CN105651169A - Precision detection method of mine laying and sweeping and obstacle breaching equipment direction finder based on total station - Google Patents

Abstract

The invention discloses a precision detection method of a mine laying and sweeping and obstacle breaching equipment orientator based on a total station. The total station is utilized for carrying out precision detection on the mine laying and sweeping and obstacle breaching equipment orientator, an assigned point in space is aimed at by an optical telescope, the horizontal angle and the zenith angle thereof are measured, an instrument emits a laser beam to irradiate the assigned point, the distance between the assigned point and the instrument is measured, then by means of space point coordinate resolving and space line segment angle resolving, the altitude angle and the direction angle of the orientator are given, and compared with a corresponding orientator precision detection item, a detection result is given. The method is high in detection precision, high in automation degree and low in cost.

Description

Cloth clearance and barrier-breaking equipment finder accuracy checking method based on total powerstation

Technical field

The present invention is for the detection of cloth clearance and barrier-breaking equipment finder precision, it is possible to be applied to army or the measure of precision of local large-scale component space coordinates change.

Background technology

Along with weaponry command automation degree improves constantly, increasing cloth clearance and barrier-breaking equipment automatic control system are equipped with the assemblies such as main control computer, servosystem, angular transducer, achieve the digital manipulation functions such as automated moving gun, be effectively improved behaviour and take aim at precision.

Inspection and correction for finder firing angle and directive are cloth clearance and the basic demand of barrier-breaking equipment fir control system. In order to ensure that automatic control system has higher precision, need detecting instrument and instrument measurement calibration when maintenance and routine use. The detection of cloth clearance and barrier-breaking equipment finder precision, detection method conventional at present has traditional detection method, laser technology detection method, CCD technology for detection method, theodolite technology for detection method etc.

In traditional detection method, zero testing level gauge, zero line, Parallel testing use " distant place aiming point method " or " checking target method ", the inconsistent amount detection range quadrant of firing angle, " hanging vertical collimation method " is used in the detection of barrel side-play amount, gun rotated accuracy detection steering wheel and level gauge, these traditional methods suffer from the drawback that and not enough: checking that precision prescribed put by target higher, vertical direction error is difficult to overcome; Site requirements is higher, such as space size, light intensity; Operation needs more personnel, it is necessary to manually repeatedly aims at, wastes time and energy; When low visibility, do not see aiming point or cross hairs from hit pinhole, cause people eyestrain; Easily produce manual operation error, affect accuracy of detection.

Some for traditional method is not enough, and certain improvement was also done by domestic not commensurate and new method is explored. Having zero line laser general detection device for the detection of barrel side-play amount, its core is to place laser locator to launch laser beam in finder oral area center, replaces finder axis, and alignment is placed in the plumb line of finder afterbody. When setting and give finder difference firing angle, finder has certain side-play amount, and laser beam can deviate plumb line, make steering wheel rotational orientation device and make the plumb line of laser beam aligned orientation device afterbody again, eliminate barrel side-play amount, " the clean side-play amount " of axis of the bore can be read from panoramic sight.But this method detection project is single, lacks versatility, only can use within the specific limits. Applicating laser technology detection zero-bit and zero line, replace finder axis with laser beam is approximate, and the aiming target aiming at front afterwards together with panoramic sight is just carrying out detection rule. Its benefit is to replace human eye to aim at laser-beam acquiring, relieving people eyestrain, speed is fast, directly perceived, accurate, eliminates the work of patch finder mouth cross hairs, but this method essence is still traditional inspection target method, however it remains and check that the error that the factor such as improper is brought placed by target.

CCD is the novel semi-conductor electrooptical device grown up the seventies in last century. Along with the development of science and technology, the manufacturing of CCD is ripe day by day, and price is greatly lowered. CCD, as the automatic scan-type light receiving element of one, obtains application in a lot of fields, and particularly physical dimension is measured and position measurement etc. Deflecting angle measuring method based on CCD technology, the light launched by the lasing area light source vertical fixed on the ground is as measuring basis, by Laser Measurement hot spot change in location on high accuracy ccd sensor, obtain the finder straight-line displacement amount at horizontal plane, the change of the finder angle of site is recorded in conjunction with obliquity sensor, obtained the solution formula of finder deflecting angle by Similar Principle of Triangle, namely calculate barrel side-play amount. This method measuring accuracy is higher, and automaticity is high, but before initial measurement, installation site and line source laser instrument to sensor are arranged and to be compared high-precision aligning, and this process is more complicated, it is easy to produces error, affects certainty of measurement.

Electronic theodolite measuring system is the spatial angle measuring system being made up of more than two high-precision electronic theodolites, station meter, communication interface and online cable and microcomputer etc., be large scale space measurement field application the earliest with maximum a kind of systems. This systematic survey scope relatively big (two m to tens m), is optics, non-contact measurement mode, and certainty of measurement is higher, and the co-ordinate measurement accuracy within the scope of 20m is up to 10um/m. Measuring, based on two transits, the gun rotated accuracy detection method that the space coordinates of system resolves, Primary Study has been made in space coordinates foundation and gun rotated accuracy detection that two transits is measured system, has certain theory significance and engineering practical value. But the calculating for space angle does not provide reasonable, complete derivation, it is necessary to further theoretical analysis and calculation.

Therefore, carry out cloth clearance and the exploratory development of barrier-breaking equipment finder precision detection system, no matter theoretically or on military value, suffer from profound significance.

Summary of the invention

Goal of the invention: for prior art Problems existing, the present invention provides that a kind of accuracy of detection is higher, automaticity is higher, and the low cloth clearance based on total powerstation of cost and barrier-breaking equipment finder accuracy checking method.

Technical scheme: a kind of cloth clearance based on total powerstation and barrier-breaking equipment finder accuracy checking method, comprises the following steps:

Step 1, equips finder axis by cloth clearance and barrier-breaking and extends, and chooses on it any two points as specified point;

Step 2, by the optical telescope on total powerstation, aims at two specified points respectively, records space level angle and the zenith angle of two specified points, obtains the spatial value of two specified points;

Step 3, utilizes total powerstation to launch laser beam and impinges upon on two specified points, record the distance between two specified points and total powerstation;

Step 4, the resolving of line segment angle through between the resolving of specified point space coordinates, two specified points, draw the angle of site and the deflection of finder;

Step 5, and and cloth clearance and barrier-breaking the equipment meter finder just angle value and the direction angle value that shows compare, draw testing result.

Specifically, the calculation method of described space specified point coordinate is as follows, with total powerstation center for initial point O, total powerstation horizontal angle is the direction of zero is x-axis, with vertical for z-axis, determines y-axis according to right-hand rule, set up rectangular coordinate system in space, when putting M (x in total powerstation alignment coordinates space_M, y_M, z_M) time, it is possible to recording the horizontal angle �� of this space specified point, zenith angle �� and oblique distance D, the spatial value obtaining M point is:

$\left\{\begin{array}{c}{x}_M=Dsin\mathrm{\β}cos\mathrm{\α}\\ y_M=Dsin\mathrm{\β}sin\mathrm{\α}\\ z_M=D\cos \mathrm{\β}\end{array}\right.---\left(1\right).$

Specifically, in described step 3, angle of site algorithm is as follows, if space is represented by profile section two some a and b, records the horizontal angle of a, b 2, zenith angle and oblique distance, i.e. a (�� respectively with total powerstation₁, ��₁, D₁)��b(��₂, ��₂, D₂), formula 1 try to achieve the coordinate figure of a, b 2, i.e. a (x_a, y_a, z_a)��b(x_b, y_b, z_b); Being projected to horizontal plane xOy by the line segment ab being linked to be by profile section two some a and b, the angle of line segment ab and horizontal plane is the angle of site �� of spatial line segment; By spatial relation, the angle of site �� trying to achieve line segment is:

$\mathrm{\θ}=\arcsin \frac{z_a-z_b}{\sqrt{{\left(x_a-x_b\right)}^2+{\left(y_a-y_b\right)}^2+{\left(z_a-z_b\right)}^2}}---\left(2\right).$

Specifically, in described step 3, deflection algorithm is as follows, is projected to horizontal plane xOy by line segment ab, the angle of line segment and x-axis, i.e. deflection; By spatial relation, the deflection �� trying to achieve line segment is:

Beneficial effect: compared with prior art, it is an advantage of the current invention that: equip finder accuracy detection demand for cloth clearance and barrier-breaking, on the basis of technical grade total powerstation type selecting, devise cloth clearance and barrier-breaking equipment finder accuracy detection hardware plan, have developed the cloth clearance based on total powerstation and barrier-breaking equipment finder accuracy checking method, zero-bit is achieved by this method, zero line, the depth of parallelism, firing angle is inconsistent, barrel offsets, the detection of the performance parameters such as gun rotated accuracy, overcome traditional method equipment various, the deficiencies such as process tedious, there is highly versatile, certainty of measurement is high, the advantage that automaticity is high.

Accompanying drawing explanation

Fig. 1 is zero testing schematic diagram of the present invention;

Fig. 2 is zero line of the present invention detection, Parallel testing schematic diagram;

Fig. 3 is the inconsistent amount of firing angle of the present invention, barrel side-play amount, gun rotated accuracy detection schematic diagram;

Fig. 4 is total powerstation space coordinates;

Fig. 5 is the spatial line segment angle of site;

Fig. 6 is spatial line segment deflection.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, it is further elucidated with the present invention.

As Figure 1-3, a kind of cloth clearance based on total powerstation and barrier-breaking equip finder accuracy checking method, utilize total powerstation to carry out cloth clearance and barrier-breaking equipment finder accuracy detection, comprise the following steps:

Step 1, by optical telescope, aims at space specified point, records horizontal angle and the zenith angle of this space specified point;

Step 2, utilizes total powerstation to launch laser beam and impinges upon on specified point, record the distance between space specified point and total powerstation;

Step 3, through the resolving of the resolving of space specified point coordinate, spatial line segment angle, provides the finder angle of site and deflection;

Step 4, and and be correspondingly oriented device accuracy detection comparison of item, provide testing result.

In step 1, the calculation method of space point coordinates is as follows:

As shown in Figure 4, with total powerstation center for initial point O, with direction that total powerstation horizontal angle is zero for x-axis, with vertical for z-axis, determine y-axis according to right-hand rule, set up rectangular coordinate system in space;When putting M (x in total powerstation alignment coordinates space_M, y_M, z_M) time, it is possible to record the horizontal angle �� of this point, zenith angle �� and oblique distance D, M ' for the projection in xOy plane of the M point, by resolving the spatial value that can obtain M point be:

$\left\{\begin{array}{c}{x}_M=Dsin\mathrm{\β}cos\mathrm{\α}\\ y_M=Dsin\mathrm{\β}sin\mathrm{\α}\\ z_M=D\cos \mathrm{\β}\end{array}\right.---\left(1\right).$

In step 3, the calculation method of spatial line segment angle is as follows:

If space is represented by profile section two some a and b, recording this horizontal angle of 2, zenith angle and oblique distance respectively with total powerstation is: a (��₁, ��₁, D₁), b (��₂, ��₂, D₂), formula 1 can try to achieve the coordinate figure of the two point: a (x_a, y_a, z_a), b (x_b, y_b, z_b)��

As it is shown in figure 5, projected to horizontal plane xOy by line segment ab, the angle of line segment and horizontal plane is the angle of site �� of spatial line segment; By spatial relation, the angle of site �� trying to achieve line segment is:

$\mathrm{\θ}=\arcsin \frac{z_a-z_b}{\sqrt{{\left(x_a-x_b\right)}^2+{\left(y_a-y_b\right)}^2+{\left(z_a-z_b\right)}^2}}---\left(2\right)$

In figure, �� is the angle of line segment ab and plane xoy, the i.e. angle of site;

Point a ' and some b ' is a and b projection on plane xoy, and namely line segment a ' b ' is line segment ab projection on plane xoy.

As shown in Figure 6, line segment ab is projected to horizontal plane xOy, the angle of line segment and x-axis, i.e. deflection;

By spatial relation, the deflection �� trying to achieve line segment is:

Point a ' and some b ' is a and b projection on plane xoy;

The angle of line segment a ' b ' and x-axis, i.e. deflection ��.

The present invention utilizes total powerstation to carry out space large-scale metrology, and detection system only needs an instrument to measure, and it is very convenient and flexible that instrument sets station, and ranging farther out, is particularly suitable for the situation that measurement scope is big; Above-mentioned visible total powerstation is suitable for space large-scale metrology, and obtains successful Application in a lot of fields; The detection of cloth clearance and barrier-breaking equipment finder precision also belongs to space large-scale metrology, therefore, has applications well prospect based on the cloth clearance of total powerstation and the detection method of barrier-breaking equipment finder precision.

Embodiment 1

For zero testing (Fig. 1), its detection detailed description of the invention is as follows:

(1) equipment emplaces, and with gunsight rule, finder is just arrived zero-bit, correction mirror sleeve is arranged on finder prover pipe oral area, is more correctly loaded by corrective lens (eye protection) in corrective lens (eye protection) sleeve opening;

(2) by corrective lens (eye protection) inner cross line, aim at the 1# board at 70m place, front, and constantly left and right, move up and down, lift telescopic bar, until from the center a of corrective lens (eye protection) inner cross line central point aiming 1# board₁;

(3) the 2# board at 30m place, front is then aimed at again, and according to same step adjustment, until aim at the center b of 2# board from corrective lens (eye protection) inner cross line central point₁. Now line segment a₁a₂Constitute finder prover pipe axis;

(4) a is recorded respectively with total powerstation₁With a b₁Horizontal angle, zenith angle and oblique distance be: a₁(��_a1, ��_a1, D_a1), b₁(��_b1, ��_b1, D_b1);

(5) coordinate figure of the two point is tried to achieve by formula 1: a₁(x_a1, y_a1, z_a1)��b₁(x_b1, y_b1, z_b1);

(6) will an a₁With a b₁Coordinate substitute into formula 2, obtain the angle of site �� of now finder prover pipe axis₁;

If ��₁Less than certain index, need to otherwise beat high or reduce finder, then by abovementioned steps detection, until ��₁Little in allowed band. Making scope mount cylinder longitudinally, laterally level afterwards, the bubble making logitudinal level and inclination spirit level is placed in the middle, and gunsight range scale should return 30-00, height to assist graduation, sight leaf graduation and rear sight auxiliary graduation to make zero.

The detection of the projects such as zero line, the depth of parallelism, firing angle are inconsistent, barrel side-play amount, gun rotated accuracy, with reference to zero testing, implements with the different arrangement manner such as Fig. 2, Fig. 3.

Claims (4)

1. the cloth clearance based on total powerstation and barrier-breaking equipment finder accuracy checking method, it is characterised in that comprise the following steps:

Step 1, equips finder axis by cloth clearance and barrier-breaking and extends, and chooses on it any two points as specified point;

Step 2, by the optical telescope on total powerstation, aims at two specified points respectively, records space level angle and the zenith angle of two specified points, obtains the spatial value of two specified points;

Step 3, utilizes total powerstation to launch laser beam and impinges upon on two specified points, record the distance between two specified points and total powerstation;

Step 4, the resolving of line segment angle through between the resolving of specified point space coordinates, two specified points, draw the angle of site and the deflection of finder;

Step 5, and and cloth clearance and barrier-breaking the equipment meter finder just angle value and the direction angle value that shows compare, draw testing result.

2. the cloth clearance based on total powerstation according to claim 1 and barrier-breaking equipment finder accuracy checking method, it is characterized in that: the calculation method of described space specified point coordinate is as follows, with total powerstation center for initial point O, total powerstation horizontal angle is the direction of zero is x-axis, with vertical for z-axis, determine y-axis according to right-hand rule, set up rectangular coordinate system in space, as arbitrfary point M (x in total powerstation alignment coordinates space_M, y_M, z_M) time, it is possible to recording the horizontal angle �� of this space specified point, zenith angle �� and oblique distance D, the spatial value obtaining M point is:

$\left\{\begin{array}{c}{x}_M=Dsin\mathrm{\β}cos\mathrm{\α}\\ y_M=Dsin\mathrm{\β}sin\mathrm{\α}\\ z_M=D\cos \mathrm{\β}\end{array}\right.---\left(1\right)$

3. the cloth clearance based on total powerstation according to claim 1 and barrier-breaking equipment finder accuracy checking method, it is characterized in that: described step, in 4, angle of site algorithm is as follows, if two some a and b represent on spatial line segment, the horizontal angle of a, b 2, zenith angle and oblique distance, i.e. a (�� is recorded respectively with total powerstation₁, ��₁, D₁)��b(��₂, ��₂, D₂), formula 1 try to achieve the coordinate figure of a, b 2, i.e. a (x_a, y_a, z_a)��b(x_b, y_b, z_b); The line segment ab being linked to be by any two points a and b on spatial line segment projects to horizontal plane xOy, and the angle of line segment ab and horizontal plane is the angle of site �� of spatial line segment; By spatial relation, the angle of site �� trying to achieve line segment is:

$\mathrm{\θ}=\arcsin \frac{z_a-z_b}{\sqrt{{\left(x_a-x_b\right)}^2+{\left(y_a-y_b\right)}^2+{\left(z_a-z_b\right)}^2}}---\left(2\right)$

4. the cloth clearance based on total powerstation according to claim 1 and barrier-breaking equipment finder accuracy checking method, it is characterised in that: in described step 4, deflection algorithm is as follows, is projected to horizontal plane xOy by line segment ab, the angle of line segment and x-axis, i.e. deflection; By spatial relation, the deflection �� trying to achieve line segment is: