CN114777570A - Intelligent automatic gun calibration system - Google Patents
Intelligent automatic gun calibration system Download PDFInfo
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- CN114777570A CN114777570A CN202210286456.3A CN202210286456A CN114777570A CN 114777570 A CN114777570 A CN 114777570A CN 202210286456 A CN202210286456 A CN 202210286456A CN 114777570 A CN114777570 A CN 114777570A
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- 238000012937 correction Methods 0.000 claims abstract description 49
- 238000012549 training Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 27
- 230000003993 interaction Effects 0.000 claims description 22
- 241001522301 Apogonichthyoides nigripinnis Species 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 21
- 238000000034 method Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 238000013135 deep learning Methods 0.000 description 3
- 238000010304 firing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007620 mathematical function Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 244000144985 peep Species 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/06—Rearsights
- F41G1/16—Adjusting mechanisms therefor; Mountings therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/54—Devices for testing or checking ; Tools for adjustment of sights
Abstract
The application discloses an intelligent automatic gun calibration system, which comprises an acquisition system, a measurement system, a calibration reference system and a calibration system; the measuring system is used for carrying out horizontal adjustment on the correction reference system; the correction reference system is used for adjusting the shooting state of the gun; the correction system is used for carrying out position adjustment on the shooting state of the gun; the acquisition system is used for acquiring and correcting the impact point information shot by the gun. The gun checking system is high in reasonability and calculation accuracy, and is suitable for correcting guns of army training hybrid manufacturers.
Description
Technical Field
The application belongs to the technical field of military firearms equipment, and particularly relates to an intelligent automatic gun calibration system.
Background
Calibration of firearms today is typically manual: the existing common gun calibration mode mainly adopts a calibration mode of manually shooting and calibrating the gun by experience and combining laser positioning and manually shooting and calibrating the gun by experience, or a double-laser gun calibration mode, namely, a target center is taken as a target, laser is fixed on a gun tube, the height of a sight and the left and right of a sight are adjusted by taking the fixed laser of the gun tube aiming at the target center as a reference, and the positions of the sight and the sight are judged by laser point coincidence; and a gun is calibrated by adopting a gun aiming and calibrating mode based on double laser and theoretical trajectory. The gun calibration methods have the following problems in the actual gun calibration process: 1) errors in the processing of parts in the production process of the gun and errors in the production and processing process of the bullet; 2) the angle error of the cartridge entering the chamber; 3) and artificial shooting technical errors during shooting. These errors result in more random distribution of the impact points on the target when the firearm is fired, resulting in the soldier needing to fire multiple times or feeling an accumulated firing experience to achieve good performance.
Disclosure of Invention
The application provides an intelligent automatic gun calibration system, in order to solve the problem that above-mentioned prior art exists, through the bullet information on the mechanical vision collection shooting target, and with the bullet information of gathering with the information contrast of the time school rifle when leaving the factory, through the deep study, take the function storehouse of optimization to the shooting target on the bullet point carry out the sight and look at the position relation and carry out the structure of function model, and carry out the comprehensive regulation of sight and the position of looking at the door through the executor with its result of calculation, finally realize the real-time correction of gun shooting in-process and adjust.
In order to achieve the above purpose, the present application provides the following solutions:
an intelligent automatic gun calibration system, comprising:
the system comprises an acquisition system, a measurement system, a correction reference system and a correction system;
the measuring system is used for carrying out horizontal adjustment on the correction reference system;
the correction reference system is used for adjusting the shooting state of the gun;
the correction system is used for carrying out position adjustment on the shooting state of the gun;
the acquisition system is used for acquiring and correcting the impact point information shot by the gun.
Optionally, the collecting system includes: a sighting telescope 13, a laser range finder 14, a camera 15 and an actuator 16;
the upper surface of the sighting telescope 13 is connected with the lower surface of the laser range finder 14; the right surface of the camera 15 is connected with the left surface of the actuator 16;
the actuator 16 is used to acquire and modify the impact point information of the firearm firing.
Optionally, the actuator 16 includes an acquisition unit, a display interaction unit, and a motion execution unit;
the acquisition unit, the display interaction unit and the motion execution unit are respectively connected with the actuator 16;
the acquisition unit is used for acquiring impact point information of gun shooting;
the display interaction unit is used for sending a correction instruction to the impact point information of the gun shooting;
the movement execution unit is used for correcting the bullet-landing point information shot by the gun according to the correction instruction sent by the display interaction unit.
Optionally, the motion execution unit includes a motion control module and a servo drive module;
the motion control module is connected with the servo drive module;
the motion control module is used for receiving a correction instruction of the display interaction unit;
and the servo driving module is used for adjusting the positions of the alignment star and the sight according to the correction instruction of the display interaction unit.
Optionally, the measuring system includes: the gun calibration system comprises a gun calibration platform 1, a clamp 2, a platform base 3, a precision measuring scale 4, a platform level meter 5, a calibration target 6, a calibration target slide block 7 and a calibration target center 8;
one side of the upper surface of the gun calibration platform 1 is connected with the lower surface of the clamp 2, the other side of the upper surface of the gun calibration platform 1 is connected with the lower surface of the calibration target 6, the upper surface of the gun calibration platform 1 is also provided with the precision measuring ruler 4 and the platform level gauge 5 respectively, and two ends of the lower surface of the gun calibration platform 1 are connected with the upper surface of the platform base 3 respectively; the correcting target slide block 7 is provided with the correcting target center 8;
the gun calibration platform 1 and the clamp 2 are used for fixing a gun to be calibrated 9;
the platform base 3 is used for adjusting the position of the precision measuring scale 4;
the precision measuring ruler 4 and the platform level gauge 5 are used for carrying out horizontal measurement on the gun calibrating platform 1;
the correction target 6 is used for correcting the position of the gun calibration platform 1;
the correcting target slide block 7 is used for carrying out position adjustment on the correcting target 6;
the correction bulls-eye 8 is used to record the impact point information of the firearm firing.
Optionally, the calibration reference system includes: the calibration target center 8, the gun to be calibrated 9 and a laser emitter 10;
the laser emitter 10 is arranged inside the gun 9 to be calibrated;
the laser transmitter 10 is used for transmitting laser.
Optionally, the correction system includes: the laser emitter 10, the rifling calibrator 11, the laser rifling 12 and the rifling calibration hole 17;
the laser emitter 10 is connected with the calibration target 6 through the rifling calibration holes 17 of the rifling calibrator 11 and the laser rifling 12;
the rifling calibrator 11 and the rifling calibration holes 17 are used to pass the laser;
the laser rifling 12 is used to form the propagation path of the laser.
Optionally, the information of the impact point of the gun shooting includes: the main machine factory leaves the gun calibration gun with the impact point information of gun shooting and the impact point information of gun live ammunition shooting during training.
The beneficial effect of this application does:
the application provides an intelligent automatic school rifle system, through the bullet information on the machine vision collection shooting target, and with the bullet information contrast of the information of gathering with the school rifle when dispatching from the factory, through the deep learning, adopt the function storehouse of optimization to the bullet point on the shooting target and carry out sight and look at the positional relationship and carry out the structure of function model, and carry out the comprehensive regulation of sight and the position of looking at the door through the executor with its result of calculation, finally realize the real-time correction of gun shooting in-process and adjust. The gun calibration system is high in reasonability and calculation accuracy, and is suitable for the army training mixed manufacturer to calibrate guns.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without any inventive exercise.
Fig. 1 is a schematic structural diagram of an intelligent automatic gun calibration system in an embodiment of the present application, where (a) is a schematic diagram of the intelligent automatic gun calibration system, (b) is a schematic diagram of a calibration target, and (c) is a schematic diagram of a rifling calibrator;
FIG. 2 is an enlarged schematic view of the distribution of impact points of the collecting targets in the embodiment of the present application;
fig. 3 is an exploded view of an actuator according to an embodiment of the present application.
In the drawings: 1. a gun calibration platform; 2. a clamp; 3. a platform base; 4. a precision measuring ruler; 5. a platform level; 6. correcting the target; 7. correcting the target slide block; 8. correcting the target center; 9. a gun to be calibrated; 10. a laser transmitter; 11. a rifling calibrator; 12. laser rifling; 13. a sighting telescope; 14. a laser range finder; 15. a camera; 16. an actuator; 17. the rifling calibrates the hole.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1(a), fig. 1(b), and fig. 1(c), an intelligent automatic gun calibration system according to an embodiment of the present application mainly includes: the system comprises an acquisition system, a measurement system, a correction reference system and a correction system.
The measuring system is used for carrying out horizontal adjustment on the correction reference system; the correction reference system is used for adjusting the shooting state of the gun; the correction system is used for carrying out position adjustment on the shooting state of the gun; the acquisition system is used for acquiring and correcting impact point information shot by the gun.
The acquisition system consists of a sighting telescope 13, a laser range finder 14 and an actuator 16. The upper surface of the sighting telescope 13 is connected with the lower surface of the laser range finder 14; the right surface of the camera 15 is connected with the left surface of the actuator 16;
specifically, the acquisition system mainly establishes a probability database according to data acquired when the host factory leaves a gun calibration facility, data acquired during training and data acquired during the gun calibration process, and stores the probability database in the acquisition unit of the actuator 16.
The collection basis is as follows: as shown in fig. 2, the collection is carried out in real time according to the positions of the impact points when the gun shoots, and the collection principle is only used for collecting the central position of the impact points densely at each time. In brief, the parameters given by other gun calibration are points, and the parameters given by the invention are surfaces and a probability surface.
The following is a detailed description of the acquisition system of the present application:
as shown in fig. 3, the actuator 16 includes an acquisition unit, a display interaction unit, and a motion execution unit. The acquisition unit, the display interaction unit and the movement execution unit are respectively connected with the actuator (16). The motion execution unit includes: motion control module and servo drive module: the motion control module is connected with the servo drive module.
The acquisition unit is a prerequisite condition for accurate calibration of the gun calibration instrument, the acquisition unit mainly enters the camera 15 through the sighting telescope 13 according to information acquired when a host factory leaves a factory to calibrate the gun and image information acquired by ejection impact during training to reach an image acquisition function library in the acquisition unit for execution and storage, and is stored in the image analysis function library after being processed and analyzed by image analysis software, and the image processing adopts a mechanical vision method, namely: setting a theoretical line which is aligned with the target center by the correction laser rifling 12 as a Z axis, dividing the target into A, B, C, D quadrants by taking the target center as a datum point for collection, storing the processed data in an effective point function library in a function mode, and acquiring images according to the following steps: concentrated impact points of impact points distributed in a discrete mode are adopted as acquisition bases, and other impact points are ignored.
The display interaction unit is a neuron system in the actuator, the display interaction unit mainly corrects the height of a sight and the left-right deviation of a target according to the shooting offset by circularly searching an effective point function from an effective point function library in the acquisition unit, and sends an instruction to the motion control unit when an error occurs by comparing concentrated impact points in the effective point function library in the acquisition unit, and the quadrant formed by an X axis and a Y axis is adjusted by taking a theoretical axis Z axis as a reference axis to correct so as to achieve the purpose of correction. Meanwhile, the data of which the deviation reaches the correction error is deeply learned by the display interaction unit through software and is stored in an effective point function library; and if no error occurs, the display interaction unit stops working.
And the motion execution unit is mainly used for receiving the instruction of the display interaction unit by a motion control module (PLC), and executing the motion of an X axis and a Y axis which take a Z axis as a central axis in A, B, C, D quadrants by utilizing a servo driving module, namely: the sight moves down or up and the target moves left or right, and the motion control system stops working when the sight and target coincide with the correction bulls-eye 8.
Further, the actuator 16 is an integrated body of a microprocessor and execution hardware, the acquisition unit acquires and stores impact point data by using a mechanical vision principle, performs image data processing on the impact point data, constructs and optimizes a sight, sight and impact point function model, analyzes the reason of deviation of the trajectory, and performs error correction according to a correction standard. The calibration standard takes laser emitted by a laser emitter 10 as a reference line, and the laser rifling 12 formed after calibration through a calibration hole 17 in a laser calibrator 11 is superposed with the calibration target center 8 to form a point (the superposition factor takes account of the initial velocity and neutral influence factor when a bullet is shot out). The acquisition unit comprises an image acquisition function library, an image analysis function library and an effective point function, and is composed of an upward coordinate equidistant array, a downward coordinate equidistant array, a positioning axis X coordinate 0, a positioning axis Y coordinate 0, a positioning axis Z coordinate 0, an offset X-axis coordinate, an offset Y-axis coordinate, an offset Z-axis coordinate, an offset X-axis coordinate, an offset Y-axis coordinate, a cyclic search and other databases. Thereby completing the gun calibration.
The measuring system consists of a gun calibration platform 1, a clamp 2, a platform seat 3, a precision measuring scale 4, a platform level gauge 5, a calibration target 6, a calibration target slide block 7 and a calibration target center 8.
Specifically, one side of the upper surface of a gun calibration platform 1 is connected with the lower surface of a clamp 2, the other side of the upper surface of the gun calibration platform 1 is connected with the lower surface of a calibration target 6, the upper surface of the gun calibration platform 1 is also respectively provided with a precision measuring ruler 4 and a platform level gauge 5, and two ends of the lower surface of the gun calibration platform 1 are respectively connected with the upper surface of a platform base 3; a correction target center 8 is arranged on the correction target slide block 7;
the gun calibration platform 1 and the clamp 2 are used for fixing a gun to be calibrated 9;
the platform base 3 is used for adjusting the position of the precision measuring ruler 4;
the precision measuring ruler 4 and the platform level gauge 5 are used for carrying out horizontal measurement on the gun calibrating platform 1;
the correction target 6 is used for correcting the position of the gun correction platform 1;
the correction target slide block 7 is used for adjusting the position of the correction target 6;
the calibration bulls-eye 8 is used to record the impact information of the gun shot.
The calibration reference system consists of a gun to be calibrated 9, a laser emitter 10 and a calibration target 8.
Specifically, the laser emitter 10 is arranged inside the gun 9 to be calibrated;
the laser transmitter 10 is used to emit laser light.
The calibration system consists of a laser emitter 10, a rifling calibrator 11, rifling calibration holes 17 and laser rifling 12.
Specifically, the laser emitter 10 is connected with the calibration target 6 through the rifling calibration holes 17 of the rifling calibrator 11 and the laser rifling 12;
the rifling calibrator 11 and the rifling calibration holes 17 are used for passing the laser;
the laser rifling 12 is used to form the propagation path of the laser.
The specific implementation scheme is as follows: the method comprises the steps of correcting and establishing a function library by utilizing original data of a gun calibrator of a host factory, taking a shooting image acquired in shooting training as a data comparison sample, establishing a mathematical function model through a computer optimization algorithm by combining a mechanical vision and a deep learning method of software, training to obtain an optimal recognition model, and forming an automatic gun calibrator by combining an acquisition unit, a display interaction unit, a motion control module and a servo drive module, thereby realizing the functions of acquisition, processing, feedback and correction of shooting image information of the gun calibrator.
The utilization of: the sighting telescope 13, the laser range finder 14, the camera 15 and the actuator 16 are used for collecting, and the collecting scheme is as follows: collecting after shooting, collecting a large number of bullet impact point images on a target, establishing a mathematical function library and extracting useful information in the images to store in an actuator 16 collecting unit through machine vision technical analysis and a computer deep learning method, and storing in an effective function library in the actuator 16 collecting unit by using an optimal scheme of a display interaction unit after processing impact point optimization in the images. When a gun needs to be calibrated, a gun 9 to be calibrated is fixed at a specified position of a clamp 2 of a gun calibrating platform 1, the displacement of a calibration target 5 is adjusted to reach a parameter specified position, a laser transmitter 10 of the gun 9 to be calibrated aligns to a calibration target 8 through a calibration hole 17 of a rifling calibrator 11, an actuator 16 in a calibration system is started, the actuator 16 enters an image function library in an acquisition unit of the actuator 16 through the calibration target 8 acquired by a camera 15 according to the position aimed by a sighting telescope 13, comparison is carried out, correction and error correction are carried out according to the elastic points of an effective function library through a display interaction unit after comparison, then the corrected elastic points are transmitted to a motion control unit in the actuator 16, the motion control module sends an instruction to a servo driving module, the displacements of a sight and a peep hole are adjusted, the working root is stopped after an optimal angle is reached, and automatic gun calibration is completed.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (8)
1. The utility model provides an intelligent automatic school rifle system which characterized in that includes:
the system comprises an acquisition system, a measurement system, a correction reference system and a correction system;
the measuring system is used for carrying out horizontal adjustment on the correction reference system;
the correction reference system is used for adjusting the shooting state of the gun;
the correction system is used for carrying out position adjustment on the shooting state of the gun;
the acquisition system is used for acquiring and correcting the impact point information shot by the gun.
2. The intelligent automatic gun calibration system according to claim 1,
the acquisition system comprises: the device comprises a sighting telescope (13), a laser range finder (14), a camera (15) and an actuator (16);
the upper surface of the sighting telescope (13) is connected with the lower surface of the laser range finder (14); the right surface of the camera (15) is connected with the left surface of the actuator (16);
the actuator (16) is used for acquiring and correcting the impact point information of the gun shooting.
3. The intelligent automatic gun calibration system according to claim 2,
the actuator (16) comprises an acquisition unit, a display interaction unit and a motion execution unit;
the acquisition unit, the display interaction unit and the motion execution unit are respectively connected with the actuator (16);
the acquisition unit is used for acquiring impact point information of gun shooting;
the display interaction unit is used for sending a correction instruction to the impact point information of the gun shooting;
the movement execution unit is used for correcting the bullet-landing point information shot by the gun according to the correction instruction sent by the display interaction unit.
4. The intelligent automatic gun calibration system according to claim 3,
the motion execution unit comprises a motion control module and a servo drive module;
the motion control module is connected with the servo drive module;
the motion control module is used for receiving a correction instruction of the display interaction unit;
and the servo driving module is used for adjusting the positions of the alignment star and the sight according to the correction instruction of the display interaction unit.
5. The intelligent automatic gun calibration system according to claim 1,
the measuring system comprises: the gun calibration device comprises a gun calibration platform (1), a clamp (2), a platform base (3), a precision measuring scale (4), a platform level meter (5), a calibration target (6), a calibration target sliding block (7) and a calibration target center (8);
one side of the upper surface of the gun calibration platform (1) is connected with the lower surface of the clamp (2), the other side of the upper surface of the gun calibration platform (1) is connected with the lower surface of the calibration target (6), the precision measuring ruler (4) and the platform level gauge (5) are respectively arranged on the upper surface of the gun calibration platform (1), and two ends of the lower surface of the gun calibration platform (1) are respectively connected with the upper surface of the platform base (3); the correcting target slide block (7) is provided with the correcting target (8);
the gun calibration platform (1) and the clamp (2) are used for fixing a gun to be calibrated (9);
the platform base (3) is used for adjusting the position of the precision measuring ruler (4);
the precision measuring ruler (4) and the platform level meter (5) are used for carrying out horizontal measurement on the gun calibrating platform (1);
the correction target (6) is used for correcting the position of the gun calibration platform (1);
the correcting target sliding block (7) is used for adjusting the position of the correcting target (6);
the correction bulls-eye (8) is used for recording impact point information of the gun shooting.
6. The intelligent automatic gun calibration system according to claim 5,
the calibration reference system comprises: the calibration target center (8), the gun to be calibrated (9) and a laser emitter (10);
the laser emitter (10) is arranged inside the gun to be calibrated (9);
the laser emitter (10) is used for emitting laser.
7. The intelligent automatic gun calibration system according to claim 6,
the correction system includes: the rifling device comprises a laser transmitter (10), a rifling calibrator (11), a laser rifling (12) and rifling calibration holes (17);
the laser emitter (10) is connected with the correcting target (6) through the rifling calibration holes (17) of the rifling calibrator (11) and the laser rifling (12);
the rifling calibrator (11) and the rifling calibration holes (17) are used for passing the laser;
the laser rifling (12) is used for forming a propagation path of the laser.
8. The intelligent automatic gun calibration system according to claim 1, wherein the shot impact point information of the gun shot comprises: the main machine factory leaves the gun calibration gun with the impact point information of gun shooting and the impact point information of gun live ammunition shooting during training.
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| CN202210286456.3A CN114777570B (en) | 2022-03-22 | 2022-03-22 | Intelligent automatic gun calibrating system |
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| CN202210286456.3A CN114777570B (en) | 2022-03-22 | 2022-03-22 | Intelligent automatic gun calibrating system |
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| CN114777570B (en) | 2024-01-26 |
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