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Device and method for detecting defects in gun inner bore based on active panoramic vision

An active panorama and detection device technology, applied in measurement devices, image data processing, material analysis through optical means, etc., can solve problems such as low level of automation and intelligence, and difficulty in 3D modeling of artillery bores

Inactive Publication Date: 2018-05-25
汤一平
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] In order to overcome the shortcomings of the existing CCTV method, such as the low level of automation and intelligence, the difficulty in performing high-precision automatic analysis and evaluation of the defects in the gun bore, and the difficulty in three-dimensional modeling of the gun bore, the present invention provides an active panorama-based The visual device and method for detecting defects in the inner bore of the artillery can improve the automation and intelligence level of the detection of the inner bore of the artillery, perform high-precision automatic analysis and evaluation of the defects in the inner bore of the artillery, and realize the three-dimensional modeling of the inner bore of the artillery

Method used

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  • Device and method for detecting defects in gun inner bore based on active panoramic vision
  • Device and method for detecting defects in gun inner bore based on active panoramic vision
  • Device and method for detecting defects in gun inner bore based on active panoramic vision

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Embodiment 1

[0092] refer to Figure 1-14 , a device for detecting defects in a gun bore based on active panoramic vision, comprising a crawling mechanism 101, a power transmission mechanism 102, a visual inspection device 103 and a gun bore detection and analysis system.

[0093] The crawling mechanism 101 is driven by the power transmission mechanism 102, and the crawling mechanism 101 carries the visual inspection device 103 to crawl in the inner bore of the artillery. The visual inspection device 103 collects video images of the inner bore of the artillery during the crawling process, and the collected video images pass through the wireless communication unit. Send it to the artillery bore detection and analysis system, where automatic defect detection and three-dimensional reconstruction of the artillery bore are performed, and finally the detection results and the three-dimensional reconstruction of the artillery bore are displayed on the display device.

[0094] The crawling mechani...

Embodiment 2

[0197] All the other are identical with embodiment 1, difference is to calculate rotation matrix R and T method from essential matrix E; This method is: at first, utilize the attribute of essential matrix E rank 2 to find out the translation amount t between crawler before and after moving, as Shown in formula (18);

[0198]

[0199] In the formula, e ij is the element of the essential matrix E, Me ij for e ij The algebraic remainder of ;

[0200] Then obtain the satisfaction constraint||t|| 2 = 1 two translations t 1 = 1, t 2 =-1, where,

[0201]

[0202] Then, use the method of solving the rotation matrix equations to find the rotation matrix R between the crawler before and after moving;

[0203] Substitute formula (19) into formula (15) to calculate the rotation matrix R, and obtain four groups of decomposition results; finally, use the method of directly calculating the spatial 3D point imaging depth to quickly determine from the four groups of decomposition ...

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Abstract

The invention discloses an artillery inner bore defect detection device based on active panoramic vision. An active panoramic vision sensor creeping along an artillery inner bore is used for collecting an artillery inner bore panoramic image and an artillery inner bore laser slicing scanning panoramic image; a 3D model of the artillery inner bore is set up in an artillery inner bore detection and analysis system, a region, with defects, in the artillery inner bore image is extracted, the defects are recognized and classified, the area and depth of the region with the defects are quantified, and finally the level of the defects is accurately judged. The invention further discloses an artillery inner bore defect detection method based on active panoramic vision. The automation and intelligence level of artillery inner bore detection can be improved, the defects of the artillery inner bore are automatically analyzed and evaluated at high accuracy, and three-dimensional modeling of the artillery inner bore is achieved.

Description

technical field [0001] The present invention relates to the application of a crawler, a panoramic laser light source, an omnidirectional visual sensor, wireless transmission and computer vision technology in the detection of a cannon inner bore defect, in particular to an active panoramic vision-based artillery inner bore defect detection device and method. Background technique [0002] After the artillery is used for a long time, there will be defects such as ablation, wear, cracks, breakage of the positive wire, serious hanging copper and corrosion in the inner bore, which will directly affect the shooting accuracy, life and safety of the artillery. Therefore, the artillery must be inspected before and after firing. Bore peek. According to the provisions of "GJB2977A-2006 Artillery Static Inspection Method", in the actual use and production process of the troops, the damage of the inner wall of the barrel should be quantitatively measured. It plays an important role in t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01N21/954G06T7/00G06T7/521
Inventor 汤一平
Owner 汤一平