Method for location of radiation source and device for its realization

FIELD: location of radiation sources.

SUBSTANCE: the method consists in determination of the angles-bearings of radiation sources, which is performed with the aid of two optic-location units, each having a scanning mirror, lens and a photodetector. The point located on the intersection of the scanning mirror and the lens optical axis is used as the reference point of angles-bearings. At determination of angles-bearings the shift of the angle-bearing reference point due to scanning is determined, and the change of the distance between the optic-location units is determined, which is used in determination of the co-ordinates of the radiation sources. Two optic-location units in the device for remote determination of the co-ordinates of the radiation sources are connected to the unit for determination of the angles-bearings of the radiation sources connected to the unit for determination the co-ordinates of the radiation source, and a unit for determination of the shift of the reference points of angles-bearings, unit for input and storage of the data of distance between the optic-location units and an adder are introduced. The output of the unit for determination of angles-bearings is connected to the input of the unit for determination of the shift of the reference points of angles-bearings, the outputs of the unit for determination of the shift of the reference points of angles-bearings and the unit for input and storage of the data of distance between the optic-location units are connected to the adder, whose output is connected to the unit for determination of the co-ordinates of the radiation sources.

EFFECT: enhanced accuracy of readout of the co-ordinates of radiation sources due to correction of the co-ordinates of the reference points of angles-bearings.

2 cl, 5 dwg

 

The invention relates to the field of special optical equipment and, in particular, to systems of remote orientation detection of moving objects and can be used to create systems of robotics, namely, devices that determine the position of the working body manipulators and control systems, where data turns the head of the operator, etc.

Currently widely used for guidance of various control subsystems, switching controls without using hands, through the use of data turns the head of the operator of the so-called helmet-mounted target designation system. These systems are based on remote devices determining the orientation of a moving object

Optical device for the remote detection of the orientation of moving objects have to be placed on a movable object reference radiation sources (RI) and optical radar units (ARS), placed on the base (fixed) the basis on which it is determined the orientation of the movable object. Irst blocks define the directions on a separate RI (angles-bearings, RI), using which determine the orientation of moving objects. In ARS widely used two-dimensional analyzers flat images, for example, based on a matrix the photodetectors in combination with distance measuring device. Cm. "Technical vision robots" under the General editorship of Dr. so-called Ugochukwu. M: mechanical engineering, 1990, str. Classic stereoscopic scheme of constructing devices determine the orientation of the moving objects measure the angles to the direction of RI from two points separated by a known distance, then determine the coordinates RI and orientation of a moving object.

The known device location of radiation sources placed on moving objects, for example, U.S. patent No. 4193689, No. 4209254; UK No. 2002968, No. 1520154. These devices contain placed on a movable object RI, and the stationary object is a M-dimensional optical radar units, where M≥2, determine the angles to the direction of reference sources, and blocks determine the coordinates of the reference radiation sources and the orientation of the movable object.

In these devices is implemented the following way to determine the coordinates RI:

- determine the signals corresponding to the image position RI in the plane of the photodetector;

according to the received signals, depending on the focal length optical system of the imaging unit RI determine the angles to the bearings of each RI movable object;

on the basis of these angles-bearings based on the known distance between the points defining corners of the bearings define the coordinates RI.

This method and device is the primary objective for its implementation is described in UK patent No. 2002986, which provides for the use of the cylindrical lens-anamorphose to form the image of RI in the plane of the line of photodetectors. Determining a coordinate of the image of RI and knowing the focal length of cylindrical lens, determine the angle-bearing RI. Using the received data and knowing the distance between the imaging devices (points for which are counts of angles-bearings), determine the coordinates RI.

Measurement of the orientation of a moving object is performed in three steps: definition of angles-direction coordinate RI (points M1and M2)and then, using the obtained coordinate values of RI, the determination of the orientation of a moving object.

When conducting locations RI are determined by the coordinates of the image of RI on the photodetector 10 is ZBM1and ZBM2. Using the obtained values, and the focal length f of the lens 6, are determined by the angles of the bearings RI M1and M2.

where i=1, 2.

Similarly, define the corners αiin the optical radar unit 4.

The coordinates of points M1and M2manufactured using the following functional dependencies:

The accuracy of the coordinates RI M1and M2definition what is the accuracy of the reference angles-bearings α ithat βia precise definition of the base distance Bibetween the optical radar units, i.e. between points of reference angles-bearings in each optical radar unit. This distance can be written in the following form

where: B0- the nominal value of the base distance at corners α0and β0;

ΔBαiand ΔBβi- the variable part of the base distance in blocks a and B.

The accuracy of determining the coordinates of RI is determined by the accuracy of the reference angles-direction relative to a preset reference point and the accuracy of the coordinates of the reference point adopted in the measuring circuit, the coordinates of the actual point. In the optical radar units radial flow RI interacts with the optical components of the measuring circuit and advanced moves (changes the orientation of its direction) relative to the originally adopted reference point. So, when using the mirror scanning elements for expansion of the field of view of the photodetectors is offset from the point of reflection of rays (point angles-direction) when the turns of the mirror moving parts. Such displacement of the beam lead to a change of coordinates previously adopted a starting point of his provocational, which in the actual circuit measurements reaches several millimeters. Since removing RI from optical Loktionova block devices, robotics, helmet systems targeting is 0.5...1.5 m, this leads to an additional error of reference angles-bearings in a few minutes of arc, which in turn leads to additional error of the order of angular degrees in the definition of the orientation angles of the rolling object. In many systems this error in the determination of the coordinates RI unacceptable.

A disadvantage of the known method and device coordinates RI is the lack of fast-track changes of the geometrical parameters of the real scheme of reference angles-bearings (offset reference point angles-bearings), as well as the lack of automatic correction of the detected changes, which limits the accuracy of angle detection-bearings.

The method and the device, taken as a prototype, implemented in the device by the United Kingdom patent GB 2002986. In the device are determined by the angles to the direction of RI on the measured image coordinates of RI on the photodetectors. It fails to account for the offset of the radiation flux from RI with the passage of the auxiliary optical components (filters, safety glasses photodetector).

As an example, consider the device definition CCW is dinat RI, presented in figure 1, which is performed in accordance with a geometrical scheme of reference adopted in the prototype.

The device (1) contains RI 1 (point emitters M1and M2), is placed on the movable object 2, ARS 3 and 4, and also connected in series definition block corners-bearings 5, block 6 determination of coordinates of reference emitters, block 7 determine the orientation of the movable object. ARS contains consistently located the imaging unit RI - cylindrical lens 8, a filter 9 and a position-sensitive photodetector 10. The output of each ARS is connected to the input unit 5.

Reference emitters M1and M2placed on a movable object along the vector fragile glass in the direction of its orientation. On the fixed block mounted along the axis OZ (points a and b) two optical radar unit, measuring the angles to the direction of projection of reference emitters on the plane XOZ.

Measurement of the orientation of a moving object is performed in three steps: definition of angles-direction coordinate RI (points M1and M2)and then, using the obtained coordinate values of RI, the determination of the orientation of a moving object.

Opto-electronic components in addition to the lenses and photodetectors may comprise a scanning mirror, which is in the process of measuring angles-bearings can also PR is lead to an additional shift of the reference point angles-bearings.

To assess changes of coordinates of the reference points of the corners of the bearings, and hence the calculation of basic distances in the scanning systems with a rotating mirror prisms will analyze optical system of the scanning system, which is designed to determine the coordinates of the projections of points Mion the plane XAZ measuring coordinate system indicated in figure 2.

The measuring system includes two scanning ARS 3 and 4, each of which contains a mirrored prism 11 with inradius R, line KL and the lens 8 with the photodetector 10, the optical axis is denoted by a straight PN. The center of the scan area of each ARS is set to direct, the position of which may be determined by the condition of intersection of the radius of the prism R and direct PN at an angle ξ=45°. Scanning ARS are located in the dynamical system of coordinates XOZ so as to ensure the presence of the joint zone scan both ARS in the area of the most probable position RI (Mi).

Radiation from RI is reflected from the mirror face KL scanning prism 11 and the direction of the straight line PN falls on the photodetector 10. At the turn of the prism 11 field of view of the photodetector 10 scans (scans) the area of possible positions RI. The turn angle of the scanning prism 11 corresponds to twice the angle of spread of the field of view of the photodetector 10 in the selected is the system of coordinates. The reference angle is relative to the initial turn angle prism 11 (angle φ), when the field of view of the photodetector 10 is oriented relative to the zone of possible positions RI, for example, is on the boundary (or in the center of the zone). Then the angle-bearing RI will be equal to α=φ-2γ. The point relative to which the measurement of angles-direction can be set as the point of intersection of lines (PN), and KL (for example, point a). at the turn of the prism at an angle φ. Then, the base length to determine the coordinates RI is the distance between two points of reference angles, straight AB, which is parallel to the axis OZ of the coordinate system the location of the axes of rotation of the mirror element (scanning prism).

What is happening in the scanning process (when the turns of the prism relative to the lens) displacement of reference points of the corners of the bearings (Andα0Andα1Andα2Inα0, Bα1Inα2) lead to changes in the size and angular position of the line segment AB, which in turn conducts to errors in the determination of the coordinates RI, and further, the movable object.

Consider changing parameters of a segment of Aα12analyzing the changes of coordinates of a point Andαiwhen measuring angles-bearings α1that α2when the turns of the prism relative to the lens in skaniruesh the m ARS 4 (Figure 3). The process of changing the coordinates of a reference point in ARS 3 is similar.

The equation KL, PN can be written in the following form:

Deciding together equations relative to the coordinates of ZA, XApoint D, we obtain the expression for the coordinates of point a:

In accordance with the obtained expression can be seen (Figure 3)that at the turn of the prisms 11 to the corner γ2is offset from the reference point of the angle-bearing in the new position (point aα2coordinates ΔZDα2that ΔXDβ2), which leads to changes in the basic distance on value ΔBα2(area E).

The objective of the proposed technical solutions - conducting automated operational Refine the measurement of angles-bearings (accounting for the change in coordinates of the reference point angles-bearings for each measurement) during operation of the device, which is especially important for small values of distances between the moving and fixed objects.

The aim of the proposed method location RI is to improve the accuracy of reference coordinates RI due to the correction of the coordinates of reference angles-bearings RI.

The essence of the proposed solution is a new set of actions in determining the coordinates RI, when, after determining the angle-bearing RI, use the form obtained value to determine the offset of the reference point of the angle-bearing, and then the obtained offset value is used for correction of geometric parameters measurement scheme adopted to calculate the coordinates RI.

This objective is achieved in that in the method, based on the definition of angles-bearings RI, determination of the angles of the direction of radiation sources is carried out using two optical radar units, each of which contains a scanning reflecting surface, the lens and the photodetector, and as a point of reference angles-bearings use a point located at the intersection of the scanning of the reflective surface and the optical axis of the lens, and when determining angles-bearings determine the offset of the reference points of the corners of the bearings, which are used in determining the coordinates of the radiation sources. For example, adjusting the distance between the reference points of the corners of the bearings in the system, where there are several ARS, or adjust the pre-measured values of angles-bearings.

The remote positioning of radiation source includes measuring rotary optical radar unit, the unit coordinates of the radiation source and block definitions, the displacements of points of reference angles-bearings.

The unit coordinates RI may contain the input node, and storing the location coordinates of the base that is the EC reference angles-direction in the coordinate system of the optical radar units, the adder and the node coordinates calculation of radiation sources.

Set out the essence of the proposed method and device are explained in the following description and drawings where pictured:

Figure 1 - block diagram of the known device location of radiation sources;

2 is a geometrical diagram of the coordinates RI using a scanning mirror prisms;

Figure 3 is a geometric diagram of the displacement of the reference points of the corners of the bearings using a scanning mirror prisms;

4 is a block diagram of the remote device determining the orientation of a movable object taking into account changes in the underlying distances between the reference points of the corners of the bearings;

5 is an optical diagram of the scanning optical radar unit.

As an example, the implementation of the proposed method of determining the position RI consider the block diagram of the device coordinates RI, installed on a movable object (protective helmets), which provided automatic registration of change of the distance between the reference points of the corners of the bearings in optical radar units, are presented in figure 4.

The device contains RI 1 (point emitters M1, M2and M3), placed on a movable object (protective helmets) 2, ARS 3 and 4, and the unit angle detection-bearings 5, block 6 coordinates RI, block 7 definitions of Oriental who and the rolling object. While ARS contains a lens 8, a filter 9, the photodetector 10, the scanning mirror prism 11, the mirror 12. The device also includes a block 13 determine the offset of the reference points of the corners of the bearings, block 14 entering and storing data of the distance between the optical radar units 3 and 4, the adder 15.

Data about distances install irst blocks relative to each other, the distance between points a and b, i.e. B0that is determined by the layout of the device, previously entered in the node 14, and stored for the entire period of operation of the device. Node 14 input and storage can be made in the form of a set of switches forming the binary code, either in the form of a chip reprogrammable memory.

In the optical radar units 3, 4, where the applied rotating prism, data about the rotation angle of the prism 11 at the time when radiation falls on the photodetector 10. On the basis of these data, and data about the structural parameters of the ARS unit 5 is determined angles-bearings RI. So, on the basis of signals from unit 4, are determined by the angles-bearings αiwhere i is the number of the radiation source, and on the basis of signals from the optical location unit 3 determines the angles-bearings βi. Corners-bearings αiand βitransmitted in block 6 coordinates reperi the emitters, where are the whole period of the next cycle angle detection-bearings.

At the same time the values of the angles-bearings αiand βigo to the input unit 13 to determine the offset of the reference points of the corners of the bearings, i.e. changes of the basic distance between the reference points. In this unit based on the measured angles-bearings define an additional offset points. So, for block 4 is the additional displacement of the point of illumination of the photodetector and the corresponding equivalent offset reference point for each measured angle, i.e. a value of ΔB(αi), and block 3 is the offset of the reference point on a face of the prism for each measured angle, i.e. a value of ΔB(βi).

Signals corresponding to the sets of measurements at a given RI, i.e. the values of the ΔB(αi), ΔB(βi) RI M1and RI M2output unit 13 receives at the first input of the adder 15, the second input of which also receives the value of the constant part of the base distance B0site 14 input and storage of the coordinates of the basic points of reference angles-bearings in optical radar units. From the output of the adder 15, the signals corresponding to the calculated distance between the reference points of the corners of the bearings Bi=B0±ΔB(αi)±ΔB(βi), comes the t in block 6.

In block 6 after completion of the cycle of the angle detection-bearings and corresponding distances between the reference points of the corners of the bearings on the basis of the received data is the coordinates of the reference sources, for example by the formulas (2) and (3). For this purpose, the signals of the base distance Bi=B0±ΔB(αi)±ΔB(βi) when measuring angles-bearings for each point Misimultaneously with the values of the corresponding angles, bearings αiand βiusing auxiliary computing means forming a signal corresponding to spatial coordinates of reference emitters.

From the output of block 6 spatial coordinates of reference emitters Mi(X,Y,Z) is fed to the input of block 7 definitions of angles of orientation of a movable object. In block 7, using data on the spatial coordinates RI Miand given their relative location on the movable object is determined orientation parameters of a moving object - angles ϕythat ϕzorientation of the protective helmet.

Blocks angle detection-direction coordinate of the reference emitter, the orientation of the movable object, determining the corrections can be performed using a standard set of build pulse and in the computer technology.

As an example of one of the embodiments of the optical location unit, made on the basis of the scanning prism, figure 5 presents the optical scheme of the optical radar unit helmet-mounted target designation system. The optical system includes the scanning lens 11, a mirror 12, a lens 8 with a narrow field of view, the optical filter 9 and the photodetector 10, and limb device 15 countdown turn corners of the prism 11. Radiation from RI passes through the front glass 16 and reflected from the mirror face of the scanning prism 11, a mirror 12, passes through the filter 9 to the input of the lens 10 and illuminates the photodetector 10. The rotation angle of the prism 11 is determined with the help of limb device 16, which represents two limbs, one limb 17, fixed in the housing unit, and the second limb 18 fixed on the axis of the prism and rotates with it. At the location of the RI on the Central axis of the scan area of the Central beam of radiation is reflected from the mirror face of the prism at point aαwhen you move RI on the scan area of the point of reflection is also shifted on the faces of the prism (expression 6). Accounting for this bias in the value of the base distance between the reference points of the corners of the bearings in the system of the two optical radar units increases the accuracy of the coordinates RI.

Compared with the prototype of the proposed method and the device and out the following advantage:

- implemented automatic detection of the displacement of the reference points of the corners of the bearings, using which improved the accuracy of determining the coordinates of the radiation sources and, as a consequence, the orientation parameters of the rolling object.

1. The way to locate the sources of radiation, including the determination of the angles of the direction of radiation sources that are used to determine the coordinates of the radiation source, characterized in that the determination of the angles of the direction of radiation sources is carried out using two optical radar units, each of which contains a scanning mirror, a lens and a photodetector, and as a point of reference angles-bearings use a point located at the intersection of the scanning mirror and the optical axis of the lens, and when determining angles-bearings determine the offset of the reference points of the corners of the bearings due to scan and detect the change of the distance between the optical radar units, which take the distance between the reference points of the corners of the bearings in optical radar units, which are used in determining the coordinates of the radiation sources.

2. The remote positioning of radiation sources containing two optical radar unit connected to the unit angle detection-bearings sources emitted is I, connected to the block coordinates of the radiation sources, wherein each of the optical radar units includes a scanning mirror, the lens and the photodetector and the input unit determining the displacement of the reference points of the corners of the bearings, the block storing the data of the distance between the optical radar units and the adder, as a point of reference angles-bearings take the point located at the intersection of the scanning mirror and the optical axis of the lens, the output of the angle detection-direction is connected to the input unit determine the displacement of the reference points of the corners of the bearings, the outputs of the block defining the displacement of the reference points of the corners of the bearings and block input and storage of the distance between the optical radar units connected to the adder, the output of which is connected to the block coordinates of the radiation sources.



 

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