Research On The Robot And Measuring Method Of Variable Diameter Bore Detection

In recent years,with the development of The Times,image processing,machine vision,laser technology and detection technology develop very fast.These aspects provide great technical support for the detection of rifling inside the gun barrel.The Yin and Yang lines of the gun barrel have a great influence on the firing of shells,and the traditional detection technology of the Yin and Yang lines inside the gun barrel is inefficient and has a large error,so the specific parameters cannot be accurately measured.Under this situation,many automatic detection institutions have emerged.The main purpose of this mechanism is to provide feedback on the situation of the Yin and Yang lines of the artillery barrel.This paper independently built a variable bore detection robot and tested the gun bore.The detection mechanism was equipped with a laser rangefinder and PSD laser position sensor.The detection method of the detection robot was studied,the installation parameters of the detection robot were calibrated,the collected data were compensated,and the plane reconstruction of the gun bore was realized.The data before and after compensation are compared and analyzed.The main contents are as follows:According to the experience of other relevant detection structures in recent years,the structural scheme of the variable bore detection robot was designed,and the detection system control method,detection process and measurement method were designed on the basis of the structure.The principle of the detection structure was analyzed,and the basic structure of the prototype was completed with three-dimensional drawing software.The detection mechanism is used to detect the gun barrel of a certain caliber,and the causes of the errors are analyzed.Based on the detection principle of the detection mechanism,the detection method of matching PSD laser position sensor and laser rangefinder is designed.The data compensation method is designed in combination with the experiment.Aiming at the measurement method of gun barrel based on the position error of fixed-axis laser and PSD,a reasonable measurement method is designed.The laser rangefinder is used to measure the inner diameter of the Yin and Yang line of gun barrel,and the PSD laser position sensor is used to measure and calculate the installation calibration parameters,and the errors generated when the two are used together are analyzed.The accuracy compensation algorithm of measurement data based on vector triangulation method is derived,and the error compensation formula based on vector triangulation method is derived,which solves the error problem caused by the eccentricity of PSD and laser rangefinder coordinate system.The comparative analysis before and after compensation shows that the compensation method is effective.