CN107941149B - Simulated dome device with adjustable radius - Google Patents

Abstract

The invention relates to a simulated ball screen device, in order to realize the time-sharing simulated position of any point on the ball screen, effectively reduce the cost, and meet the portable and fast application requirements required for field or on-site calibration. In the present invention, the simulated ball screen device with adjustable radius includes a telescopic connecting rod, a universal base and an aiming device. Read the effective length of the connecting rod. The collimator is used to simulate the spherical surface of the dome. It has an arc or plane structure. The collimator of the planar structure has a ring scale mark, and the center of the collimator is connected to the center of the upper end of the telescopic connecting rod. The universal joint coupling is fixed on the base with a flange to form a universal base, and one end of the telescopic connecting rod is fixed on the base through the universal joint coupling, and the other end drives the sight to rotate in space, and can be locked The tightening device is fixed. The invention is mainly applied to the design and manufacture of the simulated ball screen.

Description

Simulated dome device with adjustable radius

technical field

The invention relates to a device for simulating a ball screen, in particular, a device for simulating the surface of a sphere by rotating a connecting rod based on a ball screen with a fixed center and an adjustable radius.

Background technique

During field operations or on-site exploration, it is often necessary to calibrate the position of multiple subsystems that work together to determine the relative positional relationship between each subsystem. For this reason, researchers have proposed many calibration methods and design ideas of calibrator. In order to achieve calibration, verify the correctness of the calibration method, and test the calibration accuracy of the calibrator, standard planes and spherical surfaces often become conventional auxiliary calibration equipment. However, high-precision standard planes and balls are difficult to process, high in cost, and inconvenient to carry, which cannot meet the needs of field or on-site work.

At present, the general solid ball screen device has complex structure, high cost, large space occupation, should not be dismantled after installation, and has poor reusability. However, for some occasions where time-sharing calibration can be used, such as: when only one laser spot calibration point needs to be displayed on the dome screen each time, it is not necessary to configure a complete physical dome screen, the above physical dome screen is even more inconvenient. Appropriate and wasteful.

Contents of the invention

In order to overcome the deficiencies of the prior art, the present invention aims to propose a simple and convenient device for time-sharing simulation of any point on the dome to effectively reduce costs and meet the requirements of light and fast application required for field or on-site calibration . For this reason, the technical scheme that the present invention adopts is that the simulated ball screen device with adjustable radius includes a telescopic connecting rod, a universal base and a sight, and the telescopic connecting rod is installed on the universal base, wherein the length of the telescopic connecting rod Adjustable, the effective length of the connecting rod can be directly read through the corresponding scale scale on it. The sight is used to simulate the surface of the ball screen, and has an arc or plane structure. There is a ring scale mark on the sight of the plane structure. The center of the telescopic connecting rod is connected and fixed with the center of the upper end of the telescopic connecting rod, and the universal joint coupling is fixed on the base with a flange to form a universal base, and one end of the telescopic connecting rod is fixed on the base through the universal joint coupling, The other end drives the sight to rotate in space, and after it is rotated to the desired position, it is fixed with a locking device to ensure that the connecting rod does not move.

The curved structure collimator has a radius of curvature equal to the radius of the simulated ball screen; the planar structure collimator is marked with a ring scale mark on the plane, simulating ball screens with different radii.

The center distance L ₁ from the center of the arc-shaped structure sight to the top of the telescopic connecting rod, the length L ₂ of the telescopic connecting rod, and the distance L ₃ from the bottom end of the telescopic connecting rod to the rotation center of the universal joint correspond to the simulated dome The radius is: R=L ₁ +L ₂ +L ₃ ; there are m logo rings on the planar structure sight, and the selected logo ring corresponds to the radius R _j , the length L ₂ of the telescopic connecting rod, The distance L ₃ from the telescopic connecting rod to the center of rotation of the universal joint, j=1, 2,..., m, then the radius corresponding to the simulated spherical screen is:

The center of the arc sight and the center of the support rod are kept coincident through the adjustment and fixing device, the support rod and the telescopic connecting rod are kept coaxial, and the two are threadedly matched and the relative position after tightening is kept unchanged by setting a spacer ;

Preferably, after one end of the telescopic connecting rod is rotated to a desired position, it is fixed with a locking device, and the simulated spherical center is located at the rotation center of the universal joint, and the radius is adjustable.

It also includes a coordinate calibrator, which is used for time-sharing and multi-point measurement of the simulated dome: the calibrator projects a ranging laser beam according to a certain azimuth and elevation angle, and moves the connecting rod of the simulated dome so that it circles the fixed ball Rotate the center so that the laser point is projected on the collimator, fix the connecting rod with the locking device, and read the distance from the center of the calibrator to the projection point of the simulated ball screen, that is, the azimuth, The three-dimensional coordinates composed of pitch angle and distance relative to the fixed point of the dome screen, change the azimuth angle and pitch angle of the ranging laser beam, adjust the position of the connecting rod of the simulated dome screen so that the ranging laser beam is aligned with the corresponding point on the sight again, Obtain the three-dimensional coordinates of a point projected onto another dome, and obtain the projected three-dimensional coordinates of multiple laser points on the simulated dome by this method;

If it is assumed that the coordinates of n projected points projected from the center of the calibrator to the ball screen are:

Find the corresponding Cartesian coordinates P _Si (X _Si , Y _Si , Z _Si )

Since these points are all located on the spherical screen with the same radius R ₀ , let the coordinates of the center of the sphere be (X _S0 , Y _S0 , Z _S0 ), then:

(X _Si -X _S0 ) ² +(Y _Si -Y _S0 ) ² +(Z _Si -Z _S0 ) ² ＝R ₀ ²

Simultaneously solve or fit the equations to obtain the coordinates (X _S0 , Y _S0 , Z _S0 ) of the center of the ball screen in the coordinate system of the calibrator, so as to obtain the coordinates of the center of the ball screen in the coordinate system of the subsystem, and vice versa After that, the coordinates of the origin in the dome coordinate system are obtained, that is, the position of the system center relative to the origin of the dome coordinates.

Features and beneficial effects of the present invention are:

It can simulate a spherical screen with a fixed spherical center and an adjustable radius, which effectively solves the problem of requiring a high-precision spherical screen to assist in calibration experiments in the current design of related technologies. There are two kinds of sights in the device. The aiming surface of the arc sight does not need to fix the aiming point when it is used. Every point on it corresponds to the same dome surface. It has high precision and is easy to operate, but it needs to be matched with the corresponding radius analog dome use. The aiming surface of the flat collimator can change the radius of the dome by selecting different scale marking rings as the aiming point, so as to realize the fine adjustment of the radius of the dome. Moreover, the simulated ball screen device can change the length of the connecting rod to adjust the radius of the simulated ball screen in a wide range, and the ball center of the ball screen can also be placed arbitrarily according to requirements. The device has high processing precision, can simulate a high-precision ball screen in time-sharing, and can be disassembled and assembled repeatedly, and has good portability.

Description of drawings:

Figure 1 is a schematic diagram of a simulated ball screen device.

Figure 2 is a schematic diagram of the structure of the arc sight.

Figure 3 is a schematic diagram of the plane collimator.

Figure 4 is a diagram of the ring scale mark on the plane collimator.

Figure 5 is a structural diagram of the universal base.

Figure 6 is a top view of the universal base.

Among them: 1 retractable connecting rod, 2 universal base, 3 series sights, 4 arc structure sights, 5 plane structure sights, 6 ring scale mark, 7 flange, 8 sight center, 9 universal Joint coupling, 10 fixed base.

Detailed ways

The invention aims to provide a simulated ball screen device, which comprises a retractable connecting rod, a series of sights, and a universal base. The telescopic connecting rod is installed on the universal base through the universal joint coupling, and there is a scale scale and a locking device on it. The length of the connecting rod is adjustable, and the effective length of the connecting rod can be directly read through the scale scale. The series sight has two structures, arc structure and planar structure, and the center of the series sight is connected and fixed with the center of the telescopic connecting rod. The universal joint coupling is fixed on the base with a flange to form a steering base, and a locking device is provided. The telescopic connecting rod takes the center of the universal joint as the center of the ball, rotates in space, and after rotating to a desired position, fixes it with a locking device to ensure that the connecting rod does not move.

The present invention will be described in detail below in conjunction with specific embodiments. As shown in Figures 1 to 5, it is a simulated ball screen device of the present invention, including a telescopic connecting rod 1, a universal base 2 and a series of sights 3, and the telescopic connecting rod 1 is installed on the universal base 2, wherein the The length of the telescopic connecting rod 1 is adjustable, and the effective length of the connecting rod can be directly read through the corresponding scale scale on it. The sight 3 is used to simulate the spherical surface of the dome, and has two structures of arc 4 and plane 5, wherein the plane sight has a ring scale mark 6, and the center 8 of the sight is connected and fixed with the center of the upper end of the telescopic connecting rod 1. The universal joint coupling 9 is fixed on the base 10 with the flange 7 to form the universal base 2 . One end of the telescopic connecting rod 1 is fixed on the base through a universal joint coupling, and the other end drives the sight 3 to rotate in space. The device can simulate a spherical screen system with a fixed center and an adjustable radius.

Preferably, the bottom of the telescopic connecting rod is connected to one end of the universal joint coupling, and the other end of the universal joint coupling is fixed on the base through a flange. Through the universal joint coupling, the connecting rod can realize the function of rotating around the center of the universal joint in space, which is used to simulate the spherical screen whose center of the ball is located at the center of rotation of the universal joint and whose radius is adjustable.

Preferably, the series of collimators have two structures, one is an arc structure, the radius of curvature of which is equal to the radius of the simulated ball screen. The other is a planar structure with a ring scale mark, which can simulate ball screens with different radii.

Preferably, the center distance L ₁ from the center of the arc sight to the top end of the telescopic connecting rod, the length L ₂ of the telescopic connecting rod, the distance L ₃ from the bottom end of the telescopic connecting rod to the rotation center of the universal joint, and the precise After measurement, the radius corresponding to the simulated spherical screen is: R=L ₁ +L ₂ +L ₃ .

Preferably, there are m identification rings on the plane collimator, the corresponding radius of the selected identification ring is R _j (j=1,2,...,m), the length L ₂ of the telescopic connecting rod, The distance L3 from the telescopic connecting rod to the center of rotation _of the universal joint is obtained through precise measurement in advance, and the corresponding radius of the simulated ball screen is:

Preferably, the series sight is a good scattering material.

Preferably, the collimator is used to simulate the surface of a sphere to ensure the precision of the simulated ball screen. The center of the sight is connected and fixed with the center of the telescopic connecting rod, and can rotate around the center of the connecting rod at the same time.

Preferably, the center of the arc sight and the center of the support rod are kept coincident through adjustment and fixing devices. The supporting rod and the telescopic connecting rod are kept coaxial, and the two are threadedly matched, and the relative position after tightening is kept unchanged by setting a spacer ring.

Preferably, after one end of the telescopic connecting rod is rotated to a desired position, it is fixed with a locking device. It can simulate a spherical screen whose center of the ball is located at the rotation center of the universal joint and whose radius is adjustable.

Preferably, the universal joint has good directivity and ensures that the position of the center of the ball remains unchanged when turning.

The following introduces an application of the simulated dome:

The target tracking simulation system includes multiple subsystems such as the projection system, detection system, and hit system. Frequent coordinate system transformations are required to meet the work requirements of different subsystems and units. Coordinate transformation includes the coordinate translation between subsystems, so the relative position calibration between subsystems needs to be completed in advance. As an auxiliary calibration tool, the simulated dome device can first complete the position calibration between the subsystem and the dome system, and use the dome coordinate system as the world coordinate system to complete the position calibration between the subsystems. The specific operation process is:

The base of the simulated ball screen device is fixed near the target tracking simulation system, and the radius of the ball screen does not need to be changed in the experiment, so the collimator with an arc structure is selected, and the corresponding curvature radius is K ₁ . The center distance L ₁ from the center of the arc sight to the top of the telescopic connecting rod, and the distance L ₃ from the bottom end of the telescopic connecting rod to the center of rotation of the universal joint. Let the length of the connecting rod be L ₂ , and the radius of the simulated dome is R. Correspondingly, K ₁ =R=L ₁ +L ₂ +L ₃ . L ₁ , L ₃ , and K ₁ are all measured in advance, then, L ₂ =K ₁ -L ₁ -L ₃ , after installing the simulated dome device, adjust the telescopic connecting rod to a fixed length according to the value of L ₂ lock tight.

A coordinate calibrator is installed on a subsystem, and the relative positions of the two are known. The time-sharing and multi-point measurement of the simulated spherical screen is carried out with a coordinate calibrator. The calibrator projects the ranging laser beam according to a certain azimuth and elevation angle, moves the connecting rod of the simulated dome to rotate around the fixed center of the ball, so that the laser point is just projected on the sight, and fixes the connecting rod with a locking device. Move, read the distance from the center of the calibrator to the projection point of the simulated dome screen, and you can get the three-dimensional coordinates of the light beam emitted from the center of the calibrator, which is composed of azimuth angle, elevation angle and distance, relative to the fixed point of the dome screen. Change the azimuth and pitch angle of the ranging laser beam, adjust the position of the connecting rod of the simulated dome screen so that the ranging laser beam is aligned with the corresponding point on the aimer again, and the three-dimensional coordinates of the point projected on another dome can be obtained. In this way, the three-dimensional coordinates of the projection of multiple laser points on the simulated ball screen can be obtained.

If it is assumed that the coordinates of n projected points (n≥4) projected from the center of the calibration device to the dome screen are:

Find the corresponding Cartesian coordinates P _Si (X _Si , Y _Si , Z _Si )

Since these points are all located on the spherical screen with the same radius R ₀ , let the coordinates of the center of the sphere be (X _S0 , Y _S0 , Z _S0 ), then:

(X _Si -X _S0 ) ² +(Y _Si -Y _S0 ) ² +(Z _Si -Z _S0 ) ² ＝R ₀ ² (i=1,2,...,n)

By solving or fitting the equations simultaneously, the coordinates (X _S0 , Y _S0 , Z _S0 ) of the center of the ball screen in the coordinate system of the calibrator can be obtained, so as to obtain the coordinates of the center of the ball screen in the coordinate system of the subsystem . Conversely, the origin coordinates of the subsystem in the dome coordinate system are obtained, that is, the position of the subsystem center relative to the origin of the dome coordinates.

In the same way, the position of the center of other subsystems relative to the origin of the dome coordinates can be obtained, so that the relative positions of each subsystem can be calibrated by using the dome coordinates as an intermediary.

Claims (5)

1. A simulated ball screen device with adjustable radius is characterized in that it includes a telescopic connecting rod, a universal base and a sight, and the telescopic connecting rod is installed on the universal base, wherein the length of the telescopic connecting rod is adjustable, The effective length of the connecting rod can be directly read through the corresponding scale scale on it. The sight is used to simulate the surface of the ball screen and has an arc or plane structure. There is a ring scale mark on the sight of the planar structure. The center of the sight is in line with the The center of the upper end of the telescopic connecting rod is connected and fixed, and the universal joint coupling is fixed on the base with a flange to form a universal base. One end of the telescopic connecting rod is fixed on the base through the universal joint coupling, and the other end drives The sight is rotated in space, and after being rotated to the required position, it is fixed with a locking device to ensure that the connecting rod does not move. 2. The adjustable-radius simulated ball screen device as claimed in claim 1, characterized in that, the arc structure sight has a radius of curvature equal to the radius of the simulated ball screen; the planar structure sight is marked with a ring scale on the plane Logo, simulating spherical screens with different radii. 3. The simulated ball screen device with adjustable radius as claimed in claim 1, characterized in that, the center distance L ₁ from the center of the arc-shaped structure sight to the top of the telescopic connecting rod, the length L ₂ of the telescopic connecting rod, The distance L ₃ from the bottom end of the telescopic connecting rod to the center of rotation of the universal joint corresponds to the radius of the simulated ball screen: R=L ₁ +L ₂ +L ₃ ; there are m logo rings on the planar sight, so The corresponding radius of the selected logo ring is R _j , the length L ₂ of the telescopic connecting rod, and the distance L ₃ from the telescopic connecting rod to the center of rotation of the universal joint, j=1,2,...,m, then The radius corresponding to the simulated spherical screen is:

4. The simulated ball screen device with adjustable radius as claimed in claim 1, characterized in that, the center of the arc sight and the center of the support rod are kept coincident by adjusting and fixing devices, and the support rod and the telescopic connecting rod are kept in the same position. The two shafts are threadedly matched and the relative position remains unchanged after tightening by setting a spacer ring; after one end of the telescopic connecting rod is rotated to the required position, it is fixed with a locking device, and the simulated ball center is located at the rotation center of the universal joint , Radius adjustable ball screen. 5. The simulated spherical screen device with adjustable radius as claimed in claim 1, characterized in that, it also includes a coordinate calibration device, and the coordinate calibration device is used for time-sharing and multi-point measurement of the simulated spherical screen: the calibration device according to a certain azimuth angle Project the distance-measuring laser beam with the pitch angle, move the connecting rod of the simulated ball screen, make it rotate around the fixed center of the ball, let the laser point just project on the sight, fix the connecting rod with the locking device, and read the center of the calibrator The distance to the projection point of the simulated dome screen, that is, the three-dimensional coordinates of the beam emitted from the center of the calibration device, which is composed of azimuth, elevation angle and distance, relative to the fixed point of the dome screen, and the azimuth and elevation angle of the ranging laser beam are changed. Adjust the position of the connecting rod of the simulated dome so that the ranging laser beam is aligned with the corresponding point on the collimator again, and obtain the three-dimensional coordinates projected onto another dome. In this way, the projected three-dimensional coordinates of multiple laser points on the simulated dome can be obtained. ; If it is assumed that the coordinates of n projected points projected from the center of the calibrator to the ball screen are:

Calculate the corresponding Cartesian coordinates P _Si (X _Si , Y _Si , Z _Si ), since these points are all located on the spherical screen with the same radius R ₀ , let the coordinates of the center of the sphere be (X _S0 , Y _S0 , Z _S0 ), Then there are: (X _Si -X _S0 ) ² +(Y _Si -Y _S0 ) ² +(Z _Si -Z _S0 ) ² ＝R ₀ ² Simultaneously solve or fit the equations to obtain the coordinates (X _S0 , Y _S0 , Z _S0 ) of the center of the dome in the coordinate system of the calibrator, and in turn, obtain the coordinates of the origin in the coordinate system of the dome, that is The position of the system center relative to the origin of the dome coordinates.

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