Platform type laser ranging angular position measuring system

Abstract

The invention relates to a platform type laser ranging angular position measuring system, and belongs to the technical field of laser ranging. The device for measuring the angular position is placed in the electronic cabin through the laser distance measuring device, the laser beam is emitted through the distance measuring device, the laser return time is measured, and the relative position of the movement mechanism of the optical cabin is determined. According to the laser ranging type angular position measuring system, heading and pitching potentiometers or rotary transformers are omitted in the optical cabin. Compared with an existing potentiometer position measuring system, the laser ranging type angular position measuring system is simple in structure, simple in algorithm and small in occupied space, meanwhile, a movement mechanism is simplified, and the reliability of a product is improved. The system calculates a corresponding motion position through a calculation process of the laser ranging system. The design scheme is simple and reliable, and has obvious advantages in miniaturized product design.

Description

Technical Field

[0001] The invention belongs to the technical field of laser ranging, and in particular relates to a platform-type laser ranging type angular position measurement system. Background Art

[0002] In platform-type measurement devices, a two-axis stabilized platform design is generally used. According to the function, it is divided into an optical cabin and an electronic cabin. The optical cabin carries a follow-up stabilized platform, which is composed of a frame, a motor, a position sensor, and a load. The inner frame of the two-axis follow-up stabilized frame is the heading frame, and the outer frame is the pitch frame. The laser detection system is installed on the heading frame as a load.

[0003] The follow-up stabilization mechanism has the characteristics of compact structure, light weight, small moment of inertia, and the interference torque is relatively sensitive to the performance of the control system. The follow-up stabilization mechanism adopts an inner and outer frame structure, the inner frame is the heading frame, and the outer frame is the pitch frame. The heading axis is orthogonal to the pitch axis, and the inner and outer frames are driven by the motor. The follow-up stabilization mechanism selects deep groove ball bearings for both the heading and pitch axis systems. The accuracy of the azimuth axis is guaranteed by the size and position accuracy of the shaft hole connection of the inner frame; the accuracy between the pitch axis and the upper axis of the outer frame is guaranteed by the size and position accuracy of the shaft hole connection of the outer frame.

[0004] In order to achieve the frame range required by the index, a frame motion range with a certain margin is generally designed. In order to detect the motion position of the load system, a position sensor with the ability to measure position is generally selected. When the product space volume allows, potentiometers or rotary transformers can be selected for design, but when the product space is small, the potentiometer or rotary transformer occupies a large space volume, and corresponding potentiometers or rotary transformers must be configured in the heading and pitch directions, resulting in a large volume in the optical cabin, and the design space of other motion mechanisms is compressed, causing difficulties in the overall design. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] The technical problem to be solved by the present invention is to provide a system applicable to the position measurement of a moving load, which is mainly applied to various types of platform-type measuring devices to realize load position measurement.

[0007] (II) Technical solution

[0008] In order to solve the above technical problems, the present invention provides a platform-type laser ranging type angular position measurement system, including an angle-type structural member, a laser emitting device and a rotary axis;

[0009] The cross-sectional shape of the angled structural member is a right triangle, the two acute angles are 30 degrees and 60 degrees respectively, and the thickness is greater than twice the diameter of the output spot of the laser emitting device; the central opening of the angled structural member, the rotary axis is located at the central axis position of the central hole;

[0010] The angled structural part is placed on the servo platform of the product and can move with the servo platform, and the laser emitting device is placed at a fixed position at the rear end 30 cm to 100 cm away from the angled structural part;

[0011] The rotating shaft can drive the angle-type structural part to rotate, and the laser emitting device can emit a laser beam to generate laser; after the laser emitting device generates laser, it can calculate the laser emitting time t1 and the laser receiving time t2, and the difference t2-t1 between the two is the time difference, and the time difference is multiplied by the conversion coefficient to obtain the current position s1; when the angle-type structural part rotates to a vertical position, the laser emitting device z1 can calculate the laser emitting time t21 and the laser receiving time t22, and the difference t22-t21 between the two is the time difference, and the time difference is multiplied by the conversion coefficient to obtain the current position s2, and the position difference s2-s1 is calculated as the corresponding angle position difference.

[0012] Preferably, the laser emitting device can output laser, obtain return time, then calculate the distance according to the return time, and then calculate the position angle according to the angle curve of the angle-type structural member, and finally output the angle value of the current position.

[0013] The present invention also provides a method for realizing position measurement by using the system, comprising the following steps: the rotating shaft drives the angle-type structural member to perform rotational motion, and the laser emitting device emits a laser beam to generate laser; after the laser emitting device generates laser, the laser emitting time t1 and the laser receiving time t2 are calculated, and the difference t2-t1 between the two is the time difference, and the time difference is multiplied by a conversion coefficient to obtain the current position s1; when the angle-type structural member d1 rotates to a vertical position, the laser emitting device calculates the laser emitting time t21 and the laser receiving time t22, and the difference t22-t21 between the two is the time difference, and the time difference is multiplied by the conversion coefficient to obtain the current position s2, and the position difference s2-s1 is calculated as the corresponding angular position difference.

[0014] Preferably, the conversion coefficient is obtained by coefficient fitting based on the time difference between the laser emission moment and the laser reception moment according to the distance difference corresponding to the required maximum and minimum movement angles.

[0015] (III) Beneficial effects

[0016] The present invention provides a platform-type laser ranging type angular position measurement system. Through a laser ranging device, a device for measuring angular position is placed in an electronic cabin, a laser beam is emitted through the ranging device, and the laser return time is measured to determine the relative position of the motion mechanism of the optical cabin. The laser ranging type angular position measurement system of the present invention eliminates the heading and pitch potentiometers or rotary transformers in the optical cabin. Compared with the existing potentiometer position measurement system, the laser ranging type angular position measurement system has a simple structure, a simple algorithm, and occupies a small space. At the same time, it simplifies the motion mechanism and improves the reliability of the product. The system calculates the corresponding motion position through the laser ranging system calculation process. The design scheme is simple and reliable, and has obvious advantages in miniaturized product design. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the existing potentiometer position measurement system in different states;

[0018] Figure 2 is a schematic diagram of the laser ranging type angular position measurement system of the present invention in different states;

[0019] Figure 3 It is a flow chart of measuring position of an existing potentiometer measuring position system;

[0020] Figure 4 It is a flow chart of position measurement of the laser ranging type angular position measurement system of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0022] The present invention provides a platform-type laser ranging type angular position measurement system. Through a laser ranging device, devices for measuring angular positions are placed in an electronic cabin, laser beams are emitted through the ranging device, and the laser return time is measured to determine the relative position of a motion mechanism in the optical cabin.

[0023] Figure 1 The figure shows a schematic diagram of an existing potentiometer position measurement system. The angle sensor c1 senses the displacement of the moving frame y1 along with the rotation axis h1. When the moving frame is in a horizontal state, the angle sensor c1 outputs a corresponding voltage V1. When the moving frame y1 moves from a horizontal state to a Figure 1 In the vertical state shown in b, the voltage value corresponding to the angle sensor c1 is V2. The difference between the two voltages, that is, the difference between V1 and V2, is multiplied by the conversion coefficient to obtain the corresponding angle position difference. The calculation process flow chart is shown in Figure 3 shown.

[0024] Figure 2is a diagram of a laser ranging type angular position measurement system of the present invention, the system comprising an angle type structural member d1, a laser emitting device and a rotary axis h1;

[0025] The cross-sectional shape of the angled structural member d1 is a right triangle, with two acute angles of 30 degrees and 60 degrees respectively, and a thickness greater than twice the diameter of the output light spot of the laser emitting device. Such a design can simplify calculations.

[0026] The angled structural member d1 has a central opening, and the rotary axis h1 is located at the central axis of the central hole;

[0027] The angle structure d1 is placed on the servo platform of the product and can move with the servo platform. The laser emitting device is placed at a fixed position at the rear end 30 cm to 100 cm away from the angle structure d1.

[0028] The process of realizing position measurement using the laser ranging angular position measurement system designed above is as follows: Figure 4 As shown, the specific idea is as follows: the laser emitting device z1 outputs laser, obtains the return time, then calculates the distance according to the return time, and then calculates the position angle according to the angle curve of the angle-type structural part d1, and finally outputs the angle value of the current position; the specific steps are as follows: the rotary shaft h1 can drive the angle-type structural part d1 to rotate, and the laser emitting device z1 can emit the laser beam g1 to generate laser; after the laser emitting device z1 generates laser, it internally calculates the laser emission time t1 and the laser reception time t2, and the difference t2-t1 between the two is the time difference. Multiplying the time difference by the conversion coefficient is the current position s1. Figure 2 As shown in b, when the angle structure d1 rotates to the vertical position, the laser emitting device z1 calculates the laser emitting time t21 and the laser receiving time t22. The difference t22-t21 between the two is the time difference. The time difference is multiplied by the conversion coefficient to get the current position s2. The position difference s2-s1 is the corresponding angle position difference. The calculation process flow chart is shown in Figure 4 As shown. Among them, the conversion coefficient is obtained by coefficient fitting based on the time difference between the laser emission time and the laser reception time according to the distance difference corresponding to the required maximum and minimum movement angles.

[0029] The laser ranging type angular position measurement system of the present invention eliminates the heading and pitch potentiometers or rotary transformers in the optical cabin. Compared with the existing potentiometer position measurement system, the laser ranging type angular position measurement system has a simple structure, a simple algorithm, and occupies a small space. At the same time, it simplifies the motion mechanism and improves the reliability of the product. The system calculates the laser ranging system through the process (see the attached Figure 4 The design is simple and reliable, and has obvious advantages in miniaturized product design.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A platform-type laser ranging type angular position measurement system, characterized in that: It includes an angle type structural member, a laser emitting device and a rotating shaft; The cross-sectional shape of the angled structural member is a right triangle, the two acute angles are 30 degrees and 60 degrees respectively, and the thickness is greater than twice the diameter of the output spot of the laser emitting device; the central opening of the angled structural member, the rotary axis is located at the central axis position of the central hole; The angled structural part is placed on the servo platform of the product and can move with the servo platform, and the laser emitting device is placed at a fixed position at the rear end 30 cm to 100 cm away from the angled structural part; The rotating shaft can drive the angle-type structural part to rotate, and the laser emitting device can emit a laser beam to generate laser; after the laser emitting device generates laser, it can calculate the laser emitting time t1 and the laser receiving time t2, and the difference t2-t1 between the two is the time difference, and the time difference is multiplied by the conversion coefficient to obtain the current position s1; when the angle-type structural part rotates to a vertical position, the laser emitting device z1 can calculate the laser emitting time t21 and the laser receiving time t22, and the difference t22-t21 between the two is the time difference, and the time difference is multiplied by the conversion coefficient to obtain the current position s2, and the position difference s2-s1 is calculated as the corresponding angle position difference.

2. The system according to claim 1, characterized in that The laser emitting device can output laser, obtain return time, then calculate the distance according to the return time, and then calculate the position angle according to the angle curve of the angle-type structural member, and finally output the angle value of the current position.

3. The system according to claim 1, characterized in that The system is used in the field of laser ranging technology.

4. A method for realizing position measurement using the system as claimed in claim 1, 2 or 3, characterized in that: The following steps are involved: The rotating shaft drives the angle-type structural part to rotate, and the laser emitting device emits a laser beam to generate laser. After the laser emitting device generates laser, it calculates the laser emitting time t1 and the laser receiving time t2, and the difference t2-t1 between the two is the time difference. The time difference is multiplied by the conversion coefficient to obtain the current position s1. When the angle-type structural part d1 rotates to a vertical position, the laser emitting device calculates the laser emitting time t21 and the laser receiving time t22, and the difference t22-t21 between the two is the time difference. The time difference is multiplied by the conversion coefficient to obtain the current position s2, and the position difference s2-s1 is calculated as the corresponding angle position difference.

5. The method according to claim 4, characterized in that The conversion coefficient is obtained by fitting the coefficient according to the distance difference corresponding to the required maximum and minimum movement angles based on the time difference between the laser emission moment and the laser reception moment.

6. The method according to claim 4, characterized in that The system is placed in an electronic compartment for use.

7. The method according to claim 4, characterized in that The method is applied in the field of laser ranging technology.

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