Control method and set the long axis of the product relative to the base axis and a device for its implementation

 

(57) Abstract:

The invention relates to control methods and installation mainly long products, preferably of cylindrical shape, for example, pipes with respect to some basic directions in the space specified using the target channel, in particular, implemented on the basis of television technology. More specifically, the inventive method relates to a method of control and the set relative position of fire monitors, in particular, water jet carriage units, and television guidance systems of these trunks. A distinctive feature of the method is that after the induction of the reference axis by the first remote tag using the first camera base axis is fixed in this position, combine the axis of the assembled product with the optical axis of the second camera and put on the neighboring first and second remote label, given parallax, then the second deploy around its longitudinal axis, and calculates the error in the installation axis. Also the design of the device for implementing the above method. This invention provides the possibility of reconciliation is not available for end-to-end nablyudayusch systems with electric drives, having ineligible withdrawal and danger of collapse, while taking into account the asymmetry of the shape of the bore of long products. 2 S. and 3 C.p. f-crystals, 4 Il.

The invention relates to methods of monitoring and setup mainly long products, preferably of cylindrical shape, such as tubes, with respect to some basic directions in the space specified using the target channel, in particular, implemented on the basis of television technology. More specifically, the inventive method relates to a method of control and the set relative position of fire monitors, in particular water jet carriage units, and television guidance systems of these trunks.

Known used in artillery ways of reconciliation rifle scope with gun, one of which is described in [1]. At the muzzle of the gun sets the crosshair of the thin filaments that intersect on the axis of the bore. In breech with the help of special technological pallet is inserted into the tube alignment. With the help of manual actuators aiming line of sight bore passing through the tube alignment and the center of the crosshairs, combined with the index on viverone target. On Polozheniye channel with the axis of the bore, which is then eliminated through mechanisms of reconciliation by combining brand target channel point.

In addition to reconciliation at a target located at a distance of about 100 m, and is also used reconciliation for remote point, clearly distinguished against the background of the area and located at a distance of 1200 - 1600 m Methods of reconciliation at the remote location is different from the alignment line the fact that at this point you should build as the axis of the bore and the axis of the sighting channel.

The discussed method has the following disadvantages:

the need for visual observation through the open from both ends of the barrel, which is not always possible for technical and building conditions;

when the alignment is not taken into account the asymmetry of the shape of the bore;

the method is implemented only on systems with manual-guided, allowing you to give the bore a predetermined position and for quite a long time to keep it in position without danger of the transition reconciling items in unmanaged mode of motion.

These circumstances preclude the use of methods for alignment of the barrel, is not available for end-to-end-of-sight, as well as for reconciliation sovremennosti the danger of disruption in unmanaged mode, and manual actuators are often absent.

The development of modern control systems monitor installations, especially those working in difficult conditions of lesions, moving towards the use of kinematically open remotely controlled systems with means vision in the form of television and other systems. In [2] described a television guidance system of the trunk containing the camera, two videometric device and a set of connecting cables. The alignment of the relative position of the cameras and the bore, providing high precision pointing the barrel at the target point, by pointing the camera at the selected remote location and visual control via open at both ends match the axis of the bore with said remote point. If this does not match the axis of the bore with said remote point manually adjust the relative position of the barrel and cameras, allowing their simultaneous pointing to a remote location.

Reconciliation is described in [2] system is similar to the above-noted disadvantages. These circumstances make it difficult reconciliation of long products in which it is impossible skvoznym characteristics, as well as in systems in which there is no manual guidance, because the system with remotely controlled actuators, as a rule, are ineligible withdrawal and the danger of disruption of the control system in an unsupervised mode, which can lead to operator injury barrel. Neglecting deviations (bore) of cylindrical shape reduces the accuracy of the functioning of the verified system in its operation.

The purpose of this invention is to eliminate these drawbacks, namely the possibility of reconciliation is not available for end-to-end monitoring, for example, capped at one end, long products, while ensuring the security of running reconciliation systems with electric drives with uncompensated withdrawal and danger of collapse, while taking into account the asymmetry of the shape of the channel table.

This goal is achieved by the fact that the axis of television sighting channel after pointing to the remote tag is fixed in this position by the operator to retain the brand target channel on the tag axle reconciliation barrel combined with the optical axis of the secondary camera and rotation of the trunk in space bring this camera on adjacent to the first g its axis, and the true position of the axis of the barrel is defined as the average deviation of the axis of the second camera from the label in the first and second position. When the turn angle of the second camera is preferably 180oand the position of the axis reconciliation barrel is calculated as half of the deflection axis of the second camera in a second position.

The technical essence of the proposed method is illustrated in Fig. 1, 2.

The task of reconciliation is to ensure the parallelism of the axis of long products (pipes) 1 and the reference axis 2, whose position in space is determined by the optical axis of the camera 3. Alignment markers are used 4 and 5, the relative positions of which on the shield 6 is a constructive mutual axis position of the camera 3 and the pipe 1. A validation process is carried out as follows. The operator, watching the image on the screen of visual display units 7 and working with governing bodies 8 and the actuator 9 changing the position of the camera 3 in space, combines the image of a remote tag 4 and the target marker 10 camera 3, which determines the position of its optical axis, thereby providing a match to the axis of the camera 3 with the center of the label 4. After that, the operator protocolary 3 and the center of the label 4. For alignment of the pipe 1, the design (or the design of the place of its installation) eliminates the possibility of end-to-end monitoring through the channel of the eye 11, the pipe 1 match with the second camera 12 that is carried out by entering the body of the camera 12 in the pipe channel 1. After that, the second operator, watching on the screen visual display device 13 located near the adjustment mechanism, a remote image of the label 5 and the target marker 14 of the camera 12, which determines the position of its optical axis adjustments of the position of the pipe 1 in the space achieves matches mentioned labels and marker. Under ideal location of the camera 12 in the pipe channel 1 (in case of coincidence of the axes of the tubes 1 and camera 12) operation of reconciliation on this could be considered complete. However, in real terms due to manufacturing errors of the mating pipe 1 and the camera body 12, the axis of the camera 12 will be deployed relative to the axis of the pipe 1 at a certain angle , resulting after performing the described operations, the axis of the pipe 8 will be raccoglitore with the direction on the label 5 on this angle (Fig. 2). To exclude the effects of misalignment of the pipe 1 and the camera 12 on the accuracy of the alignment operation reconciliation continue, rizvanovici position 1 (position 11), and its axis is deflected from the axis of the pipe 8 angle = . Obviously, the amount of misalignment of the axis of the pipe 1 with a specific label equal to 5 , i.e., half the value of the misalignment of the axis of the camera 12 and labels 5 upon rotation of the camera 12 in the pipe 1, which is the value + = 2. To reconcile the axis of the pipe 1 and marker 5 to rotate the pipe 1 in space by an angle equal to half the magnitude of the misalignment of the axis of the camera 12 and labels 5. This operation reconciliation can be considered complete.

In relation to the implementation of the considered control method and set the long axis of the product relative to the base axis assumes the device for its realization.

The inventive device is characterized by the fact that along with the body with the elements forming the base surface, the camera is equipped with a clock, video devices and lens, it has a cavity in the housing, the base surface is located outside the housing, the camera is set inside the body mainly on its axis and provided with a character generator, the inputs of which are connected to the outputs of the clock, and the adder, the inputs of which are connected to the outputs of the cameras and CG, and the output is connected to>The device controlling the position of the axis of long products, such as pipe, relative to the base axis, the construction of which is shown in Fig. 3, includes a housing 15 with the elements 16 forming the base surface, the TV camera 17, provided with a clock 18, visual display device 19 and lens 20. When using the instrument housing 15 is introduced into the pipe 1 and forming the base surface elements 16 are in contact with the inner surface of the pipe. Inside the body is a cavity 21, predominantly through. On one side of this cavity is the lens 20, and on the other hand camera 17. This mount camera 17 to the casing 15 is performed by adjustment of the position of the camera 17 with respect to an axis of the device, that will allow you to set the camera 17 in alignment with the body 15 of the device position. The output of the TV camera 17 is connected to the input of adder is signal 22, the second input is connected with the output of the character generator 23. The function of the character generator 23 is forming a television image 14 (Fig. 1) on the screen of the visual display device 19. Synchronization of the operation of the character generator 23 and the scanner camera 17 is carried out by supplying to corresponding inputs of C is.

When implementing the device can be used the following technical solutions. The housing 15 may be made in the form of a pipe, the outer surface of which zapressovyvajutsja elements 16, which may be in the form of rings, on the outer surface of which is formed by the base surface. For good adhesion of the base surfaces of the channel walls of the pipe 1 when the deviation of the shape of the elements 16 and the pipe channel 1 from the cylindrical form of the optimal number of reference surfaces on each of the elements is three, one of these three elements is a spring-loaded, i.e., is in the form of mounts for cables are 24, pressed against the channel of the pipe 1 by a spring 25. As the TV camera 17 is advisable to use a camera with a photosensitive element based on the matrix of charge-coupled devices (CCDs), for example a chip CCM with the number of elements of the decomposition h. Good results can be obtained with the camera KT-10, used in automatic control. As visual display units 19 you can use the serial video device WCW. The focal length of the lens 20 is chosen depending on the required accuracy of alignment. Premeditative "Tair-2". The adder video signal 22 may be constructed according to the scheme of the electronic switch transistors CT-315. The character generator 23 may be constructed according to the scheme of analog or digital characters method for forming shapes of displacement on the methodology and on the schemes given in [3], Fig. 2.11, 2.12.

After Assembly, the device is subject to adjustment, which provides a combination of the axis of the channel of the housing 15 with the optical axis of the lens 20 and the center of the receiving area of the camera 17 (due to lateral movement of the TV camera 17 relative to the housing 15), which brought the image of the marker 14. The specified adjusting the operation easier to perform on the optical bench USC-2 using the collimator and special technological devices, representing a pipe 17, is executed with high accuracy.

The operation is as follows.

Before alignment, the apparatus is installed viverone pipe so it is that the lens 20 has been directed towards viverone labels 5 and podporovali lens 20 (if necessary) to get a sharp image viverone label 5 on the screen of the visual display device 7 target channel (Fig. 1) by changing the position Telecomunica coincidence with the axis of the camera 3 with the center of the label 4, then the operator will allow the retention of the target image marker camera 3 label 4 (Fig. 1).

The second operator, watching on the screen of the visual display device 19, a remote at a safe distance from the pipe 1, the misalignment of the image remote label 5 generated by the camera 12, and a handle 14 formed by the character generator 23 and coinciding with the axis of the TV camera 17, the adjustment of the tube in the space seeks to match the above images. Then turn the device in the pipe 1 at an angle, preferably comprising 180ofor that purpose the device may be provided by a special arm. Appeared after this turn on the screen of the visual display device 19 misalignment of the images of the label 5 and the marker 14 by moving the pipe 1 in the space is reduced in two times, after which, as noted above, provided the specified relative position of the axes of the target channel and pipe. However, because visual display device 19 may be removed from the pipe 1 at a distance, eliminating the possibility of injury to the operator tube in case of abnormal operation of its actuator provides high security work.

The described method and device but pipes, and in the presence of transient detail and long products other form (brands, tee and so on ) in parallel or in a specified position relative to the sighting axis of the channel, which determines the position of the base axis in space.

Industrial applicability of the proposed method and device proved by the production of prototype devices and experienced service.

References

1. Theory and design of the tank. Ed. by p. P. Isakov. So the HW Test tank weapons. - M: mechanical engineering, 1983, S. 199.

2. Colerus - Geldern G. Eine Nachtsicht - Fernsehanlage fur Kompfpauzer. "Truppendienst", 1974, No. 6, S. 498-500.

3. Guglin I. N. Television slot machines and exercise equipment. - M.: Radio and communication. - 1982.

1. Control method and installation axis of long products, such as pipe, relative to the base axis, which consists in placing the reference axis by the first remote tag using the first camera and the first visual display units and align the long axis of the product to the desired position, wherein the specified base axis after pointing to the remote tag is fixed in position, then install the product match with the second camera by typing in the channel denominative second camera around its axis on the semicircle, determine the amount of misalignment of the axis of the second camera and the second remote tag, and the position of the axis of the product is defined as half the magnitude of the misalignment of the axis of the second camera and the second label.

2. The device controlling the position of the axis of long products, such as pipe, relative to the base axis, containing the first camera and the first video device, as well as the elements that make up the basic surface, characterized in that it is additionally equipped with a second camera with lens installed in the cavity of the housing, on which the base surface mating with the base surfaces of the assembled product, the clock and the second visual display device equipped with the CG, the inputs of which are connected to the outputs of the clock, and the adder, the inputs of which are connected to the outputs of the cameras and the character generator and the output to the input of the second video device.

3. The device according to p. 2, characterized in that the base surface is cylindrical.

4. The device according to p. 2, characterized in that one of the basic elements forming the base surface is spring-loaded.

5. The device according to p. 2, Otley is

 

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