CN111504144A - Built-in shell action detection system and action measurement analysis method thereof - Google Patents
Built-in shell action detection system and action measurement analysis method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
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Abstract
The invention relates to a built-in shell action detection system and an action measurement and analysis method thereof, wherein the system comprises a built-in action measurement module and an action analysis display module which are connected through a wireless communication module; the built-in action measuring module is arranged in the simulated bomb body and comprises a main controller, and the main controller is connected with an acceleration sensor, an angular velocity sensor and a memory; the action analysis display module comprises an upper computer, and the upper computer is connected with a measurement management database, an action attitude resolving unit and a visual display unit. The invention can directly measure the attitude, speed, acceleration and position information of the projectile body in the whole filling process, and obtains the time sequence and efficiency of each mechanism through 3D modeling and visual analysis of motion data, thereby providing technical support for improving the coordination consistency of the actions of mechanisms such as an automatic projectile feeder and the like and the combat reaction time.
Description
Technical Field
The invention belongs to the technical field of high-precision motion detection in a closed space, and particularly relates to a built-in shell motion detection system and a motion measurement and analysis method thereof.
Background
With the development of science and technology and the attention paid to national defense science and technology, the testing and research on the flying posture of the cannonball are developed under the large environment. The method can be used for detecting the key parameters of the cannonball when moving in the closed launching process.
The existing technology for detecting the movement posture of the cannonball is a laser method, namely, a laser transmitting device and a laser receiving device are arranged on the upper inner wall or the lower inner wall of a cannonball bore, a plurality of plane mirrors are respectively arranged on the upper inner wall and the lower inner wall of a cannonball flow-through speed measuring frame between the laser transmitting device and the laser receiving device, and laser points acquired by installing a laser displacement sensor in a cannonball and moving target pixel coordinates are collected to realize the rough positioning of a moving target.
The existing method has the defects that the target is only roughly positioned and is very easily influenced by the outside, the measurement result is inaccurate due to the serious interference of other light waves, and the motion state of the target in the whole process cannot be intuitively observed.
Disclosure of Invention
The invention provides a built-in shell action detection system, which solves the problem that the movement condition cannot be known specifically in the closed shell launching process.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the built-in shell action detection system comprises a built-in action measuring module and an action analysis display module, wherein the built-in action measuring module is connected with the action analysis display module through a wireless communication module; the built-in action measuring module is arranged in the simulated bomb body and comprises a main controller, and the main controller is connected with an acceleration sensor, an angular velocity sensor and a memory; the main controller, the acceleration sensor, the angular velocity sensor and the memory are all connected with a mobile power supply; the action analysis display module comprises an upper computer, and the upper computer is connected with a measurement management database, an action attitude resolving unit and a visual display unit.
Further, the acceleration sensor and the angular velocity sensor adopt nine-axis attitude sensors integrating functions of the acceleration sensor and the angular velocity sensor, and the model of the acceleration sensor and the angular velocity sensor is MPU 9250.
Furthermore, the main controller selects an ARM main controller, and the model is STM32F 767.
Further, the memory is a NAND Flash memory.
Furthermore, the wireless communication module is a ZigBee communication module.
A motion measurement analysis method of a built-in shell motion detection system comprises the following steps:
step (1), a built-in action measuring module is arranged in a simulated projectile body, and a nine-axis attitude sensor acquires linear acceleration information and angular velocity information of the projectile body;
step (2), the STM32F767 main controller drives the MPU9250 attitude sensor through the IIC protocol, reads the original data of the MPU9250 attitude sensor, and realizes attitude calculation by combining DMP of the MPU9250 with an MP L library;
step (3) on the basis of acquiring the posture and acceleration data, the STM32F767 main controller drives the nonvolatile NAND Flash memory in a serial protocol mode, access control on the MX 35L F2GE4AB type NAND Flash memory is achieved, posture and acceleration data are written or read, and data caching is achieved;
step (4), the ZigBee communication module sends out an instruction through wireless transmission to initialize and calibrate the MPU9250 attitude sensor, and transmits the measurement data of the MPU9250 attitude sensor to an upper computer in real time; the system of the upper computer comprises a port number selection unit, a serial port protocol setting unit, an instruction sending unit and a text display area; and (4) correctly selecting a local port number, configuring corresponding parameters according to a serial port protocol, and further inputting a sent instruction to control each controller of the lower computer.
And (5) the upper computer sends the instruction to the lower computer in a hexadecimal mode, the lower computer firstly carries out a series of operations such as power-on reset, initialization of corresponding configuration and the like, then generates a pulse number in a timer mode according to the received content and enables a corresponding IO port, and the IO port is connected with the sensor to complete processing such as sensor data acquisition and real-time transmission.
Step (6), the resolved attitude information is converted into a motion data format of a three-dimensional graph and is output to a visual display unit; establishing a simulated three-dimensional visual model according to the actual mechanism size and the projectile body size; loading a motion data file, performing model transformation, view transformation, projection transformation and view port transformation based on a function of three-dimensional object transformation and rotation, finally converting the model into a window for display, and analyzing the consumed time of each action and the motion parameters of the projectile body, such as speed, acceleration, posture and the like, which change along with time in combination with the action process of a mechanism of the automatic ammunition feeder in detail.
And (7) storing the test data and the analysis result in a special database.
The invention has the following beneficial effects:
according to the system, the multi-axis attitude and acceleration sensing module is arranged in the simulated projectile body, so that attitude, speed, acceleration and position information of the projectile body in the whole filling process can be directly measured, the time sequence and efficiency of each mechanism are obtained through 3D modeling and visual analysis of motion data, and technical support is provided for improving coordination consistency of actions of mechanisms such as an automatic projectile feeder and the like and fighting reaction time.
The invention has reasonable design, solves the problem that the movement condition can not be known in the closed launching process of the cannonball by utilizing the combination of the attitude sensor and the computer ground model calculation, simulates the whole process of the cannonball movement, and provides great help for the research on the aspects of improving the shooting parameters of the cannonball and the like.
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FIG. 1 is a schematic block diagram of the system components of the present invention;
FIG. 2 is a functional distribution diagram of the upper computer of the present invention;
FIG. 3 is a block diagram of the attitude resolution of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following examples, it being understood that the described examples are only a part of the examples of the present invention, and not all examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the built-in cannonball action detection system shown in fig. 1, the system comprises a built-in action measuring module and an action analyzing and displaying module, wherein the built-in action measuring module and the action analyzing and displaying module are connected through a wireless communication module; the built-in action measuring module is arranged in the simulated bomb body and comprises a main controller, and the main controller is connected with an acceleration sensor, an angular velocity sensor and a memory; the main controller, the acceleration sensor, the angular velocity sensor and the memory are all connected with a mobile power supply; the action analysis display module comprises an upper computer, and the upper computer is connected with a measurement management database, an action attitude resolving unit and a visual display unit.
Referring to fig. 2, the upper computer includes a port number selection unit, a serial protocol setting unit, an instruction sending unit, and a text display area.
In one embodiment of the invention, the acceleration sensor and the angular velocity sensor adopt nine-axis attitude sensors integrating the functions of the acceleration sensor and the angular velocity sensor, and the model of the attitude sensors is MPU 9250; of course, it is within the scope of the present application to select other types of acceleration sensors and angular velocity sensors by those skilled in the art without any creative effort.
The main controller is an ARM main controller, and in one embodiment of the invention, the specific model is STM32F 767; the memory is an NAND Flash memory; the wireless communication module adopts a ZigBee communication module.
A motion measurement analysis method of a built-in shell motion detection system comprises the following steps:
step (1), a built-in action measuring module is arranged in a simulated projectile body, and a nine-axis attitude sensor acquires linear acceleration information and angular velocity information of the projectile body;
step (2), the STM32F767 main controller drives the MPU9250 attitude sensor through the IIC protocol, reads the original data of the MPU9250 attitude sensor, and realizes attitude calculation by combining DMP of the MPU9250 with an MP L library;
step (3) on the basis of acquiring the posture and acceleration data, the STM32F767 main controller drives the nonvolatile NAND Flash memory in a serial protocol mode, access control on the MX 35L F2GE4AB type NAND Flash memory is achieved, posture and acceleration data are written or read, and data caching is achieved;
step (4), the ZigBee communication module sends out an instruction through wireless transmission to initialize and calibrate the MPU9250 attitude sensor, and transmits the measurement data of the MPU9250 attitude sensor to an upper computer in real time; the system of the upper computer comprises a port number selection unit, a serial port protocol setting unit, an instruction sending unit and a text display area; and (4) correctly selecting a local port number, configuring corresponding parameters according to a serial port protocol, and further inputting a sent instruction to control each controller of the lower computer.
And (5) the upper computer sends the instruction to the lower computer in a hexadecimal mode, the lower computer firstly carries out a series of operations such as power-on reset, initialization of corresponding configuration and the like, then generates a pulse number in a timer mode according to the received content and enables a corresponding IO port, and the IO port is connected with the sensor to complete processing such as sensor data acquisition and real-time transmission.
Step (6), the resolved attitude information is converted into a motion data format of a three-dimensional graph and is output to a visual display unit; establishing a simulated three-dimensional visual model according to the actual mechanism size and the projectile body size; loading a motion data file, performing model transformation, view transformation, projection transformation and view port transformation based on a function of three-dimensional object transformation and rotation, finally converting the model into a window for display, and analyzing the consumed time of each action and the motion parameters of the projectile body, such as speed, acceleration and posture and the like, which change along with time in detail by combining the action process of the automatic feeder so as to evaluate the action efficiency of the mechanism, and referring to fig. 3.
And (7) storing the test data and the analysis result into a special database, so that the inquiry, management and monitoring of the mechanism state are facilitated, and data support is provided for the maintenance guarantee of the ammunition feeder.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. Any partial modification or replacement within the technical scope of the present disclosure by a person skilled in the art should be included in the scope of the present disclosure.
Claims (6)
1. The built-in shell action detection system is characterized by comprising a built-in action measuring module and an action analysis display module, wherein the built-in action measuring module is connected with the action analysis display module through a wireless communication module; the built-in action measuring module is arranged in the simulated bomb body and comprises a main controller, and the main controller is connected with an acceleration sensor, an angular velocity sensor and a memory; the main controller, the acceleration sensor, the angular velocity sensor and the memory are all connected with a mobile power supply; the action analysis display module comprises an upper computer, and the upper computer is connected with a measurement management database, an action attitude resolving unit and a visual display unit.
2. The built-in shell action detection system as claimed in claim 1, wherein the acceleration sensor and the angular velocity sensor are nine-axis attitude sensors integrated with both functions, and the model is MPU 9250.
3. The built-in shell action detection system of claim 1 or 2, wherein the master controller is an ARM master controller, and the model is STM32F 767.
4. The built-in shell action detection system of claim 3, wherein the memory is NANDFlash memory.
5. The built-in shell motion detection system of claim 3, wherein the wireless communication module is a ZigBee communication module.
6. A motion measurement and analysis method of a built-in shell motion detection system is characterized in that: the method comprises the following steps:
step (1), a built-in action measuring module is arranged in a simulated projectile body, and a nine-axis attitude sensor acquires linear acceleration information and angular velocity information of the projectile body;
step (2), the STM32F767 main controller drives the MPU9250 attitude sensor through the IIC protocol, reads the original data of the MPU9250 attitude sensor, and realizes attitude calculation by combining DMP of the MPU9250 with an MP L library;
step (3) on the basis of acquiring the posture and acceleration data, the STM32F767 main controller drives the nonvolatile NAND Flash memory in a serial protocol mode, access control on the MX 35L F2GE4AB type NAND Flash memory is achieved, posture and acceleration data are written or read, and data caching is achieved;
step (4), the ZigBee communication module sends out an instruction through wireless transmission to initialize and calibrate the MPU9250 attitude sensor, and transmits the measurement data of the MPU9250 attitude sensor to an upper computer in real time; the system of the upper computer comprises a port number selection unit, a serial port protocol setting unit, an instruction sending unit and a text display area; and (4) correctly selecting a local port number, configuring corresponding parameters according to a serial port protocol, and further inputting a sent instruction to control each controller of the lower computer.
And (5) the upper computer sends the instruction to the lower computer in a hexadecimal mode, the lower computer firstly carries out a series of operations such as power-on reset, initialization of corresponding configuration and the like, then generates a pulse number in a timer mode according to the received content and enables a corresponding IO port, and the IO port is connected with the sensor to complete processing such as sensor data acquisition and real-time transmission.
Step (6), the resolved attitude information is converted into a motion data format of a three-dimensional graph and is output to a visual display unit; establishing a simulated three-dimensional visual model according to the actual mechanism size and the projectile body size; loading a motion data file, performing model transformation, view transformation, projection transformation and view port transformation based on a function of three-dimensional object transformation and rotation, finally converting the model into a window for display, and analyzing the consumed time of each action and the motion parameters of the projectile body, such as speed, acceleration, posture and the like, which change along with time in combination with the action process of a mechanism of the automatic ammunition feeder in detail.
And (7) storing the test data and the analysis result in a special database.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114053735A (en) * | 2021-11-26 | 2022-02-18 | 王玲 | Electronic falling cannon for children toy |
| CN115307485A (en) * | 2022-07-11 | 2022-11-08 | 中国人民解放军陆军工程大学 | Missile-borne dynamic parameter testing system |
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