Research On Practical Technology Of Measuring Robot For Pipe Inner Wall

Pipes play an irreplaceable role in life.The artillery body is a widely used pipe in the military.The quality of the inner wall has an important impact on the accuracy of the weapon and the accuracy of the firing.The length of the barrel of the gun is large,the radius is small and there is a twist line inside.The detection of the barrel of the gun has always been a difficult point of research.In order to develop a high-precision and mature inner wall inspection system,based on the development of the previous detection system and the analysis of the experimental results,the paper proposed system optimization methods,completed the improvement of the system problems and the error analysis and correction control,and designed the corresponding data processing methods according to the actual needs.Firstly,this paper analyzed the structural design of the existing system,and analyzed the crawling subsystem,the control subsystem and the industrial camera measurement module and the laser displacement sensor measurement module in the measurement subsystem of the system in detail,which provides the system a theoretical basis of the optimization and improvement.Then,for the problems and defects that the system highlights in the test,optimization is performed from the various subsystems of the system.The data acquisition module of the laser displacement sensor,the axial distance counting mode of the position measuring unit and the optimization of the calibration tube design are completed.At the same time,the integration of the processing data collected by the laser displacement sensor and the display program is completed,and the method of obtaining parameters based on the Imageware software is changed,which reduces the complexity of the operation process and the learning cost of the user.Finally,based on the analysis of the data collected by the laser displacement sensor,the analysis of the system pose error,laser displacement sensor installation error and eccentricity error and the correction control method are completed.For the specific parameters concerned in the actual use,contour reduction and squall line are proposed.The algorithm of data separation and cross-section two-dimensional expansion improves the detection accuracy of the system.Through the above work,this paper completed the optimization of the 155 mm system and the development of the 105mm/122 mm system.In the laser displacement sensor measurement mode,the system completed the test of the calibration tube and the actual body tube.The experiment proved that the radial accuracy of the system reached0.01 mm and the axial precision reached 0.1mm.Compared with the previous system,the stability and accuracy of the system have been improved.In the industrial camera measurement mode,the actual snivel test of the body tube was completed.The experiment proved that the design of the camera’s resolution,illumination intensity and time meet the actual detection requirements.