On-the-move muzzle offset measurement device and method based on a position sensitive detector

Abstract

The application relates to the technical field of linear size measurement or angle measurement, in particular to a position sensitive detector-based on-the-move muzzle deflection measuring device and method, which solves the technical problems of large device error and incapability of measuring on-the-move muzzle deflection of the prior art static measuring device for muzzle deflection; the device comprises a first laser, a second laser, a first PSD, a second PSD, a signal processing device, a signal collecting device and a computer, the first and second PSDs are symmetrically installed to the two sides of a muzzle, the first and second lasers are installed to the two sides of a muzzle tail, laser of the first laser is incident to the first PSD, laser of the second laser is incident to the second PSD, the signal output ends of the first and second PSDs are connected with the signal input end of the computer in sequence through the signal processing device and the signal collecting device. The device can realize real-time accurate measurement of on-the-move muzzle translation and rotation in the reciprocating process.

Description

Technical Field

[0001] This invention relates to the field of measurement technology for linear dimensions or angles, and more particularly to a device and method for measuring muzzle offset during travel based on a position-sensitive detector. Background Technology

[0002] While maintaining maneuverability, it is crucial for vehicle-mounted artillery to accurately strike targets. The key to accurate target strikes lies in the precise measurement of the muzzle deviation during movement. Therefore, studying the vibration of the muzzle of artillery while moving is of great significance. Current methods for measuring muzzle deviation include the telescope method, the eddy current method, the bend-tube stepping method based on a position-sensitive detector (PSD), and the laser vibrometer method. However, these methods are limited by their own principles and components, and none can achieve real-time, accurate measurement of the translational and rotational motion of the muzzle while moving.

[0003] The telescope method requires manual aiming, has low automation, and large errors; the eddy current method has a small measurement range and cannot measure the reciprocating motion of the muzzle; the PSD-based bending and stepping method is highly dependent on the centering ring and has large errors; laser vibrometers are affected by the surface roughness, color, and reflectivity of the measured object, leading to increased errors. Furthermore, all of the above methods can only measure muzzle offset in stationary conditions, and cannot measure muzzle offset while the gun is moving. Summary of the Invention

[0004] To overcome the technical shortcomings of existing static muzzle offset measurement devices, which have large errors and cannot measure muzzle offset during movement, this invention discloses a moving muzzle offset measurement device and method based on a position-sensitive detector.

[0005] This invention provides a traveling muzzle offset measurement device based on a position-sensitive detector, comprising a first laser, a second laser, a first PSD, a second PSD, a signal processing device, a signal acquisition device, and a computer. The first PSD and the second PSD are symmetrically mounted on both sides of the muzzle, and the first laser and the second laser are mounted on a cradle at the breech and are symmetrical about the breech. The laser beam of the first laser is incident on the photosensitive surface of the first PSD, and the laser beam of the second laser is incident on the photosensitive surface of the second PSD. The signal output terminals of the first PSD and the second PSD are respectively connected to the signal input terminal of the computer after passing through the signal processing device and the signal acquisition device in sequence.

[0006] This invention utilizes the lateral photoelectric effect of a position-sensitive detector to measure the muzzle offset during movement. The position-sensitive detector is a non-contact sensor based on the lateral photoelectric effect and employs a PIN semiconductor structure. When a beam of light shines on the surface of the P-region, the excitation of the light generates a large number of electron-hole pairs. The electrons diffuse, creating a potential difference and generating a current. By measuring this current, the position of the incident light spot on the photosensitive surface can be obtained.

[0007] Mounting the first and second photosensitive diodes (PSDs) at the muzzle of the gun barrel enables the conversion of optical signals into electrical signals. The first and second lasers are mounted at the breech of the gun barrel. When the artillery fires while moving, road vibrations and recoil from the projectile cause the muzzle to shift, displacing the first and second PSDs. Since the first and second lasers are mounted on a cradle at the breech, their positions relative to the barrel remain unchanged. However, the photoelectric positions of the laser beams striking the first and second PSDs change, resulting in the muzzle shift. After this shift, the first and second PSDs convert the optical signals onto their respective photosensitive surfaces into electrical signals. Signal processing amplifies these signals and converts them into voltage and digital signals. Data acquisition and storage are then performed by a signal acquisition device, and finally, the data is transmitted to a computer for muzzle shift calculation.

[0008] Preferably, both the first laser and the second laser are continuous-running lasers with a wavelength of 550nm and a power of 5mW.

[0009] Preferably, the area of ​​the first PSD photosensitive surface and the area of ​​the second PSD photosensitive surface are both 12×12mm, the photosensitive wavelength range of the first PSD and the photosensitive wavelength range of the second PSD are both 320~1060nm, the position resolution accuracy of the first PSD and the position resolution accuracy of the second PSD are both 1.4μm, and the operating temperature range of the first PSD and the operating temperature range of the second PSD are both 0~50°.

[0010] This invention also provides a method for measuring muzzle offset during travel based on a position-sensitive detector, which is implemented based on the muzzle offset measuring device for traveling based on a position-sensitive detector described in this invention. The laser of the first laser is incident on the photosensitive surface of the first PSD, and the laser of the second laser is incident on the photosensitive surface of the second PSD. In the plane where the muzzle is located, a plane rectangular coordinate system is established with the muzzle center O as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis.

[0011] During the movement, let the initial position coordinates of the laser spot on the photosensitive surface of the first PSD be ( Let the initial position coordinates of the laser spot on the photosensitive surface of the second PSD be ( );

[0012] If the muzzle only rotates, the position coordinates of the laser spot on the photosensitive surface of the first PSD become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD become Since the first laser and the second laser are symmetrically arranged, and the first PSD and the second PSD are symmetrically arranged, therefore ( ), ( ), ( and Both are located on the same circle with center O and radius R; let the coordinates of point B be ( The coordinates of point D are ( Let C be the midpoint of the line connecting points B and D. The triangle formed by points B, D, and the muzzle center O is an isosceles triangle, and its vertex angle is the muzzle rotation angle, denoted by θ. The triangle formed by points B, C, and the muzzle center O is a right triangle, with its vertex angle denoted by α. Since the muzzle rotation angle θ is very small during firing, according to the Pythagorean theorem, we can obtain... ,Right now And since BD = 2BC, and the distance from point B to point D is ( )arrive If the distances are equal, then BD is:

[0013] ,

[0014] Therefore there is ,

[0015] Since θ = 2α, then θ is:

[0016] ;

[0017] If the muzzle only undergoes translational motion, then the position coordinates of the laser spot on the photosensitive surface of the first PSD after the translational motion become ( The coordinates of the laser spot on the photosensitive surface of the second PSD become ( The muzzle offset s caused by the translation is:

[0018] ;

[0019] If translation and rotation of the muzzle exist simultaneously, and let the change in movement caused by rotation be (a, b), then the position coordinates of the laser spot on the photosensitive surface of the first PSD are ( Become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD ( Become ( Let the change in motion caused by translation be (c, d). Then, based on the rotation, the position coordinates of the laser spot on the photosensitive surface of the first PSD are (c, d). Become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD ( Become ( ;

[0020] In the default initial state, the laser beam from the first laser is incident perpendicularly to the center of the photosensitive surface of the first PSD, and the laser beam from the second laser is incident perpendicularly to the center of the photosensitive surface of the second PSD. , , , Both are 0; ultimately, in the state where muzzle translation and rotation coexist, , , , ;

[0021] After the actual firing, the coordinates of the laser spot on the photosensitive surface of the first PSD were detected by the first PSD as ( The coordinates of the laser spot on the photosensitive surface of the second PSD are detected by the second PSD as ( The first PSD and the second PSD transmit the signal to the computer after passing through the signal processing device and the signal acquisition device, respectively.

[0022] Therefore, it is obtained through computer calculation. , , , ;

[0023] Ultimately,

[0024] The translational component s of the muzzle during firing is: s = ,

[0025] Translational direction of the cannon muzzle for: ,

[0026] The muzzle rotation angle θ is: .

[0027] Compared with the prior art, the technical solution provided by the present invention has the following advantages: the device of the present invention has a simple structure and is easy to operate. It can realize real-time and accurate measurement of the translation and rotation of the gun muzzle during reciprocating motion, and has a high degree of automation and accurate measurement. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the position-sensitive detector mentioned in this invention;

[0031] Figure 2 This is a schematic diagram of the moving muzzle offset measuring device based on a position-sensitive detector according to a certain embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the measurement principle of the traveling muzzle offset measuring device based on a position-sensitive detector when only rotation occurs in a certain embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the measurement principle of the traveling muzzle offset measuring device based on a position-sensitive detector when only translational motion occurs in a certain embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram illustrating the measurement principle of the traveling muzzle offset measuring device based on a position-sensitive detector when rotation and translation occur simultaneously, according to a certain embodiment of the present invention.

[0035] In the diagram: 1. First laser; 2. Second laser; 3. First PSD; 4. Second PSD; 5. Body tube; 6. Signal processing device; 7. Signal acquisition device; 8. Computer. Detailed Implementation

[0036] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0037] In this description, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0039] The following is in conjunction with the appendix Figures 1 to 5 Specific embodiments of the present invention will be described in detail below.

[0040] In one embodiment, such as Figure 2 As shown, a moving muzzle offset measurement device based on a position-sensitive detector is disclosed, including a first laser 1, a second laser 2, a first PSD3, a second PSD4, a signal processing device 6, a signal acquisition device 7, and a computer 8. The first PSD3 and the second PSD4 are symmetrically mounted on both sides of the muzzle. The first laser 1 and the second laser 2 are mounted on a cradle at the breech and are symmetrical about the breech. The laser of the first laser 1 is incident on the photosensitive surface of the first PSD3, and the laser of the second laser 2 is incident on the photosensitive surface of the second PSD4. The signal output terminals of the first PSD3 and the second PSD4 are connected to the signal input terminal of the computer 8 after passing through the signal processing device 6 and the signal acquisition device 7, respectively.

[0041] This invention utilizes the lateral photoelectric effect of a position-sensitive detector to measure muzzle offset during firing. Mounting the first PSD3 and second PSD4 at the muzzle position on the barrel 5 enables the conversion of optical signals into electrical signals. The first laser 1 and second laser 2 are mounted at the breech position on the barrel 5. When the artillery fires while moving, road surface vibrations and recoil from projectile launch cause muzzle offset, resulting in displacement of the first PSD3 and second PSD4. Since the first laser 1 and second laser 2 are mounted on a cradle at the breech, their positions relative to the barrel 5 remain unchanged. However, the photoelectric positions of the first laser 1 and second laser 2 illuminating the first PSD3 and second PSD4 respectively change, and this change represents the muzzle offset. After the position shifts, the first PSD3 and the second PSD4 convert the light signal illuminating their respective photosensitive surfaces into a current signal. The signal processing device 6 amplifies the current signal and completes the conversion from current signal to voltage signal and from analog signal to digital signal. The signal acquisition device 7 then collects and stores the data, and finally transmits it to the computer 8 to calculate the muzzle offset.

[0042] Based on the above embodiments, in a preferred embodiment, both the first laser 1 and the second laser 2 are continuous-running lasers with a wavelength of 550nm and a power of 5mW.

[0043] Based on the above embodiments, in a preferred embodiment, the photosensitive surface of the first PSD3 and the photosensitive surface of the second PSD4 are both 12×12mm, the photosensitive wavelength range of the first PSD3 and the second PSD4 are both 320~1060nm, the position resolution accuracy of the first PSD3 and the second PSD4 are both 1.4μm, and the operating temperature range of the first PSD3 and the second PSD4 are both 0~50°.

[0044] The present invention also provides a method for measuring muzzle offset during movement based on a position-sensitive detector, which is implemented based on the muzzle offset measuring device for movement based on a position-sensitive detector described in the present invention. The laser of the first laser 1 is incident on the photosensitive surface of the first PSD3, and the laser of the second laser 2 is incident on the photosensitive surface of the second PSD4. In the plane where the muzzle is located, a plane rectangular coordinate system is established with the muzzle center O as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis.

[0045] During the movement, let the initial position coordinates of the laser spot on the photosensitive surface of the first PSD3 be ( Let the initial position coordinates of the laser spot on the photosensitive surface of the second PSD4 be ( );

[0046] If the muzzle only rotates, such as Figure 3 As shown, the position coordinates of the laser spot on the photosensitive surface of the first PSD3 become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD4 become Since the first laser 1 and the second laser 2 are symmetrically arranged, and the first PSD3 and the second PSD4 are symmetrically arranged, therefore ( ), ( ), ( and Both are located on the same circle with center O and radius R; let the coordinates of point B be ( The coordinates of point D are ( Let C be the midpoint of the line connecting points B and D. The triangle formed by points B, D, and the muzzle center O is an isosceles triangle, and its vertex angle is the muzzle rotation angle, denoted by θ. The triangle formed by points B, C, and the muzzle center O is a right triangle, with its vertex angle denoted by α. Since the muzzle rotation angle θ is very small during firing, according to the Pythagorean theorem, we can obtain... ,Right now And since BD = 2BC, and the distance from point B to point D is ( )arrive If the distances are equal, then BD is:

[0047] ,

[0048] Therefore there is ,

[0049] Since θ = 2α, then θ is:

[0050] ;

[0051] If the muzzle only undergoes translational motion, such as Figure 4 As shown, after the translation, the position coordinates of the laser spot on the photosensitive surface of the first PSD3 become ( The coordinates of the laser spot position on the photosensitive surface of the second PSD4 become ( The muzzle offset s caused by the translation is:

[0052] ;

[0053] If the translation and rotation of the cannon muzzle exist simultaneously, such as Figure 5 As shown, let the change in movement caused by rotation be (a, b), then the position coordinates of the laser spot on the photosensitive surface of the first PSD3 are ( Become ( The coordinates of the laser spot position on the photosensitive surface of the second PSD4 ( Become ( Let the change in motion caused by translation be (c, d). Then, based on the rotation, the position coordinates of the laser spot on the photosensitive surface of the first PSD3 are (c, d). Become ( The coordinates of the laser spot position on the photosensitive surface of the second PSD4 ( Become ( ;

[0054] In the default initial state, the laser from the first laser 1 is incident perpendicularly to the center of the photosensitive surface of the first PSD3, and the laser from the second laser 2 is incident perpendicularly to the center of the photosensitive surface of the second PSD4. , , , Both are 0; ultimately, in the state where muzzle translation and rotation coexist, , , , ;

[0055] After the actual firing, the coordinates of the laser spot on the photosensitive surface of the first PSD3 were detected by the first PSD3 as ( The coordinates of the laser spot on the photosensitive surface of the second PSD4, detected by the second PSD4, are ( The first PSD3 and the second PSD4 send the signals to the computer 8 after passing through the signal processing device 6 and the signal acquisition device 7, respectively.

[0056] Therefore, it is calculated by computer 8. , , , ;

[0057] Ultimately,

[0058] The translational component s of the muzzle during firing is: s = ,

[0059] Translational direction of the cannon muzzle for: ,

[0060] The muzzle rotation angle θ is: .

[0061] Among them, such as Figure 1 As shown, the principle for calculating the coordinates of the laser spot on the photosensitive surface of the position-sensitive detector is as follows:

[0062] X = [( V X 1 + V Y 1 ) − ( V X 2 + V Y 2 )] · ( L X / 2 ) V X 1 + V X 2 + V Y 1 + V Y 2 Y = [( V X 2 + V Y 2 ) − ( V X 1 + V Y 1 )] · ( L Y / 2 ) V X 1 + V X 2 + V Y 1 + V Y 2

[0063] In the formula, Electrodes for position-sensitive detectors The output current is converted into a digital voltage signal after I / V conversion and A / D conversion. This is the length of the X-axis photosensitive surface on the position-sensitive detector. X represents the length of the Y-axis photosensitive surface on the position-sensitive detector. X and Y are the two-dimensional coordinates of the physical center of the laser spot on the photosensitive surface of the position-sensitive detector, respectively.

[0064] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered within the protection scope of the claims.

Claims

1. A method for measuring muzzle offset during travel based on a position-sensitive detector, characterized in that, It is implemented based on a position-sensitive detector for measuring muzzle offset during movement. The device includes a first laser (1), a second laser (2), a first PSD (3), a second PSD (4), a signal processing device (6), a signal acquisition device (7), and a computer (8). The first PSD (3) and the second PSD (4) are symmetrically installed on both sides of the muzzle. The first laser (1) and the second laser (2) are installed on a cradle at the breech and are symmetrical about the breech. The laser of the first laser (1) is incident on the photosensitive surface of the first PSD (3), and the laser of the second laser (2) is incident on the photosensitive surface of the second PSD (4). The signal output terminals of the first PSD (3) and the second PSD (4) are connected to the signal input terminal of the computer (8) after passing through the signal processing device (6) and the signal acquisition device (7) respectively. The laser of the first laser (1) is incident on the photosensitive surface of the first PSD (3), and the laser of the second laser (2) is incident on the photosensitive surface of the second PSD (4). In the plane where the muzzle is located, a plane rectangular coordinate system is established with the center O of the muzzle as the origin, the horizontal direction as the x-axis, and the vertical direction as the y-axis. During the movement, let the initial position coordinates of the laser spot on the photosensitive surface of the first PSD (3) be ( Let the initial position coordinates of the laser spot on the photosensitive surface of the second PSD (4) be ( ); If the muzzle only rotates, then the position coordinates of the laser spot on the photosensitive surface of the first PSD (3) become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD (4) become Since the first laser (1) and the second laser (2) are symmetrically arranged, and the first PSD (3) and the second PSD (4) are symmetrically arranged, therefore ( ), ( ), ( and Both are located on the same circle with center O and radius R; let the coordinates of point B be ( The coordinates of point D are ( The midpoint of the line connecting points B and D is C. The triangle formed by points B, D, and the muzzle center O is an isosceles triangle, and the vertex angle of this isosceles triangle is the muzzle rotation angle, denoted by θ. The triangle formed by points B, C, and the muzzle center O is a right triangle, and the vertex angle of this right triangle is α. The distance from point B to point D is related to (…). )arrive The distances are equal, and are: ， Therefore there is , Since θ = 2α, then θ is: ； If the muzzle only undergoes translational motion, then the position coordinates of the laser spot on the photosensitive surface of the first PSD (3) after the translational motion become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD (4) become ( The muzzle offset s caused by the translation is: ； If translation and rotation of the muzzle exist simultaneously, and the change in movement caused by rotation is (a, b), then the position coordinates of the laser spot on the photosensitive surface of the first PSD (3) are ( Become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD (4) ( Become ( Let the change in motion caused by translation be (c,d), then the position coordinates of the laser spot on the photosensitive surface of the first PSD (3) after rotation are (c,d). Become ( The position coordinates of the laser spot on the photosensitive surface of the second PSD (4) ( Become ( ; In the default initial state, the laser from the first laser (1) is incident perpendicularly to the center of the photosensitive surface of the first PSD (3), and the laser from the second laser (2) is incident perpendicularly to the center of the photosensitive surface of the second PSD (4). , , , Both are 0; ultimately, in the state where muzzle translation and rotation coexist, , , , ; After the actual firing, the coordinates of the laser spot on the photosensitive surface of the first PSD (3) were detected by the first PSD (3). The coordinates of the laser spot on the photosensitive surface of the second PSD (4) are detected by the second PSD (4). The first PSD (3) and the second PSD (4) send the signal to the computer (8) after passing through the signal processing device (6) and the signal acquisition device (7), respectively. Therefore, it is calculated by computer (8) , , , ; Ultimately, The translational component s of the muzzle during firing is: s = , Translational direction of the cannon muzzle for: , The muzzle rotation angle θ is: .

2. The method for measuring muzzle offset during travel based on a position-sensitive detector according to claim 1, characterized in that, Both the first laser (1) and the second laser (2) are continuous-running lasers with a wavelength of 550nm and a power of 5mW.

3. The method for measuring muzzle offset during travel based on a position-sensitive detector according to claim 2, characterized in that, The area of ​​the photosensitive surface of the first PSD (3) and the area of ​​the photosensitive surface of the second PSD (4) are both 12×12mm. The photosensitive wavelength range of the first PSD (3) and the photosensitive wavelength range of the second PSD (4) are both 320~1060nm. The position resolution accuracy of the first PSD (3) and the position resolution accuracy of the second PSD (4) are both 1.4μm. The operating temperature range of the first PSD (3) and the operating temperature range of the second PSD (4) are both 0~50°.

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