Development Of The Intelligent Bore Cleaning Robot

Due to high temperature and pressure, the remaining substances in the bore after the gun is launched will adhere to the bore firmly and can't be removed easily, which will result in erosion of the bore and have an impact on the veracity and reliability of the gun launching as well as its operating life. These substances are removed with manual and mechanical cleaning mainly, which can't meet and accommodate with the campaign need of moderniation high-tech wars because of unwieldy equipement, low intelligentization, over laboring intension of soldiers, low efficiency and cleaning extent.On the basis of national defence beforehand research program, the intelligent bore cleaning robot is developed based on the technology of embeded control, image processing and pattern recognition. A flexible closed system, formed with this robot and bore, achieves in intelligentization of cleaning and visualizaion of inner bore, which not only greatly lessens laboring tension of soldiers, but advances maintenance level and operating life of bore as well. It is of bright future in expansive application and of great military and economic benefit in enhancing battle effectiveness of the army.This paper focuses on:The first chapter studies the background and key technology of this project, bringing in the lastest research and developing orientation of bore robot at home and abroad.The second chapter presents design of general scheme of mechanism and control system, in terms of main capability and technique requirements.The third chapter works over computing design of primary parts of mechanism in the robot.The fourth chapter fixes on selection of the embeded processor according to system requirement and design of hardware electrocircuit in control system as well as the drive module of brushless DC motors and transplanting of embeded operating system in this processor.The fifth chapter focuses on apparatus selection of digital image gathering and processing module as well as hardware design.The sixth chapter introduces panoramic-annular distortion correction arithmetic, studies algorithm in cuprum areas and designs fuzzy pattern recognition system.The seventh chapter summarizes the research of intelligent bore cleaning robot and studies its further research.