CN114777570B - Intelligent automatic gun calibrating system - Google Patents
Intelligent automatic gun calibrating system Download PDFInfo
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- CN114777570B CN114777570B CN202210286456.3A CN202210286456A CN114777570B CN 114777570 B CN114777570 B CN 114777570B CN 202210286456 A CN202210286456 A CN 202210286456A CN 114777570 B CN114777570 B CN 114777570B
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- 238000012937 correction Methods 0.000 claims abstract description 69
- 238000010304 firing Methods 0.000 claims abstract description 32
- 238000012549 training Methods 0.000 claims abstract description 8
- 238000005303 weighing Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 38
- 230000003993 interaction Effects 0.000 claims description 23
- 241001522301 Apogonichthyoides nigripinnis Species 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 244000144985 peep Species 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 4
- 238000013135 deep learning Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007620 mathematical function Methods 0.000 description 2
- 238000005457 optimization 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
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000005516 engineering process 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
- 230000008685 targeting Effects 0.000 description 1
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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The application discloses an intelligent automatic gun calibrating system, which comprises an acquisition system, a weighing system, a calibration reference system and a calibration system; the measuring system is used for horizontally adjusting the correction reference system; the correction reference system is used for adjusting the shooting state of the gun; the correction system is used for adjusting the position of the gun shooting state; the acquisition system is used for acquiring and correcting the firing point information of the gun firing. The gun calibrating system is high in rationality and calculation accuracy, and is suitable for calibrating guns of army training mixed manufacturers.
Description
Technical Field
The application belongs to the technical field of military firearm equipment, and particularly relates to an intelligent automatic gun calibrating system.
Background
Current firearm calibration is typically a manual calibration: the current common gun calibrating mode mainly adopts manual shooting gun calibrating by experience and the vertical and horizontal offset distance of the shooting bullet target, and also adopts a partial laser positioning and manual shooting gun calibrating mode or a double laser gun calibrating mode, wherein the target is a target, the laser is fixed on a gun barrel, the laser aiming target is fixed on the gun barrel, the height of a sight is regulated, the left and right of the sight are regulated, and the positions of the sight and the sight are judged by overlapping laser points; gun aiming gun calibrating mode based on double laser plus theoretical trajectory is also available. The gun calibrating methods have the following problems in the actual gun calibrating process: 1) Errors in machining parts in gun production and errors in bullet production and machining processes; 2) Angle error of bullet feed; 3) Man-made technical errors in shooting, etc. These errors result in a more random distribution of firing points on the target as the firearm fires, resulting in the soldiers being required to fire multiple shots or individuals feeling cumulative shooting experience to achieve good results.
Disclosure of Invention
The utility model provides an intelligent automatic gun calibrating system to solve the problem that above-mentioned prior art exists, gather the bullet information of striking on the shooting target through machine vision, and with the bullet information of gathering with the information contrast of gun calibrating when leaving the factory, through the deep learning, take the function storehouse of optimizing to strike the shooting target and carry out the construction of sight and the position relation of looking at the door and carry out the function model, and carry out the comprehensive regulation of sight and the position of looking at the door with the result of its calculation through the executor, finally realize the real-time correction in the gun shooting in-process and adjust.
To achieve the above object, the present application provides the following solutions:
an intelligent automatic gun calibration system, comprising:
the system comprises an acquisition system, a weighing system, a correction reference system and a correction system;
the measuring system is used for horizontally adjusting the correction reference system;
the correction reference system is used for adjusting the shooting state of the gun;
the correction system is used for adjusting the position of the gun shooting state;
the acquisition system is used for acquiring and correcting the firing point information of the gun firing.
Optionally, the acquisition system includes: a scope 13, a laser rangefinder 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 collect and correct firing point information for 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 bullet landing information of gun shooting;
the display interaction unit is used for sending a correction instruction to the firing point information of the gun firing;
the movement executing unit is used for correcting the firing point information of the gun firing according to the correction instruction sent by the display interaction unit.
Optionally, the motion execution unit comprises a motion control module and a servo driving module;
the motion control module is connected with the servo driving 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 peep sight according to the correction instruction of the display interaction unit.
Optionally, the weighing system includes: gun calibrating platform 1, clamp 2, platform seat 3, precision measuring ruler 4, platform level 5, calibration target 6, calibration target slide 7 and calibration bulls-eye 8;
one side of the upper surface of the gun calibrating platform 1 is connected with the lower surface of the clamp 2, the other side of the upper surface of the gun calibrating platform 1 is connected with the lower surface of the calibration target 6, the upper surface of the gun calibrating platform 1 is also provided with the precision measuring ruler 4 and the platform level meter 5 respectively, and two ends of the lower surface of the gun calibrating platform 1 are connected with the upper surface of the platform seat 3 respectively; the correction target sliding block 7 is provided with the correction bulls-eye 8;
the gun calibrating platform 1 and the clamp 2 are used for fixing a gun 9 to be calibrated;
the platform seat 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 level measurement on the gun calibration platform 1;
the correction target 6 is used for correcting the position of the gun correction platform 1;
the correction target sliding block 7 is used for adjusting the position of the correction target 6;
the calibration bulls-eye 8 is used to record firing point information for the firearm firing.
Optionally, the correction reference system includes: the correction bulls-eye 8, the gun to be corrected 9 and the laser transmitter 10;
the laser transmitter 10 is arranged inside the gun 9 to be calibrated;
the laser transmitter 10 is used for transmitting laser light.
Optionally, the correction system includes: the laser transmitter 10, the rifling calibrator 11, the laser rifling 12 and the rifling calibration hole 17;
the laser transmitter 10 is connected with the calibration target 6 through the rifling calibration hole 17 of the rifling calibrator 11 and the laser rifling 12;
said rifling calibrator 11 and said rifling calibration hole 17 are for passing said laser light;
the laser rifling 12 is used to form the propagation path of the laser light.
Optionally, the firing point information of the gun firing includes: firing point information of a gun firing when a host factory goes out of a factory school gun and firing point information of a gun firing practice firing during training.
The beneficial effects of this application are:
the application provides an intelligent automatic gun calibrating system, which collects bullet striking information on a shooting target through machine vision, compares the collected bullet striking information with gun calibrating information in delivery, carries out function model construction on the bullet striking point on the shooting target through deep learning by adopting an optimized function library, carries out comprehensive adjustment on the positions of the sight and the shot through an actuator by calculating the function model, and finally realizes real-time correction and adjustment in the gun shooting process. The gun calibrating system is high in rationality and calculation accuracy, and is suitable for calibrating guns of army training mixed manufacturers.
Drawings
For a clearer description of the technical solutions of the present application, the drawings that are required to be used in the embodiments are briefly described below, it being evident that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an intelligent automatic gun calibration system according to an embodiment of the present application, wherein (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 the collection targeting points 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 accompanying drawings: 1. a gun calibrating platform; 2. a clamp; 3. a platform base; 4. a precision measuring ruler; 5. a platform level gauge; 6. correcting the target; 7. correcting the target slide block; 8. correcting the bulls-eye; 9. gun calibration is carried out; 10. a laser emitter; 11. rifling calibrator; 12. laser rifling; 13. a sighting telescope; 14. a laser range finder; 15. a camera; 16. an actuator; 17. the rifling aligns the bore.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in (a), (b), and (c) in fig. 1, an intelligent automatic gun calibration system according to an embodiment of the present application mainly includes: the system comprises an acquisition system, a weighing system, a correction reference system and a correction system.
The weighing system is used for horizontally adjusting the correction reference system; the correction reference system is used for adjusting the shooting state of the gun; the correction system is used for adjusting the position of the shooting state of the gun;
the acquisition system is used for acquiring and correcting bullet impact point information of gun shooting.
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 the data acquired during factory gun calibration of the host factory, the data acquired during training and the data acquired during gun calibration, and stores the probability database in an acquisition unit of the executor 16.
The acquisition basis is as follows: as shown in fig. 2, the collection principle is to collect only the central position of the densely-mounted bullet points each time according to the position of the bullet points when the gun shoots in real time. In brief, other gun calibration parameters are points, and the gun calibration parameters are planes and a probability plane.
The acquisition system of the present application is described in detail below:
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 motion execution unit are respectively connected with an actuator (16). The motion execution unit includes: motion control module and servo drive module: the motion control module is connected with the servo driving module.
The acquisition unit is a precondition of accurate calibration of the gun calibrator, the acquisition unit mainly enters the camera 15 through the sighting telescope 13 to be stored in an image acquisition function library in the acquisition unit for executing the gun calibrator according to the information acquired when a host factory goes out of the gun calibrator and the image information acquired by ball firing during training, and the image information is processed and analyzed through the image analysis software and then stored in the image analysis function library, and the image processing adopts a mechanical vision method, namely: setting a theoretical line for correcting the alignment of the laser rifling 12 with the target center as a Z axis, dividing the target into A, B, C, D four quadrants by taking the target center as a datum point for collecting, storing the processed data in an effective point location function library in a functional mode, and acquiring images according to the following conditions: the concentrated bullet point positions of the bullet points distributed in a discrete mode are adopted, and other bullet points are ignored on the basis of acquisition.
The display interaction unit is a neuron system in the actuator, and mainly circularly searches an effective point function from an effective point function library in the acquisition unit, corrects the sight height and the left-right deviation degree of a target hole according to the shooting offset, and sends an instruction to the motion control unit when errors occur by comparing concentrated bullet points in the effective point function library in the acquisition unit, and a quadrant formed by an X-axis and a Y-axis is regulated by taking a theoretical axis Z-axis as a reference axis to correct the quadrant, so that the aim of correction is fulfilled. Meanwhile, the data of correcting errors by the interaction unit through software deep learning is displayed and stored in an effective point location function library; and if no error occurs, displaying that the interaction unit stops working.
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 A, B, C, D quadrant by utilizing a servo driving module, namely: the sight moves downwards or upwards and the aperture moves to the left or right, after which the movement control system stops working when the sight and aperture coincide with the correction bulls-eye 8.
Further, the actuator 16 is an integrated body of a micro processor and execution hardware, the acquisition unit acquires and stores bullet point data by using a machine vision principle, processes image data, constructs and optimizes a function model of a sight and a function model of a bullet point, analyzes the cause of deviation of a trajectory, and corrects errors according to correction standards. The calibration standard takes the laser emitted by the laser emitter 10 as a reference line, and the laser rifling 12 is formed after calibration through the calibration hole 17 in the laser calibrator 11 and coincides with the calibration bullnose 8 as a point (the coincidence factor already takes into consideration the initial speed and neutral influence factor when the bullet is ejected). The acquisition unit consists of an image acquisition function library, an image analysis function library, an effective point location function, 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, a correction X axis coordinate, a correction Y axis coordinate, a cyclic search and the like, the cyclic search and the comparison are successful, the display interaction unit sends an instruction to the motion control module (PLC), the motion control module sends an instruction to the servo driving module, the servo driving module consists of X motion, Y motion and Z motion, and the X motion is the left and right movement of an adjusting view gate (hole), and the Y motion is the up and down movement of an adjusting view gate (hole), so that the eye-view gate (hole) -view gate-target center is on a straight line. Thereby completing firearm calibration.
The measuring system consists of a gun calibrating platform 1, a clamp 2, a platform seat 3, an accuracy measuring ruler 4, a platform level meter 5, a correcting target 6, a correcting target sliding block 7 and a correcting target center 8.
Specifically, one side of the upper surface of the gun calibrating platform 1 is connected with the lower surface of the clamp 2, the other side of the upper surface of the gun calibrating platform 1 is connected with the lower surface of the calibrating target 6, the upper surface of the gun calibrating platform 1 is also provided with the precision measuring ruler 4 and the platform level meter 5 respectively, and two ends of the lower surface of the gun calibrating platform 1 are connected with the upper surface of the platform seat 3 respectively; a correction bullseye 8 is arranged on the correction target slide block 7;
the gun calibrating platform 1 and the clamp 2 are used for fixing a gun 9 to be calibrated;
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 level measurement on the gun calibration platform 1;
the correction target 6 is used for correcting the position of the gun correction platform 1;
the correction target slider 7 is used for adjusting the position of the correction target 6;
the calibration bulls-eye 8 is used to record firing point information for gun shots.
The correction reference system consists of a gun to be corrected 9, a laser emitter 10 and a correction bulls-eye 8.
Specifically, the laser transmitter 10 is arranged inside the gun 9 to be calibrated;
the laser transmitter 10 is used for transmitting laser light.
The calibration system consists of a laser emitter 10, a rifling calibrator 11, a rifling calibration hole 17 and a laser rifling 12.
Specifically, the laser transmitter 10 is connected with the calibration target 6 through the rifling calibration hole 17 of the rifling calibrator 11 and the laser rifling 12;
rifling calibrator 11 and rifling calibration hole 17 are for passing laser light;
the laser rifling 12 is used to form a propagation path for the laser light.
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 main machine factory gun calibration, taking a target image acquired in the implementation of target shooting training as a data comparison sample, establishing a mathematical function model through a computer optimization algorithm by combining a machine vision and software deep learning method, training to obtain an optimal recognition model, and combining an acquisition unit, a display interaction unit, a motion control module and a servo driving module to form an automatic gun calibration system, so that the functions of acquisition, processing, feedback and correction of target image information of a gun calibration instrument are realized.
Using: the sighting telescope 13, the laser range finder 14, the camera 15 and the actuator 16 are collected, and the collection scheme is as follows: and after shooting, acquiring a large number of bullet landing point images on the target, establishing a mathematical function library through a machine vision technology analysis and computer deep learning method, extracting useful information in the images, storing the useful information in an actuator 16 acquisition unit, and storing the useful information in the effective function library in the actuator 16 acquisition unit by utilizing an optimal scheme after processing the landing point optimization in the images by a display interaction unit. When a gun needs to be calibrated, the gun 9 to be calibrated is fixed at a designated position of the clamp 2 of the gun calibrating platform 1, the displacement of the calibration target 5 is adjusted to reach a parameter designated position, the laser transmitter 10 of the gun 9 to be calibrated aligns the calibration bullnose 8 through the calibration hole 17 of the rifling calibrator 11 and starts the actuator 16 in the calibration system, the actuator 16 enters the image function library in the acquisition unit of the actuator 16 through the calibration bullnose 8 acquired by the camera 15 according to the aiming position of the sighting telescope 13, the comparison is carried out, after the comparison, the correction and the correction are carried out according to the bullet points of the effective function library through the display interaction unit, the correction and the correction are then transmitted to the motion control unit in the actuator 16, the motion control module sends an instruction to the servo driving module, the displacement of the sighting telescope and the sighting gate (hole) is adjusted, and the working root is stopped after the optimal angle is reached, and the automatic gun calibration is completed.
The foregoing embodiments are merely illustrative of the preferred embodiments of the present application and are not intended to limit the scope of the present application, and various modifications and improvements made by those skilled in the art to the technical solutions of the present application should fall within the protection scope defined by the claims of the present application.
Claims (1)
1. An intelligent automatic gun calibration system, comprising:
the system comprises an acquisition system, a weighing system, a correction reference system and a correction system;
the measuring system is used for horizontally adjusting the correction reference system;
the correction reference system is used for adjusting the shooting state of the gun;
the correction system is used for adjusting the position of the gun shooting state;
the acquisition system is used for acquiring and correcting bullet landing point information of the gun shooting;
the acquisition system 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 collecting and correcting bullet landing information of the gun shooting;
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 bullet landing information of gun shooting;
the display interaction unit is used for sending a correction instruction to the firing point information of the gun firing;
the movement executing unit is used for correcting the firing point information of the gun firing according to the correction instruction sent by the display interaction unit;
the motion execution unit comprises a motion control module and a servo driving module;
the motion control module is connected with the servo driving module;
the motion control module is used for receiving a correction instruction of the display interaction unit;
the servo driving module is used for adjusting the positions of the alignment star and the peep sight according to the correction instruction of the display interaction unit;
the weighing system comprises: the device comprises a gun calibrating platform (1), a clamp (2), a platform seat (3), an accuracy measuring ruler (4), a platform level meter (5), a calibrating target (6), a calibrating target sliding block (7) and a calibrating target center (8);
one side of the upper surface of the gun calibrating platform (1) is connected with the lower surface of the clamp (2), the other side of the upper surface of the gun calibrating platform (1) is connected with the lower surface of the calibration target (6), the upper surface of the gun calibrating platform (1) is also provided with the precision measuring ruler (4) and the platform level meter (5) respectively, and two ends of the lower surface of the gun calibrating platform (1) are connected with the upper surface of the platform seat (3) respectively; the correction target sliding block (7) is provided with the correction bulls-eye (8);
the gun calibrating platform (1) and the clamp (2) are used for fixing a gun (9) to be calibrated;
the platform seat (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 level measurement on the gun calibration platform (1);
the correction target (6) is used for correcting the position of the gun correction platform (1);
the correction target sliding block (7) is used for adjusting the position of the correction target (6);
the correction bulls-eye (8) is used for recording bullet impact point information of the gun shooting;
the correction reference system includes: the gun to be calibrated (9) and the laser transmitter (10);
the laser transmitter (10) is arranged inside the gun to be calibrated (9);
the laser transmitter (10) is used for transmitting laser;
the correction system includes: a rifling calibrator (11), a laser rifling (12) and a rifling calibration hole (17);
the laser transmitter (10) is connected with the correction target (6) through the rifling calibration hole (17) of the rifling calibrator (11) and the laser rifling (12);
-said rifling calibrator (11) and said rifling calibration hole (17) for passing said laser light;
the laser rifling (12) is used for forming a propagation path of the laser;
the firing point information of the gun firing includes: firing point information of gun firing when a host factory goes out of a factory to correct gun and firing point information of gun firing practice when training is performed;
the working process of automatic gun calibration comprises the following steps: when a gun needs to be calibrated, the gun to be calibrated is fixed at a designated position of a clamp of a gun calibrating platform, the displacement of a calibration target is adjusted to reach a parameter designated position, a laser emitter of the gun to be calibrated aligns to a calibration target through a rifling calibration hole of a rifling calibrator, then an actuator in a gun calibrating system is started, the actuator enters an image function library in an acquisition unit of the actuator through the calibration target collected by a camera according to the aiming position of a sighting telescope, the image function library is compared, after the comparison, correction and error correction are carried out according to a bullet point of an effective function library in the acquisition unit through a display interaction unit, the correction instruction is transmitted to a motion control module in the actuator, the motion control module sends the correction instruction to a servo driving module, the displacement of a calibration star and a peep gate is adjusted, and the automatic gun calibration is completed after the optimal angle is reached.
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| CN110779395A (en) * | 2019-11-06 | 2020-02-11 | 北京宏大天成防务装备科技有限公司 | Target shooting correction system and method |
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