device, the first linear laser reflecting device, the second linear laser reflecting device, the photoelectric detection receiving device and the linear array CCD device.
Preferably, the line laser emitting device comprises a triangular chassis and a first shell, the first shell is arranged on the triangular chassis, a first connecting turntable and a second connecting turntable are sequentially arranged on the triangular chassis, the first connecting turntable and the second connecting turntable comprise connecting convex discs and connecting seats, the connecting convex discs are connected with the connecting seats in a nested manner, the second connecting turntable further comprises a rectangular base, locking knobs are arranged on two sides of the second connecting turntable, and two horizontal blisters which are perpendicular to each other are arranged on the first connecting turntable.
Preferably, a laser emission unit is arranged in the first shell and comprises four line lasers, a lithium battery and a fixing plate, wherein the line lasers are positioned on the upper portion of the first shell and connected to the fixing plate, the three line lasers emit fan-shaped laser beams, the other line laser is used for calibration, a first panel is arranged on the front face of the first shell, a light outlet and a self-calibration scale mark are arranged on the first panel, and the line lasers emit laser light and emit the laser light through the light outlet on the first panel.
Preferably, the first line laser reflection device comprises a second shell, wherein a fine adjustment connecting turntable, a rotating shaft and a reflector are arranged in the second shell, and the reflector is arranged on the rotating shaft; the bottom end of the rotating shaft is connected with the angle encoder.
Preferably, a second panel and a third panel are arranged on the front surface of the second shell, wherein the second panel is vertically arranged and is parallel to the back surface of the second shell, a receiving slit is arranged on the second panel, the third panel is vertically arranged and forms an included angle of 45 degrees with the back surface of the second shell, and an emitting slit is arranged on the third panel.
Preferably, the photodetection receiving device comprises a third housing, a photodetection unit is arranged inside the photodetection receiving device, the photodetection unit comprises a fourth panel and two fixing plates, and the two fixing plates are vertically arranged and parallel to each other; be equipped with the first optical lens of a plurality of on the fixed plate that is close to the fourth panel, first optical lens arranges in proper order along vertical direction, is keeping away from the fourth panel be equipped with a plurality of groups circuit board and photoelectric detector on the fixed plate, every group circuit board and photoelectric detector correspond the first optical lens that has already paired.
Preferably, the linear array CCD device includes a U-shaped frame and a fourth housing, the U-shaped frame is fixed by a third connection turntable, the fourth housing is rotatable on the U-shaped frame, a linear laser and a second optical lens are disposed on an upper surface of the fourth housing, and a linear array CCD camera is disposed in the fourth housing and connected to the second optical lens.
Preferably, the corner position of the triangular chassis is provided with an adjusting device, the adjusting device comprises a knob, a stud and a foot, wherein the knob is connected with one end of the stud, and the other end of the stud is connected with the foot.
As another aspect of the present invention, the present invention provides a discrete target position testing method using the discrete target position testing apparatus according to any one of the above-mentioned embodiments, including:
(1) on a trajectory of a preset test position, a linear laser emitting device and a first linear laser reflecting device are coplanar, a first group of cylinders are arranged to be vertical to the ground, a second linear laser reflecting device and a photoelectric detection receiving device are coplanar, a second group of cylinders are arranged to be vertical to the ground, a linear array CCD device is arranged at the middle point of the connecting line of the linear laser emitting device and the first linear laser reflecting device, a shell of the linear array CCD device is rotated, a linear laser light curtain can be emitted to the top ends of the shell of the second linear laser reflecting device and the shell of the photoelectric detection receiving device, and in order to ensure that a fourth detection light curtain covers the range of a target surface to the maximum extent, the linear array CCD device is translated and the linear laser emitting device and the first linear laser reflecting device are ensured to be symmetrical with the; adjusting knobs of all the column triangular chassis after placement is finished, and finishing horizontal adjustment by observing horizontal bubbles;
(2) opening the line lasers of the line laser emitting device and the first line laser reflecting device, enabling the two laser beams to be overlapped and positioned in the center of the scale mark according to the observation calibration scale mark, and reading the numerical value theta of the angle encoder of the first line laser reflecting device at the moment after the two laser beams are adjusted and overlapped1；
(3) Rotating the first line laser reflection device and the second line laser reflection device to enable the first line laser reflection device and the second line laser reflection device to be coplanar to form a second detection light curtain, enable the second line laser reflection device and the photoelectric detection receiving device to be coplanar to form a third detection light curtain, and enable the third detection light curtain to be positioned in the center of a calibration scale mark of the photoelectric detection receiving device; measuring the distance between the linear laser emitting device and the corresponding two edges of the rectangular base of the first linear laser reflecting device, the distance between the second linear laser reflecting device and the corresponding two edges of the rectangular base of the first linear laser reflecting device, and judging whether the first detection light curtain and the third detection light curtain are parallel or not, if so, completing calibration; at the moment, the value theta of the angle encoder of the first line laser reflection device is read2Measuring the distance between the line laser emitting device and the second line laser reflecting device as a first target distance S1The distance between the line laser emitting device and the first line laser reflecting device is a second target distance S2Transmitting the numerical value to an intelligent signal acquisition instrument;
(4) reading the angle value theta displayed by the LED display screen on the linear array CCD device panel3Input to intelligent letterA number collector;
(5) the power switch on each cylinder control panel and the intelligent signal acquisition instrument are turned on to start the test, and when the target passes through the first detection light curtain, the intelligent signal acquisition instrument can record the time value t1And starting timing, sending a synchronous trigger command to the linear array CCD device to start scanning, wherein the time values of the target passing through the second detection light curtain, the third detection light curtain and the fourth detection light curtain are t2、t3、t4And the flight speed and the target landing coordinate are calculated by combining the acquisition frequency of the linear array CCD camera and the geometric relation of the four detection light curtains.
10. The discrete target location testing method of claim 9, further comprising:
(1) the distance between the first detection light curtain and the third detection light curtain is S1The time value when the target passes through the two light curtains is t1、t3Then the flying target speed can be determined
(2) The distance between the first detection light curtain and the second detection light curtain is S2The intersection angle of the first detection light curtain and the second detection light curtain is (theta)2-θ1) The time values of the target passing through the first detection light curtain and the second detection light curtain are t1、t2The coordinates of the flight target can then be determined
(3) The intersection angle of the first detection light curtain and the fourth detection light curtain is theta3The time values of the target passing through the first detection light curtain and the fourth detection light curtain are t1、t4Wherein, in the step (A),
k is the scanning rate of the linear array CCD, the coordinate y of the flying target can be determined to be tan theta3·v·(t4-t1)。
The invention provides a discrete target position testing device, which utilizes a linear laser light source, a photoelectric receiving unit, a reflector and a linear array CCD device to construct four intersecting light curtain spaces, improves the defects that the traditional integrated structure is not beneficial to carrying, can not move after being calibrated and can not measure the simultaneous target landing of multiple targets, saves the cost, is convenient to carry and flexible to calibrate, and can measure the position coordinates of the simultaneous target landing of the multiple targets.
Drawings
FIG. 1 is a schematic layout of a discrete target site testing apparatus according to the present invention;
FIG. 2 is a schematic view of a line laser emitting device of a discrete target position testing device according to the present invention;
FIG. 3 is a schematic view of a line laser emitting device panel of a discrete target position testing device according to the present invention;
FIG. 4 is a top view of a line laser emitting device of the discrete target position testing device according to the present invention;
FIG. 5 is a side view of a first line laser light reflecting device of a discrete target site testing device in accordance with the present invention;
FIG. 6 is a schematic illustration of a first line laser light reflecting device of a discrete target site testing apparatus in accordance with the present invention;
FIG. 7 is a top view of a first line laser light reflecting device of a discrete target site testing device in accordance with the present invention;
FIG. 8 is a side view of a photodetection receiving device of the discrete target position testing device according to the present invention;
FIG. 9 is a schematic view of a panel of a photodetection receiving device of the discrete target position testing device according to the present invention;
FIG. 10 is a schematic view of a panel of a photodetecting receiving device of the discrete target position testing device according to the present invention;
FIG. 11 is a top view of a photodetection receiving device of the discrete target position testing device according to the present invention;
fig. 12 is a schematic structural view of a linear array CCD device of the discrete target position testing apparatus according to the present invention;
fig. 13 is a schematic structural view of a linear array CCD device of the discrete target position testing apparatus according to the present invention;
fig. 14 is a plan view of a linear CCD device of the discrete target position measuring apparatus according to the present invention.
Wherein:
1. a line laser emitting device; 2. a first line laser reflection device; 3. a second line laser reflection device; 4. a photoelectric detection receiving device; 5. a linear array CCD device; 6. a first panel; 7. a line laser; 8. self-calibrating the scale marks; 9. finely adjusting a knob; 10. a rotary disc locking knob; 11. a first connecting turntable; 12. a control switch; 13. a horizontal adjusting knob; 14. horizontally soaking; 15. a fixing plate; 16. a lithium battery; 17. an emission slit; 18. a mirror; 19. a rotating shaft; 20. an angle encoder; 21. an LED display screen; 22. a first optical lens; 23. a circuit board; 24. a photodetector; 25. a second optical lens; 26. a linear array CCD camera; 27. a triangular chassis; 28. a first connecting turntable; 29. a second panel; 30. a receiving slot; 31. a third panel; 32. a panel of a linear array CCD device; 33. a fixed block; 34. a second bearing connected with the turntable; 35. a second connecting seat connected with the rotary disc; 36. connecting the convex disc; 37. a stud; 38. a rectangular base; 39. finely adjusting a bearing connected with the turntable; 40. a fourth panel; 41. a third connecting turntable; 42. a U-shaped frame; 43. an intelligent signal acquisition instrument; 44. a first housing; 45. a second housing; 46. a third housing; 47. a fourth housing; 48. a power supply module; 49. a drive circuit board; 50. an aviation plug; 51. and locking the knob.
Detailed Description
The embodiment relates to a discrete target position testing device which is mainly applied to testing of multiple target positions so as to obtain coordinate parameters of the multiple target positions.
The discrete target position testing device according to the present embodiment is disposed at a certain distance along the extending direction of the flying target (generally, a firearm), and the arrangement of the discrete target position testing device is as shown in fig. 1, and specifically includes a line laser emitting device 1, a first line laser reflecting device 2, a second line laser reflecting device 3, a photoelectric detection receiving device 4, a linear array CCD device 5, and an intelligent signal acquisition instrument 43. The linear array CCD device 5 is arranged at the middle point of the connecting line of the linear laser emitting device 1 and the first linear laser reflecting device 2. Wherein, the intelligent signal acquisition instrument 43 is internally provided with a power supply which can provide electric energy for the test device; the photoelectric detection receiving device 4 and the linear array CCD device 5 are connected with the intelligent signal acquisition instrument 43 through cables.
Further, the line laser emitting device 1 is structured as shown in fig. 2-4, the height of the line laser emitting device 1 is preferably 1500mm, and the effective target surface range is 1500mm 1000mm to 1500mm 3000 mm. The line laser transmitter 1 includes a triangular base plate 27 and a first housing 44, and the first housing 44 is disposed on the triangular base plate 27 and is preferably in a cylindrical shape. Furthermore, a first connecting turntable 28 and a second connecting turntable 11 are sequentially arranged on the triangular chassis 27; wherein, first connection carousel 28 includes connection bellying dish 36 and connecting seat 35, connection bellying dish 36 and connecting seat 35 nested connection, second connection carousel 11 includes connection bellying dish 36, connecting seat 35 and rectangular base 38, wherein, the upper surface of triangle chassis 27 and the connection bellying dish 36 fixed connection of first connection carousel 28, the upper surface of the connecting seat 35 of first connection carousel 28 is connected with the connection bellying dish 36 of second connection carousel 11, first casing 44 is fixed on rectangular base 38, rectangular base 38 is used for measuring the target distance so that judge whether the light curtain is parallel. In addition, locking knobs 10 are provided on both sides of the second connection dial 11 of the first connection dial 28 and the second connection dial 11, and are used for locking and fixing the first connection dial 28 and the second connection dial 11 after fine adjustment. In this way, the first housing 44 can be adjusted in position by the first connection dial 28 and the second connection dial 11 being rotatable by the mutual rotation of the connection projection plate 36 and the connection holder 35, and is fixed in position by the locking knob 10 provided on the first connection dial 28 and the second connection dial 11 after the rotational adjustment of the first housing 44 is completed. Furthermore, two horizontal blisters 14 arranged perpendicular to one another are provided on the first connecting disk 28.
Specifically, the first connection dial 28 enables coarse adjustment of the rotation of the first housing 44, and the second connection dial 11 enables fine adjustment of the rotation of the first housing 44. The fine adjustment knob 9 is arranged on the connecting seat 35 of the second connection turntable 11, specifically, the fine adjustment knob 9 of the second connection turntable 11 is connected with one end of a bearing 34 with threads and fixed on the upper surface of the connecting seat 35 of the first connection turntable 28 through two fixing blocks 33, the contact part of the connecting seat 35 of the second connection turntable 11 and the bearing 34 is provided with threads, and when the fine adjustment knob 9 is adjusted, the rotation of the bearing 34 enables the connecting seat 35 of the second connection turntable 11 to rotate within a range of plus or minus 45 degrees.
A laser emitting unit is arranged in the first housing 44, and the laser emitting unit includes four line lasers 7, a lithium battery 16 and a fixing plate 15, wherein the line lasers 7 are located at the upper part of the first housing 44 and connected to the fixing plate 15, and are powered by the lithium battery 16. Preferably, the three line lasers 7 adopt 650nm line lasers as laser light sources, each line laser 7 can emit fan-shaped laser beams, and the three fan-shaped laser beams are crossed to form a detection light curtain, namely, the light curtain detects the target surface. The other line laser 7 is used for calibration. For the convenience of control, two control switches 12 are provided on the back panel of the first housing 44 for controlling the light source laser and the calibration laser respectively.
The front surface of the first shell 44 is provided with a first panel 6, specifically, the front surface of the first shell 44 is fixedly connected with the first panel 6 through screws, the first panel 6 is provided with a light outlet and a self-calibration scale mark 8, and the line laser 7 emits laser light and emits the laser light through the light outlet on the first panel 6, so that the laser light is used as a light source of the discrete target position testing device.
The first line laser reflection device 2 and the second line laser reflection device 3 have the same structure, and the first line laser reflection device 2 is described as an example, as shown in fig. 5 to 7, specifically, the first line laser reflection device 2 includes a triangular base plate 27 and a second housing 45, and the second housing 45 is disposed on the triangular base plate 27, and is preferably in a cylindrical shape, and more preferably in a pentagonal prism shape. Furthermore, a first connecting turntable 28 and a second connecting turntable 11 are sequentially arranged on the triangular base plate 27, a second shell 45 is arranged on the second connecting turntable 11, a 36-bit high-precision angle encoder 20 is arranged on the second connecting turntable 11, and the rotation angle information can be read at any time through the angle encoder 20. It should be noted that the triangular base plate 27, the first connecting turntable 28, the second connecting turntable 11, and the like in the first line laser reflection device 2 and the second line laser reflection device 3 are the same as those in the line laser emission device 1.
A fine-tuning connection turntable 39, a fixing plate 15, a rotating shaft 19 and a reflector 18 are arranged in the second shell 45, and the reflector 18 is arranged on the rotating shaft 19 through the fixing plate 15; the fine adjustment connecting turntable 39 is arranged between the second shell 45 and the first connecting turntable 11, has the same structural function as the second connecting turntable 11, and is provided with a fine adjustment knob 9 outside the second shell 45; the micro-motion of the rotating shaft 19 enables the angle of the reflected light of the reflector 18 to be changed, the micro-adjustment range is 20 degrees to 50 degrees, the bottom end of the rotating shaft 19 is further connected with the angle encoder 20, the angle encoder 20 is connected with the LED display screen 21 on the back of the second shell 45, and the angle value can be read in real time through the LED display screen 21 to determine the rotating angle of the reflector 18 and transmit the rotating angle to the intelligent signal acquisition instrument 43.
A second panel 29 and a third panel 31 are provided on the front surface of the second housing 45, wherein the second panel 29 is disposed perpendicular to the ground and parallel to the back surface of the second housing 45, a receiving slot 30 is provided on the second panel 29, the receiving slot 30 is elongated and perpendicular to the horizontal plane, the third panel 31 is disposed perpendicular to the ground and at 45 ° to the back surface of the second housing 45, a transmitting slot 17 is provided on the third panel 31, and the transmitting slot 17 is elongated and perpendicular to the horizontal plane. Specifically, the receiving slit 30 is divided into three sections, the length of each section of slit is preferably 500mm, the slit width is 6mm, and the slit distance is 4 mm; the emission slit 17 is divided into three sections, the slit width is preferably 14mm, the maximum range of the rotation angle of the reflector 18 corresponds to two sides of the emission slit 17, and the middle of the upper end and the middle of the lower end of the emission slit 17 are provided with self-calibration scale marks 8.
As shown in fig. 8 to 11, fig. 8 to 11 show the structure of the photodetection receiving device 4, which includes a triangular chassis 27 and a third housing 46, the third housing 46 being disposed on the triangular chassis 27, preferably in the shape of a cylinder. Further, a first connection turntable 28 and a second connection turntable 11 are sequentially arranged on the triangular base plate 27, and a third housing 46 is arranged on the rectangular base plate 38 of the second connection turntable 11. It should be noted that the triangular base plate 27, the first connection turntable 28, the second connection turntable 11, and the like in the photodetection receiving device 4 are the same as those in the line laser emitting device 1.
A photodetection unit is provided inside the photodetection receiving device 4, wherein the laser light reflected from the second line laser reflection device 3 is received by the photodetection unit, specifically, as shown in fig. 10, the photodetection unit includes a fourth panel 40, wherein the fourth panel 40 is fixed to the side of the third housing 46 of the photodetection receiving device 4 by screws, and a receiving slit 30 is provided on the fourth panel 40, specifically, the receiving slit 30 on the fourth panel 40 is divided into three segments, each segment of the slit preferably has a length of 500mm, a slit width of 6mm, and a slit pitch of 4 mm.
The photodetecting unit comprises a fourth panel 40 and two fixation plates 15, the two fixation plates 15 being arranged vertically and horizontally and parallel to each other. The fourth panel 40 is connected to the third casing 46 of the photodetection receiving device 4 by screws, and is provided with a receiving slit 30, the receiving slit 30 is divided into three segments, each segment of the slit has a length of 500mm, a slit width of 6mm, and a slit pitch of 4 mm.
A plurality of groups of circuit boards 23 capable of being adjusted in an adaptive manner and photodetectors 24 with high sensitivity are arranged on the fixing plate 15 far away from the fourth panel 40, and the plurality of groups of circuit boards 23 and photodetectors 24 with high sensitivity are arranged at intervals in the vertical direction, wherein each group of circuit boards 23 and photodetectors 24 corresponds to the paired first optical lens 22. In addition, the photodetection receiving device 4 further comprises a lithium battery 16 for supplying power to the circuit board 23 and the photodetector 24, and the lithium battery 16 is controlled by a control switch 12 disposed on the back of the photodetection receiving device 4.
A plurality of first optical lenses 22 are disposed on the fixing plate 15 near the fourth panel 40, and the first optical lenses 22 are sequentially arranged along the vertical direction, wherein the first optical lenses 22 are configured to focus the light energy onto the corresponding photodetectors 24, and preferably, the focal length of the first optical lenses 22 is 16mm, and the diameter of each lens is 100mm, so that the photodetection unit can receive the light energy within the range of the target surface.
In addition, an aviation plug 50 is further disposed on the back of the photodetection receiving device 4, so that the signal output by the photodetection receiving device 4 is detected and received and transmitted to the intelligent signal acquisition instrument 43 through the aviation plug 50.
As shown in fig. 12 to 14, fig. 12 to 14 show a structure of a linear CCD device 5, which includes a triangular chassis 27, a U-shaped frame 42, and a fourth housing 47, the U-shaped frame 42 is provided on the triangular chassis 27, specifically, a lower surface of a third connecting turntable 41 is connected with an upper surface of the triangular chassis 27, the U-shaped frame 42 is fixed on the triangular chassis 27 by the third connecting turntable 41, the fourth housing 47 is provided on the triangular chassis 27 by the U-shaped frame 42, and the fourth housing 47 is rotatable on the U-shaped frame 42. A horizontal adjusting knob 13 is arranged on a triangular chassis 27 of the linear array CCD device 5 and is used for adjusting the height and the level of the triangular chassis 27. Furthermore, a third connecting rotary table 41 is connected to the upper surface of the triangular base plate 27, and a rotary table locking knob 10 is arranged on the third connecting rotary table 41, and the third connecting rotary table is locked and fixed by the rotary table locking knob 10. The U-shaped frame 42 is fixed on the third connecting turntable 41, and a locking knob 51 is arranged on the U-shaped frame 42.
The line laser 7 and the second optical lens 25 are disposed on the upper surface of the fourth housing 47 of the linear array CCD device 5, and preferably, the focal length of the second optical lens 25 is 28mm and the angle of view is 72 °.
A linear array CCD camera 26 is arranged in a fourth housing 47 of the linear array CCD device 5, and is connected to the second optical lens 25, and a driving circuit board 49, an angle encoder 20 and a power module 48 are further arranged in the fourth housing 47, wherein the power module 48 is connected to the intelligent signal acquisition instrument 43, and provides electric energy for the linear laser 7, the linear array CCD camera 26, the driving circuit board 49 and the like; the driving circuit board 49 is connected with the intelligent signal acquisition instrument 43 through an aviation plug, and the linear array CCD camera 26 is configured and used for obtaining a time value and position information of a flying target when the flying target passes through the fourth detection light curtain M4 through a synchronous trigger instruction; the front surface of the fourth shell 47 is provided with a panel 32, and the panel 32 is provided with an LED screen 21, an aviation plug 50 and a control switch 12; the angle encoder 20 is installed on the rotation axis of the U-shaped frame 42 and connected with the LED screen 21, and displays the rotation angle value of the U-shaped frame 42 through the panel LED screen 21 at any time.
The corresponding shells of the linear laser emitting device 1, the first linear laser reflecting device 2, the second linear laser reflecting device 3, the photoelectric detection receiving device 4 and the linear array CCD device 5 are connected with the triangular chassis 27 through the first connecting turntable 28 and the second connecting turntable 11, wherein an adjusting device is arranged at the corner position of the triangular chassis 27 and comprises a knob 13 with adjustable height and level, a stud 37 and a footing, wherein the knob 13 is connected with one end of the stud 37, the other end of the stud 37 is connected with the footing, and the triangular chassis 27 is placed on the horizontal plane through the adjusting device.
In this way, the laser light emitted by the line laser emitting device 1 through the line laser 7 reaches the reflecting mirror 18 in the first line laser reflecting device 2 through the receiving slit 30 on the second panel 29 in the first line laser reflecting device 2, and the laser light forms a first detecting light curtain M1 coplanar with the first line laser reflecting device 2; the first detecting light curtain M1 passes through the emission slit 17 on the third panel 31 in the first line laser reflection device 2 after being reflected by the reflection mirror 18 in the first line laser reflection device 2, passes through the receiving slit 30 on the second panel 29 in the second line laser reflection device 3, and then reaches the reflection mirror 18 inside the second line laser reflection device 3 to form a second detecting light curtain M2; the second detecting light curtain M2 is reflected by the reflector 18 of the second line laser reflection device 3, and then passes out from the emission slit 17 of the third panel 31 of the second line laser reflection device 3 to enter the photodetection receiving device 4, forming a third detecting light curtain M3 coplanar with the photodetection receiving device 4. The projections of the first detecting light curtain M1, the second detecting light curtain M2 and the third detecting light curtain M3 on the vertical plane form a zigzag shape. The light source emitted by the line laser 7 of the linear array CCD device 5 forms a fourth detecting light curtain M4.
When a target passes through the first detection light curtain M1, the second detection light curtain M2, the third detection light curtain M3 and the fourth detection light curtain M4 in sequence, a photoelectric detection unit in the photoelectric detection receiving device 4 outputs a corresponding pulse signal and transmits the pulse signal to the intelligent signal acquirer 43, the intelligent signal acquirer 43 starts timing by taking a time value when the target passes through the first detection light curtain M1 as a starting time and simultaneously sends a synchronous trigger instruction to the linear array CCD device 5 to enable the linear array CCD device 5 to start scanning, when the target passes through the second detection light curtain M2 and the third detection light curtain M3, the intelligent signal acquirer 43 acquires a corresponding time value, when the target passes through the fourth detection light curtain M4, the linear array camera 26 obtains an image when the flying target passes through the fourth detection light curtain M4, the image is transmitted and stored in the intelligent signal acquirer 43 through a data line, and the image contains time and space information of the target, the ordinate of the target in the image is the number m of scanning lines where the target is imaged, the ordinate is the number n of pixels where the target is imaged, if the scanning frequency of the linear array CCD camera 26 is k, the time is t ═ m/k, and finally, the position parameters of the multiple targets can be obtained through the obtained time value, target distance and light curtain intersection geometric relationship.
The method for testing the multiple target positions by using the testing device comprises the following steps:
(1) on a trajectory at a preset test position, a line laser emitting device 1 and a first line laser reflecting device 2 are coplanar, a first group of cylinders are arranged to be perpendicular to the ground, the distance between the line laser emitting device 1 and the first line laser reflecting device 2 can be adjusted within the range of 1000 mm-3000 mm, a second line laser reflecting device 3 and a photoelectric detection receiving device 4 are coplanar, a second group of cylinders are arranged to be perpendicular to the ground, the distance between the second line laser reflecting device 3 and the photoelectric detection receiving device 4 can be adjusted within the range of 1000 mm-3000 mm, and the distance between the two groups of cylinders is adjusted according to a specific experimental environment, so that the preset trajectory can pass through any position between the four cylinders; placing the linear array CCD device 5 at the middle point of the connecting line of the linear laser emitting device 1 and the first linear laser reflecting device 2, rotating the shell of the linear array CCD device 5 to enable the linear laser light curtain to be emitted to the top ends of the shell of the second linear laser emitting device 3 and the shell of the photoelectric detection receiving device 4, and in order to ensure that the fourth detection light curtain M4 covers the range of the target surface to the maximum extent, properly translating the linear array CCD device 5 according to the specific experimental environment and ensuring that the linear laser emitting device 1 and the first linear laser reflecting device 2 are in central symmetry with the position of the device; after the placement is finished, the adjusting knobs 13 of all the column triangular base plates 27 are adjusted, and the horizontal adjustment is finished by observing the horizontal bubbles 14.
(2) Opening the calibration lasers 7 of the linear laser emitting device 1 and the first linear laser reflecting device 2, enabling the two laser beams to be superposed and positioned in the center of the scale mark 8 according to observation of the calibration scale mark, and reading the numerical value theta of the angle encoder 20 of the first linear laser reflecting device 2 at the moment after the superposition is adjusted1。
(3) Rotating the first line laser reflection device 2 and the second line laser reflection device 3 to enable the first line laser reflection device 2 and the second line laser reflection device 3 to be coplanar to form a second detection light curtain M2, enable the second line laser reflection device 3 and the photoelectric detection receiving device 4 to be coplanar to form a third detection light curtain M3, and enable the third detection light curtain M3 to be located in the center of a calibration scale mark 8 of the photoelectric detection receiving device 4 through a coarse adjustment function and a fine adjustment function of each column; measuring the distance between the linear laser emitting device 1 and the first linear laser reflecting device 2, and the distance between the second linear laser reflecting device 3 and the rectangular base 38 of the first linear laser reflecting device 2 corresponding to two edges and corners to judge whether the first detecting light curtain M1 and the third detecting light curtain M3 are parallel, and if so, completing calibration; at this time, the value theta of the angle encoder 20 of the first line laser reflection device 2 is read2Measuring the distance between the line laser emitting device 1 and the second line laser reflecting device 3 as a first target distance S1The distance between the line laser emitting device 1 and the first line laser reflecting device 2 is a second target distance S2And transmits the value to the intelligent signal acquisition instrument 43.
(4) Reading the angle value theta displayed by the LED display screen 21 on the panel of the linear array CCD device 53Input to the intelligent signal collector 43.
(5) The power switch on each column control panel and the power switch of the intelligent signal acquisition instrument 43 are turned on to start the test, and when the target passes through the first detection light curtain M1, the intelligent signal acquisition instrument 43 records the time value t1And starts to time, sends a synchronous trigger command to the linear array CCD device 5 to start scanning, and the target passes through the second detection light curtain M2, the third detection light curtain M3 and the third detection light curtainThe time values of the four detection light curtains M4 are t respectively2、t3、t4And the flight speed and the target landing coordinates are calculated by combining the acquisition frequency of the linear array CCD camera 26 and the geometric relation of the four detection light curtains.
The specific calculation method adopted by the discrete target position testing method comprises the following steps:
(1) the distance between the first detecting light curtain M1 and the third detecting light curtain M3 is S1The time value when the target passes through the two light curtains is t1、t3Then the flying target speed can be determined
(2) The distance between the first detecting light curtain M1 and the second detecting light curtain M2 is S2The intersection angle between the first detecting light curtain M1 and the second detecting light curtain M2 is (theta)2-θ1) The time values of the target passing through the first detecting light curtain M1 and the second detecting light curtain M2 are t1、t2The coordinates of the flight target can then be determined
(3) The intersection angle of the first detecting light curtain M1 and the fourth detecting light curtain M4 is theta3The time values of the target passing through the first detecting light curtain M1 and the fourth detecting light curtain M4 are t1、t4Wherein, in the step (A),
k is the scanning rate of the linear array CCD, the coordinate y of the flying target can be determined to be tan theta3·v·(t4-t1)。
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A discrete target position testing device comprises a line laser emitting device (1), a first line laser reflecting device (2), a second line laser reflecting device (3), a photoelectric detection receiving device (4), a linear array CCD device (5) and an intelligent signal acquisition instrument (43), wherein the linear array CCD device (5) is arranged at the connecting line midpoint of the line laser emitting device (1) and the first line laser reflecting device (2), and four detection light curtains are formed by the line laser emitting device (1), the first line laser reflecting device (2), the second line laser reflecting device (3), the photoelectric detection receiving device (4) and the linear array CCD device (5), wherein a first detection light curtain is formed between the line laser emitting device (1) and the first line laser reflecting device (2), a second detection light curtain is formed between the first line laser reflection device (2) and the second line laser reflection device (3), a third detection light curtain is formed between the second line laser reflection device (3) and the photoelectric detection receiving device (4), a fourth detection light curtain is formed by a light source emitted by a line laser (7) of the linear array CCD device (5), the first detection light curtain and the third detection light curtain are parallel to each other, the fourth detection light curtain sequentially passes through the first detection light curtain and the third detection light curtain, an intersection angle is formed between the first detection light curtain and the fourth detection light curtain, the target position is related to the intersection angle, a linear array CCD camera (26) is arranged in the linear array CCD device, the linear array CCD camera (26) is used for obtaining an image when a flying target passes through the fourth detection light curtain, and the image contains time and space information of the flying target, the ordinate of the target in the image is the number m of scanning lines where the target is imaged, and the ordinate is the number n of pixels where the target is imaged.
2. The discrete target site testing device of claim 1, the line laser emitting device (1) comprises a triangular chassis (27) and a first shell (44), wherein the first shell (44) is arranged on the triangular chassis (27), a first connecting turntable (28) and a second connecting turntable (11) are sequentially arranged on the triangular chassis (27), the first connecting rotary disc (28) and the second connecting rotary disc (11) both comprise a connecting convex disc (36) and a connecting seat (35), the connecting convex disc (36) is connected with the connecting seat (35) in a nesting way, the second connecting turntable (11) also comprises a rectangular base (38), two sides of the second connecting turntable (11) are provided with locking knobs (10), two horizontal blisters (14) arranged perpendicular to one another are provided on the first connecting carousel (28).
3. The discrete target position testing device according to claim 2, wherein a laser emitting unit is arranged in the first housing (44), the laser emitting unit comprises four line lasers (7), a lithium battery (16) and a fixing plate (15), wherein the line lasers (7) are arranged on the upper portion of the first housing (44) and connected to the fixing plate (15), three of the line lasers (7) emit fan-shaped laser beams, another line laser (7) is used for calibration, a first panel (6) is arranged on the front surface of the first housing (44), a light outlet and self-calibration scale marks (8) are arranged on the first panel (6), and the line lasers (7) emit laser light and emit light through the light outlet on the first panel (6).
4. The discrete target site testing device of claim 3, wherein the first line laser reflecting device (2) comprises a second housing (45), a fine tuning connection turntable (39), a rotating shaft (19) and a reflecting mirror (18) are arranged in the second housing (45), and the reflecting mirror (18) is mounted on the rotating shaft (19); the bottom end of the rotating shaft (19) is connected with an angle encoder (20).
5. The discrete target site testing device of claim 4, additionally characterized in that a second panel (29) and a third panel (31) are provided on the front side of the second housing (45), wherein the second panel (29) is arranged vertically and parallel to the back side of the second housing (45), a receiving slit (30) is provided on the second panel (29), the third panel (31) is arranged vertically and at an angle of 45 ° to the back side of the second housing (45), and a transmitting slit (17) is provided on the third panel (31).
6. The discrete object position testing device of claim 5, wherein the photodetection receiving device (4) comprises a third housing (46), inside the photodetection receiving device (4) is provided a photodetection unit comprising a fourth panel (40) and two fixing plates (15), the two fixing plates (15) being arranged vertically and parallel to each other; being close to fourth panel (40) be equipped with a plurality of first optical lens (22) on fixed plate (15), first optical lens (22) are arranged in proper order along vertical direction, keeping away from fourth panel (40) be equipped with a plurality of groups circuit board (23) and photoelectric detector (24) on fixed plate (15), every group circuit board (23) with photoelectric detector (24) correspond and have already been paired first optical lens (22).
7. The discrete object position testing device according to claim 6, characterized in that the line CCD device (5) comprises a U-shaped frame (42) and a fourth housing (47), the U-shaped frame (42) is fixed by a third connecting turntable (41), the fourth housing (47) is rotatable on the U-shaped frame (42), a line laser (7) and a second optical lens (25) are disposed on an upper surface of the fourth housing (47), and a line CCD camera (26) is disposed in the fourth housing (47) and connected with the second optical lens (25).
8. The discrete target position testing device as recited in claim 7, characterized in that an adjusting device is provided at a corner position of the triangular chassis (27), the adjusting device comprises a knob (13), a stud (37) and a foot, wherein the knob (13) is connected with one end of the stud (37), and the other end of the stud (37) is connected with the foot.
9. A discrete target position testing method using the discrete target position testing device of any one of claims 2 to 8, comprising the steps of:
(1) on a trajectory of a preset test position, a linear laser emitting device (1) and a first linear laser reflecting device (2) are coplanar, a first group of cylinders are placed to be vertical to the ground, a second linear laser reflecting device (3) and a photoelectric detection receiving device (4) are coplanar, a second group of cylinders are placed to be vertical to the ground, a linear array CCD device (5) is placed at the midpoint of the connecting line of the linear laser emitting device (1) and the first linear laser reflecting device (2), a shell of the linear array CCD device (5) is rotated, so that a linear laser light curtain can be emitted to the top ends of the shell of the second linear laser reflecting device (3) and the shell of the photoelectric detection receiving device (4), in order to ensure that the fourth detection light curtain (M4) covers the target surface range to the maximum extent, the linear array CCD device (5) is translated and the linear laser emitting device (1) and the first linear laser reflecting device (2) are ensured to be centrosymmetric with the position of the device; adjusting knobs (13) of all column triangular chassis (27) after placement is finished, and finishing horizontal adjustment by observing horizontal bubbles (14);
(2) the line lasers (7) of the line laser emitting device (1) and the first line laser reflecting device (2) are opened, two laser beams are overlapped and positioned in the center of the scale mark (8) according to the observation calibration scale mark, and after the overlapping is adjusted, the numerical value theta of the angle encoder (20) of the first line laser reflecting device (2) at the moment is read1；
(3) Rotating the first line laser reflection device (2) and the second line laser reflection device (3), enabling the first line laser reflection device (2) and the second line laser reflection device (3) to be coplanar to form a second detection light curtain (M2), enabling the second line laser reflection device (3) and the photoelectric detection receiving device (4) to be coplanar to form a third detection light curtain (M3), and enabling the third detection light curtain (M3) to be located in the center of a calibration scale mark (8) of the photoelectric detection receiving device (4); measuring the distance between the linear laser emitting device (1) and the rectangular base (38) of the first linear laser reflecting device (2), and the distance between the second linear laser reflecting device (3) and the rectangular base (38) of the first linear laser reflecting device (2) corresponding to two edges and corners to judge whether the first detection light curtain (M1) and the third detection light curtain (M3) are parallel or not, and finishing calibration if the first detection light curtain (M1) and the third detection light curtain (M3) are parallel; at this time, the value theta of the angle encoder (20) of the first line laser reflection device (2) is read2The distance between the measuring line laser emitting device (1) and the second line laser reflecting device (3) is a first target distance S1The distance between the line laser emitting device (1) and the first line laser reflecting device (2) is the secondTwo target distances S2The numerical value is transmitted to an intelligent signal acquisition instrument (43);
(4) reading the angle value theta displayed by an LED display screen (21) on a panel of the linear array CCD device (5)3Input to an intelligent signal acquisition instrument (43);
(5) the power switch of each column control panel and the intelligent signal acquisition instrument (43) is opened to start the test, and when the target passes through the first detection light curtain (M1), the intelligent signal acquisition instrument (43) records the time value t1And starts to time, sends a synchronous trigger command to the linear array CCD device (5) to start scanning, and the time values of the target passing through the second detection light curtain (M2), the third detection light curtain (M3) and the fourth detection light curtain (M4) are respectively t2、t3、t4And the flying speed and the target landing coordinates are calculated by combining the acquisition frequency of the linear array CCD camera (26) and the geometric relation of the four detection light curtains.
10. The discrete target location testing method of claim 9, further comprising:
(1) the distance between the first detection light curtain (M1) and the third detection light curtain (M3) is S1The time value when the target passes through the two light curtains is t1、t3Then the flying target speed can be determined
(2) The distance between the first detection light curtain (M1) and the second detection light curtain (M2) is S2The intersection angle of the first detection light curtain (M1) and the second detection light curtain (M2) is (theta)2-θ1) The time values of the target passing through the first detection light curtain (M1) and the second detection light curtain (M2) are t1、t2The coordinates of the flight target can then be determined
(3) The intersection angle of the first detection light curtain (M1) and the fourth detection light curtain (M4) is theta3The target passes through the first detection light curtain (M1) and the fourth detection light curtainThe time values of the curtains (M4) are t1、t4Wherein, in the step (A),
k is the scanning speed of the linear array CCD device (5), the coordinate y of the flying target can be determined to be tan theta3·v·(t4-t1)。
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