A zero line inspection method and system based on laser and swarm intelligence optimization control

Abstract

The application discloses a zero line inspection method and system based on laser and swarm intelligence optimization control, and relates to the field of zero line inspection.The method comprises the following steps: acquiring a first distance between multiple points of a cannon barrel and an inspection target; coarsely adjusting a swing mechanism of the inspection target according to the first distance; acquiring a second distance between the multiple points of the cannon barrel and the coarsely adjusted inspection target; finely adjusting the swing mechanism of the inspection target by using a closed-loop control, a particle swarm optimization algorithm and a successive adjustment strategy according to the second distance, so as to obtain a vertical cannon barrel axis and the inspection target.The application can make the cannon barrel axis and the inspection target be perpendicular accurately.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of zero line inspection, in particular to a zero line inspection method and system based on laser and swarm intelligence optimization control. BACKGROUND

[0002] With the deepening of the actual combat training, ground suppression artillery still plays a key role in the war, and the army puts forward higher requirements for the striking efficiency of artillery, and the shooting accuracy of artillery determines the striking effect to a great extent, and zero position zero line inspection is an important guarantee for the shooting accuracy of artillery. The traditional inspection target has low precision, poor universality, lacks adjusting mechanism, especially in field conditions, it is difficult to ensure that the target plate plane of the inspection target is perpendicular to the axis of the gun barrel, so the precision requirement cannot be guaranteed.

[0003] When the artillery is shooting, in order to hit the target, the average trajectory of the artillery fired shell must pass through the target. In order to make the average trajectory of the artillery fired shell pass through the target, the artillery must be operated before firing, so that the barrel axis of the artillery is in the position where the average trajectory passes through the target. The process of operating the artillery to make its barrel axis in a specific spatial position before firing is called artillery aiming. Large-caliber suppression artillery is different from tanks, and its main aiming method is indirect aiming, which means that in the aiming process, a specially selected aiming point is used as an auxiliary target for aiming. When indirect aiming, the aimer only needs to see the aiming point, and does not need to see the target to be shot. Generally, when the artillery is in a concealed position and the target cannot be seen directly or clearly, indirect aiming method is adopted.

[0004] When aiming, the position of the barrel axis of the artillery in space can be determined by two angle parameters: direction angle and elevation angle. Therefore, according to the aiming process of operating the artillery, aiming can be divided into:

[0005] (1) Horizontal aiming: make the barrel axis point to a certain direction in the horizontal plane, which is also called direction aiming.

[0006] (2) Vertical aiming: make the barrel axis in a certain pitch in the vertical plane, which is also called elevation aiming.

[0007] Direction aiming makes the barrel axis point to a certain direction in the horizontal plane. Direction aiming needs to be completed by a panoramic sight and a direction machine. Panoramic sight, also known as panoramic sight or panoramic sight, is a kind of periscope type sight that can be used for 360° ring observation and cooperates with the direction machine for artillery direction aiming. The direction machine is the rotating drive device of the turret.

[0008] The direction aiming process is roughly divided into three steps, taking the far aiming point method as an example: 1) using natural terrain as an aiming point (calibration point) for indirect aiming. The gun reference direction is calibrated, and the calibration point is calibrated. The aiming person turns the direction and elevation of the panoramic sight and the aiming sight, so that the reticle in the ocular is aligned with the calibration point, as shown in the solid line in the figure. The panoramic sight is calibrated. 2) The aiming person sets the direction angle on the panoramic sight by turning the direction handwheel. After setting the direction angle, the reticle in the ocular deviates from the calibration point, and the original aiming line deviates from the direction angle set by the calibration point, as shown by the dashed line in the figure. 3) The aiming person observes the ocular of the panoramic sight while turning the direction machine, so that the reticle of the panoramic sight is aligned with the calibration point again, and the direction aiming is completed, as shown in the figure. Figure 1 Figure 1 Figure 2

[0009] According to the above direction aiming process, in order to accurately assign the angle set by the panoramic sight to the gun, it is necessary to know the actual angle between the panoramic sight line and the gun barrel axis. Although the panoramic sight has a digital watch that displays the angle, the accuracy of the digital watch needs to be corrected regularly. The method of correction is the zero line check, that is, when the panoramic sight line is parallel to the gun barrel axis, the digital watch should indicate 0, otherwise it is forced to be 0.

[0010] The zero line check method is commonly used for inspection target method, and the positions of the three cross target stars on the inspection target correspond to the actual positions of the panoramic sight, the direct sight and the gun barrel respectively. When the panoramic sight and the direct sight aim at the corresponding cross target star, and the gun barrel axis also aims at the cross target star, the panoramic sight line and the direct sight line are parallel to the gun barrel axis in space, and this state is the zero line state. At this time, the digital division of the panoramic sight can be set to 0. However, the prerequisite for completing the zero line check is that the gun barrel axis must be perpendicular to the inspection target, otherwise the accuracy will be affected. SUMMARY

[0011] The purpose of the present application is to provide a zero line checking method and system based on laser and swarm intelligence optimization control, so that the gun barrel axis is perpendicular to the inspection target.

[0012] To achieve the above purpose, the present application provides the following scheme:

[0013] A zero line checking method based on laser and swarm intelligence optimization control, comprising:

[0014] obtaining a first distance between a plurality of points of a gun barrel and an inspection target;

[0015] coarsely adjusting a swing mechanism of the inspection target according to the first distance;

[0016] ​​​acquiring a second distance between a plurality of points of the cannon barrel and the inspection target after the coarse adjustment;

[0017] performing fine adjustment on the swing mechanism of the inspection target according to the second distance by using a closed-loop control, a particle swarm optimization algorithm and a successive adjustment strategy, so as to obtain a vertical cannon barrel axis and the inspection target.

[0018] Optionally, the coarse adjustment on the swing mechanism of the inspection target according to the first distance specifically comprises:

[0019] selecting the swing mechanism corresponding to the second laser distance and the third laser distance of the first distance; the first distance comprises a first laser distance, a second laser distance and a third laser distance; the distances of the first laser distance, the second laser distance and the third laser distance decrease in turn;

[0020] determining an adjustment variable corresponding to the second laser distance according to the first laser distance and the second laser distance;

[0021] coarsely adjusting the swing mechanism corresponding to the second laser distance according to the adjustment variable corresponding to the second laser distance;

[0022] determining an adjustment variable corresponding to the third laser distance according to the first laser distance and the third laser distance;

[0023] coarsely adjusting the swing mechanism corresponding to the third laser distance according to the adjustment variable corresponding to the third laser distance;

[0024] judging whether the first laser distance, the second laser distance after the coarse adjustment and the third laser distance after the coarse adjustment all satisfy a coarse adjustment set value, so as to obtain a first judgment result;

[0025] if the first judgment result is yes, the coarse adjustment of the inspection target is completed;

[0026] if the first judgment result is no, returning to the step of acquiring the first distance between a plurality of points of the cannon barrel and the inspection target.

[0027] Optionally, the closed-loop control is a PID control.

[0028] Optionally, the fine adjustment on the swing mechanism of the inspection target according to the second distance by using the closed-loop control, the particle swarm optimization algorithm and the successive adjustment strategy, so as to obtain the vertical cannon barrel axis and the inspection target, specifically comprises:

[0029] select the swing mechanism corresponding to the coarsely adjusted second laser distance and the coarsely adjusted third laser distance; the second distance comprises the coarsely adjusted first laser distance, the coarsely adjusted second laser distance and the coarsely adjusted third laser distance;

[0030] adjust the swing mechanism corresponding to the coarsely adjusted second laser distance and the coarsely adjusted third laser distance by using a particle swarm optimization algorithm and PID control to obtain the finely adjusted first laser distance, the finely adjusted second laser distance and the finely adjusted third laser distance;

[0031] determine whether the finely adjusted first laser distance, the finely adjusted second laser distance and the finely adjusted third laser distance all meet the fine adjustment set value to obtain a second determination result;

[0032] if the second determination result is yes, a vertical barrel axis and a check target are obtained;

[0033] if the second determination result is no, return to the step of obtaining the second distance between the plurality of points of the artillery barrel and the coarsely adjusted check target.

[0034] The application discloses a zero line check system based on laser and swarm intelligence optimization control.

[0035] The laser ranging subsystem is arranged on the artillery barrel, and is used for obtaining the distance between the artillery barrel and the check target.

[0036] The check target comprises a check target plate, a check target horizontal and vertical fixing plate, a supporting mechanism and a plurality of swing mechanisms.

[0037] The swing mechanism is arranged on the back of the check target plate, the check target horizontal and vertical fixing plate is connected with the check target plate through the swing mechanism, the swing mechanism is further connected with the control subsystem, the control subsystem is used for controlling the swing mechanism to rotate to make the artillery barrel vertical to the check target, and the supporting mechanism is used for fixing and supporting the check target plate.

[0038] Optionally, the check target plate comprises a back plate, three target stars, two moving slide rails and a plurality of moving stand columns.

[0039] The mobile slide rail and the mobile column are arranged on the back plate; the mobile slide rail and the mobile column are perpendicular; each target star is arranged on the mobile column; the cross line center of the target star corresponds to the periscope sighting line, the direct sight sighting line and the barrel axis of the gun respectively.

[0040] Optionally, the laser ranging subsystem comprises three laser sensors; the three laser sensors are arranged on the gun barrel; the angle between the line connecting each two laser sensors and the center of the gun barrel is 120°.

[0041] Optionally, the target star is a magnetic target star.

[0042] According to the specific embodiments of the present application, the following technical effects are provided:

[0043] The first distance between the multiple points of the gun barrel and the inspection target is obtained; the swing mechanism of the inspection target is coarsely adjusted according to the first distance; the second distance between the multiple points of the gun barrel and the coarsely adjusted inspection target is obtained; the swing mechanism of the inspection target is finely adjusted by using the closed loop control, the particle swarm optimization algorithm and the successive adjustment strategy according to the second distance, so that the perpendicular barrel axis and the inspection target are obtained. The swing mechanism is coarsely adjusted and finely adjusted, so that the gun barrel axis is perpendicular to the inspection target accurately. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0045] Figure 1 Schematic diagram of a far aiming point method for setting a direction angle;

[0046] Figure 2 Schematic diagram of a far aiming point method for setting a direction angle of a gun;

[0047] Figure 3 Schematic diagram of an inspection target;

[0048] Figure 4 Schematic diagram of a zero line inspection system based on laser and swarm intelligence optimization control;

[0049] Figure 5 Position diagram of a zero line inspection system based on laser and swarm intelligence optimization control;

[0050] Figure 6 Layout diagram of a laser sensor;

[0051] Figure 7 For checking target plate schematic diagram;

[0052] Figure 8 For checking target back view diagram;

[0053] Figure 9 For checking target back view diagram;

[0054] Figure 10 For swing mechanism detail view

[0055] Figure 11 For swing mechanism exploded view;

[0056] Figure 12 For checking target overall view diagram;

[0057] Figure 13 For zero line schematic diagram when barrel axis is completely perpendicular to checking target;

[0058] Figure 14 For zero line schematic diagram when barrel axis is not perpendicular to checking target;

[0059] Figure 15 For laser irradiation schematic diagram;

[0060] Figure 16 For laser sensor cross section layout diagram;

[0061] Figure 17 For rough adjustment flow chart;

[0062] Figure 18 For fine adjustment flow chart;

[0063] Figure 19 For fine adjustment automatic closed loop control block diagram;

[0064] Figure 20 For transfer function composition schematic diagram;

[0065] Figure 21 For particle swarm optimization algorithm block diagram;

[0066] Figure 22 For laser and swarm intelligence optimization control based zero line checking method in actual application flow chart;

[0067] Figure 23 For laser and swarm intelligence optimization control based zero line checking method flow chart provided by the application.

[0068] Symbol explanation:

[0069] Gun barrel-1, laser sensor-2, inspection target-3, swing mechanism-4, control subsystem-5, back plate-6, target star-7, moving slide rail-8, moving stand-9, manual gear-10, pin shaft-11, hook-12, lead screw-13, motor gear-14, lead screw gear-15, fixing frame-16, stepper motor-17, manual adjustment knob-18, internally threaded nut-19. DETAILED DESCRIPTION

[0070] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0071] The present application aims to provide a zero line inspection method and system based on laser and swarm intelligence optimization control, so as to make the gun barrel axis and the inspection target accurate and perpendicular.

[0072] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0073] In order to make the gun barrel axis and the inspection target reach high-precision perpendicular, and at the same time consider the automation and intelligence level of the system, the present application first performs coarse adjustment, and then uses closed-loop control in automatic control to complete high-precision perpendicular fine adjustment between the gun barrel axis and the inspection target. The control parameters in the closed-loop control system are obtained using intelligent optimization algorithm, so that the control effect takes into account the speed and accuracy. Figure 22 and Figure 23 As shown in the present application, a zero line inspection method based on laser and swarm intelligence optimization control is provided, which comprises:

[0074] Step 101: obtaining the first distance between the gun barrel and the inspection target.

[0075] Step 102: coarsely adjusting the swing mechanism of the inspection target according to the first distance.

[0076] As shown in the present application, step 102 specifically comprises: Figure 17

[0077] ​Select the swing mechanism corresponding to the second and third laser distance measurements of the first distance; the first distance includes the first laser distance measurement, the second laser distance measurement, and the third laser distance measurement; the distances of the first laser distance measurement, the second laser distance measurement, and the third laser distance measurement decrease sequentially. Determine the adjustment variable corresponding to the second laser distance measurement based on the first laser distance measurement and the second laser distance measurement. Perform a coarse adjustment on the swing mechanism corresponding to the second laser distance measurement based on the adjustment variable corresponding to the second laser distance measurement. Specifically, the adjustment variable corresponding to the second laser distance measurement adjusts the swing mechanism corresponding to the two laser distance measurements with smaller distances. Determine the adjustment variable corresponding to the third laser distance measurement based on the first laser distance measurement and the third laser distance measurement. Perform a coarse adjustment on the swing mechanism corresponding to the third laser distance measurement based on the adjustment variable corresponding to the third laser distance measurement. Determine whether the first laser distance measurement, the coarsely adjusted second laser distance measurement, and the coarsely adjusted third laser distance measurement all meet the coarse adjustment setting value, and obtain a first judgment result. If the first judgment result is yes, the inspection target completes the coarse adjustment. If the first judgment result is no, return to step 101.

[0078] The coarse adjustment uses a strategy of keeping the swing mechanism corresponding to the furthest distance stationary while adjusting the remaining two swing mechanisms. For example... Figure 16 As shown, the distances between the three laser sensors and the target plate are LA, LB, and LC, respectively. If LA is the largest, then the values ​​of LA-LB and LA-LC are calculated respectively, and the swing mechanism B is adjusted accordingly. ’ This causes LB to increase the value of LA-LB, and then the swing mechanism C is adjusted. ’ This causes LC to increase the value of LA-LC. Since adjusting any one of the swing mechanisms will affect the others, coarse adjustment also needs to be done step by step until the standard deviation between LA, LB, and LC is less than a certain value, which completes the coarse adjustment.

[0079] Because the swing mechanism operates by the control subsystem sending a rotation signal to the stepper motor, causing the stepper motor to rotate and thus driving the swing mechanism to move, thereby changing the distance between the laser sensor and the target plate. Therefore, after the device is designed and manufactured, it is necessary to calculate the ratio 'a' between the rotation signal of the stepper motor sent by the control subsystem and the corresponding laser distance measurement. This ensures that after obtaining the deviation distance from the furthest distance, the control system can output the corresponding stepper motor rotation signal to control the stepper motor to rotate by the corresponding angle.

[0080] Step 103: Obtain the second distance between multiple points on the artillery barrel and the coarsely adjusted inspection target.

[0081] Step 104: Based on the second distance, the swing mechanism of the inspection target is finely adjusted using closed-loop control, particle swarm optimization algorithm, and successive adjustment strategy to obtain a vertical gun barrel axis and inspection target. The closed-loop control is PID control.

[0082] like Figure 18 As shown, step 104 specifically includes:

[0083] Select the oscillating mechanisms corresponding to the coarsely adjusted second and third laser rangefinders; use particle swarm optimization algorithm and PID control to successively adjust the oscillating mechanisms corresponding to the coarsely adjusted second and third laser rangefinders to obtain the finely adjusted first, second, and third laser rangefinders; determine whether the finely adjusted first, second, and third laser rangefinders all meet the fine adjustment set values ​​to obtain a second judgment result; if the second judgment result is yes, obtain the vertical gun barrel axis and the inspection target; if the second judgment result is no, return to step 103.

[0084] Fine adjustment still employs the strategy of keeping the farthest-distance swing mechanism stationary while adjusting the remaining two swing mechanisms. Compared to fine adjustment, coarse adjustment is an open-loop control method. It simply uses the output signal of the control subsystem to control the stepper motors on the swing mechanisms via stepper motor drivers. However, due to interference or loose mechanical parts, the actual laser distance measurement may not accurately change to the calculated value, which is a drawback of open-loop control. However, the advantage of open-loop control is speed. To complete the entire adjustment process quickly, coarse adjustment is chosen initially to bring the standard deviation between the three laser distance measurements within a certain range in a short time before fine adjustment. Fine adjustment uses closed-loop control, ensuring that the final actual laser distance measurement value equals the calculated value of the control subsystem. To balance accuracy and speed, the controller parameters in the closed-loop control used for fine adjustment are optimized by a swarm intelligence algorithm.

[0085] like Figure 19 As shown, closed-loop control is a control method that corrects based on feedback from the output of the controlled object. It corrects deviations between the measured actual output and the planned output according to a quota or standard. In closed-loop control, the control signal extracted from the output change is used as a comparison quantity and fed back to the input. Generally, this extracted quantity is out of phase with the input quantity, hence the name negative feedback control. Automatic control is typically closed-loop control. The core of closed-loop control is the adjustment of the PID parameters.

[0086] Positional PID expression:

[0087]

[0088] In the formula, k represents the time, u is the control amount, k p is the proportional gain, k i is the integral gain, k d is the differential gain, e is the target value minus the actual value, that is, the deviation value. The parameter u is the output value of the controller subsystem, which is the rotation signal of the stepper motor, k p , k i and k d are the parameters of the controller, the input controller internal parameters, which represent the control performance of the control. e is the difference between the actual value of the laser ranging change and the set value between the laser sensor and the target plate.

[0089] As shown in Figure 20 , in order to quickly and accurately complete the adjustment work of the inspection target, it is necessary to set and optimize the PID parameters of the controller. In order to speed up the debugging time, it is necessary to complete the PID parameter setting and optimization based on the transfer function first. Therefore, it is necessary to complete the acquisition of the transfer function, and through the step response method, that is, setting the pulse number of the stepper motor, the swing mechanism drives the inspection target to swing, and then the change of the distance signal is obtained. Through the distance signal curve with time, the transfer function can be identified. Using the transfer function, a simulation system can be built to complete the setting and optimization of the controller parameters on the computer.

[0090] Particle swarm optimization algorithm (PSO) is a kind of population bionic intelligent computing method designed by James Kenney and Russell Eberhart, and its main design idea is artificial life and evolutionary algorithm. It is a kind of swarm intelligence algorithm simulating the predation phenomenon in nature, which adopts a population-based search strategy and a simple displacement mode. Compared with genetic algorithm, it avoids complex genetic operations, is easy to program, and has a faster calculation speed. In recent years, it has attracted widespread attention and research.

[0091] The basic idea of PSO is to regard the particles in the search space as the solutions of each optimization problem. All particles have an adaptive value determined by an optimized function, and the direction and distance of each particle flight are determined by a velocity vector. Then the particles search in the solution space by following the current optimal particle. The core formula of the particle swarm algorithm is the velocity update formula, as shown in the formula:

[0092] v in (g+1)=ωv in (g)+c1r1[Xbest in -x in (g)]+c2r2[Xbest gn -x in (g)]

[0093] Where g is the algebra of the particle swarm optimization algorithm iterations, v in (g+1) represents the velocity of the particle in the g-th generation, v in (g) represents the velocity of the particle in the (g-1)th generation, x in (g) represents the position of the g-th generation particle, Xbest in Xbest represents the best position that particle i has experienced so far. gn This is the optimal position experienced by the entire particle swarm so far.

[0094] To balance the inertia of global and local searches, a weight ω is introduced, representing the proportion of the original velocity in the next iteration. c1 represents the cognitive factor, and c2 represents the social factor, which respectively represent the acceleration weights for advancing towards the current optimal value and the global optimal value. r1 and r2 are random variables between 0 and 1. The particle's position is updated using the following formula:

[0095] x in (g+1)=x in (g)+v in (g+1)

[0096] x in (g+1) represents the position of the (g+1)th generation particle. The position of a particle in the particle swarm is the PID parameter. In this invention, the controller has a total proportional gain k. p Integral gain k i Differential gain k d Three parameters need optimization: the particle's position is three-dimensional, and the first, second, and third dimensions are k, respectively. p k i and k d .

[0097] Based on the actual problem, a certain range of values ​​will be set for the particle's value and velocity. The optimization process is the iteration of the above velocity update formula and position update formula. The iteration process will terminate after reaching the preset target value or the number of iterations.

[0098] like Figure 21 As shown, the stepper motor, swing mechanism, and laser sensor constitute the transfer function G(s) obtained through the step response method. The change in laser ranging is selected as the controlled variable. For example, based on the existing structure, the laser ranging distance is increased by s millimeters through control, which means the target swings, thereby increasing the distance between the corresponding laser sensor and the target plate by s millimeters. The integral of time and the absolute value of the deviation e is used as the objective function for particle swarm optimization, as shown in the following equation. After multiple iterations of optimization, the controller parameters with good adjustment speed and accuracy are finally obtained, namely the PID parameters (coefficients of proportional, integral, and derivative actions).

[0099]

[0100] Q is the target function to be optimized, t s is the adjustment time of the control process, and e(t) is the difference between the set value and the actual value at time t.

[0101] The successive adjustment strategy is: the principle of keeping the swing mechanism corresponding to the farthest distance unchanged is adopted, and the remaining two swing mechanisms are adjusted, and the adjustment is performed successively until the set accuracy is met. The whole adjustment has two big links: coarse adjustment and fine adjustment. First, enter the coarse adjustment link: collect three laser distance measurements LA, LB and LC. The principle of keeping the swing mechanism corresponding to the farthest distance unchanged is adopted, and the remaining two swing mechanisms are adjusted, and the standard deviation between the three laser distance measurements is satisfied. The coarse adjustment accuracy is achieved through multiple cycles. Then enter the fine adjustment link. The principle of keeping the swing mechanism corresponding to the farthest distance unchanged is still adopted, and the remaining two swing mechanisms are adjusted, but the adjustment process is a closed-loop control process, so that the actual change distance between the laser sensor and the target plate is the same as the calculated distance.

[0102] After adjustment, the barrel axis is perpendicular to the inspection target with high precision. The middle target star position is adjusted so that the barrel axis is aligned with the middle target star. Then, according to the position of the panoramic sight, the direct sight and the barrel axis, the positions of the target stars on the inspection target corresponding to the panoramic sight and the direct sight are adjusted in turn. Then, the panoramic sight is aimed at the upper left target star of the inspection target, and the direct sight is aimed at the middle target star, so that the zero line alignment is completed. After completing the zero line alignment, the dials of the panoramic sight and the direct sight are zeroed, and the whole zero line inspection work is completed.

[0103] As shown in Figures 3 to 15 The present application also provides a zero line inspection system based on laser and swarm intelligence optimization control, which comprises a laser distance measurement subsystem, an inspection target 3 and a control subsystem 5.

[0104] The laser distance measurement subsystem is arranged on the gun barrel 1; the laser distance measurement subsystem is used to obtain the distance between the gun barrel 1 and the inspection target 3; the inspection target 3 is connected with the control subsystem 5; the inspection target 3 comprises an inspection target body, an inspection target horizontal and vertical fixing plate, a supporting mechanism and a plurality of swing mechanisms 4; the swing mechanisms 4 are arranged on the back of the inspection target body; the inspection target horizontal and vertical fixing plate is connected with the inspection target body through the swing mechanisms 4; the swing mechanisms 4 are also connected with the control subsystem 5; the control subsystem 5 is used to control the rotation of the swing mechanisms 4 to make the gun barrel 1 perpendicular to the inspection target 3; and the supporting mechanism is used to fix and support the inspection target body.

[0105] The zero line inspection system based on laser and swarm intelligence optimization control further comprises a data collector and a stepping motor driver; the data collector is connected with the laser sensor 2 and the control subsystem 5 respectively; and the stepping motor driver is connected with the control subsystem 5 and the swing mechanism 4 respectively.

[0106] The inspection target body comprises a back plate 6, three target stars 7, two moving slide rails 8 and a plurality of moving columns 9; the moving slide rails 8 and the moving columns 9 are arranged on the back plate 6; the moving slide rails 8 and the moving columns 9 are perpendicular; each target star 7 is arranged on a moving column 9; the cross line center of the target star 7 corresponds to the periscope aiming line, the direct sight aiming line and the bore axis of the artillery respectively; the moving column 9 is a magnetic type column; and the target star 7 is a magnetic type target star 7.

[0107] The laser ranging subsystem comprises three laser sensors 2; the three laser sensors 2 are arranged on the artillery barrel 1; and the included angle between the center line of the artillery barrel 1 and each two laser sensors 2 is 120°.

[0108] The data measured by the laser sensor 2 is transmitted to the control subsystem 5 by the data collector; the control subsystem 5 generates the rotation signal of the stepping motor according to the ranging data, and transmits the rotation signal to the stepping motor driver; and the rotation signal is transmitted to the stepping motor 17 of the three swing mechanisms 4 by the stepping motor driver; the rotation of the stepping motor 17 drives the swing of the inspection target 3 from three angles, thereby completing the accurate verticality between the artillery barrel axis and the inspection target 3; and each laser sensor 2 and a swing mechanism 4 are arranged correspondingly.

[0109] As shown in Figure 6 The laser ranging subsystem comprises three laser sensors 2 (measurement accuracy ±1mm, measurement range 0.045-100 meters); the three sensors are arranged on the artillery barrel 1 at an angle of 120°; and the front end faces of the three sensors are flush with the front section of the barrel.

[0110] The control subsystem 5 generates the rotation signal data of the stepping motor 17 of the three swing mechanisms 4 of the inspection target 3 according to the distance data of the three laser sensors 2 collected by the upper computer, and outputs the rotation signal data to the stepping motor driver.

[0111] As shown in Figures 7 to 12 As shown in Figure 7The shown inspection target target body is composed of a back plate 6, three target stars 7, upper and lower slide rails bearing the target stars 7 and a movable column 9 sleeved on the target plate. The lateral movement of the target stars 7 on the target plate can be realized by moving the slide rails 8, the column is made of magnetic type, and the target stars 7 also have magnetism, so the target stars 7 can move vertically on the movable column 9. The cross line centers of the three target stars 7 correspond to the periscopic sight line, the direct sight line and the barrel axis of the gun from left to right. Because the mutual positional relationship of the periscopic sight, the direct sight and the barrel axis of different guns is different, the three target stars 7 of the previous inspection target 3 are fixed, the position cannot be adjusted, that is, one equipment corresponds to one inspection target 3, multiple equipment needs to carry multiple inspection targets 3, and the universality is poor. The cross target stars of the inspection target 3 are made into two degrees of freedom adjustable, so that one inspection target 3 can be suitable for most guns.

[0112] As shown in Figure 8 The inspection target horizontal and vertical fixing plate: in order to enable the target plate of the inspection target 3 to swing, a fixing plate needs to be installed behind, the horizontal and vertical fixing plate plays the role of the fixing plate, the horizontal and vertical fixing plate is connected with the target plate through the swing mechanism 4 and is used for adjusting the swing.

[0113] As shown in Figures 9 to 11 The swing mechanism 4 has three, which are arranged on the upper middle, left lower and right lower of the inspection target 3 respectively. The swing mechanism 4 is composed of a lead screw 13, a lead screw gear 15, a manual adjusting knob 18, a manual gear 10, a stepping motor 17, a motor gear 14, an internal thread nut 19, a fixing frame 16 and the like. The swing mechanism 4 can be completed manually and electrically, when manually rotating, the manual adjusting knob 18 is rotated to drive the manual gear 10 to rotate, and then drive the lead screw gear 15 to rotate. The internal thread nut 19 is installed inside the lead screw gear 15, and the lead screw 13 is fixed by the pin shaft 11 of the hook 12 on one side, so that it cannot rotate. When the lead screw gear 15 drives the internal thread nut 19 to rotate, because the lead screw 13 is fixed at one end by the hook 12, the part of the lead screw 13 between the fixing frame 16 and the pin shaft 11 of the hook 12 can be lengthened or shortened (this is a typical nut and lead screw 13 structure). Because the fixing frame 16 is fixed on the rear fixed horizontal plate or vertical plate of the target, and the rear fixed horizontal plate or vertical plate is fixed, the target plate will be driven by the lead screw 13 to swing. The three swing mechanisms 4 adopt the same design, and then the angle relationship between the inspection target 3 and the barrel axis is adjusted. The transmission of the stepping motor 17 is similar to the manual process, except that the power sources are different.

[0114] As shown in Figure 12 The support mechanism includes a base and a column, the base plays a supporting role, and the column is used for connecting the inspection target body.

[0115] The data measured by the laser sensor 2 is transmitted to the control subsystem 5 by the data collector, the control subsystem 5 calculates and generates the rotation signal of the stepping motor according to the ranging data, and transmits it to the stepping motor driver, and then the stepping motor driver transmits it to the stepping motor 17 of the three swing mechanisms 4, the rotation of the stepping motor 17 drives the swing of the inspection target 3 from three angles, and then the accurate perpendicularity between the barrel axis of the gun and the inspection target 3 is completed.

[0116] The zero line inspection is to ensure that the barrel axis of the gun, the sighting line of the periscopic sight and the sighting line of the direct sight are parallel in the three-dimensional space after the zero line inspection and adjustment. The first step of the zero line adjustment is to align the barrel axis and the inspection target 3, that is, the barrel axis is perpendicular to the inspection target 3. However, at present, the barrel axis is judged to be perpendicular to the inspection target 3 by visual method, which can only be roughly perpendicular, and the precision is not high, which will affect the parallelism of the barrel axis, the sighting line of the periscopic sight and the sighting line of the direct sight, and finally affect the precision of the zero line. Therefore, it is very important to ensure the perpendicularity between the barrel axis and the inspection target 3. As shown in Figure 13 , the three target stars 7 of the inspection target 3 correspond to the periscopic sight line, the direct sight line and the barrel axis from top to bottom, and the distance and position between each target star 7 are one-to-one corresponding to the actual installation.

[0117] From Figure 13 and Figure 14 , it can be seen that when the barrel axis is completely perpendicular to the inspection target 3, it can be ensured that when the barrel axis, the periscopic sight and the direct sight are aligned with the corresponding target stars 7 of the inspection target 3, the sighting line of the periscopic sight, the sighting line of the direct sight and the barrel axis are completely parallel in the three-dimensional space, which is the correct zero line state. Only in the correct zero line state, the accuracy of aiming can be ensured. When the barrel axis is not perpendicular to the inspection target 3, although the barrel axis, the periscopic sight line and the direct sight line can be aligned with the center of the target star, that is, the barrel, the periscopic sight and the direct sight can aim at the corresponding target star 7, it can be seen that the three straight lines are not parallel in the three-dimensional space, that is, the position relationship between the barrel axis, the direct sight and the periscopic sight is uncertain in the initial state of aiming. This situation will affect the aiming accuracy and then affect the shooting accuracy, so it is very important to ensure the high-precision perpendicularity between the barrel axis and the inspection target 3.

[0118] Figure 15 The three laser sensors 2 will measure three data points between the inspection target 3, if the three distances are approximately equal, it can be considered that the barrel axis is perpendicular to the inspection target 3. When the barrel axis is roughly perpendicular to the inspection target 3, the device can be used for accurate adjustment, and finally the accurate perpendicularity between the barrel axis and the inspection target 3 is achieved.

[0119] In view of the low accuracy and poor universality of the zero line inspection method under the current combat conditions, the application provides a gun zero line inspection method and system based on laser and swarm intelligence optimization control. Firstly, three laser sensors with equal angle distribution are used to measure the perpendicularity between the gun and the inspection target. Secondly, the step response method is used to identify the dynamic and static characteristic relationship between the swing mechanism and the laser distance measurement. Thirdly, the swarm intelligence optimization algorithm is used to optimize the control parameters of the control part. Finally, the posture of the inspection target is adjusted by using the successive adjustment strategy to realize the high-precision perpendicularity between the gun barrel axis and the inspection target during the gun zero line adjustment, thereby improving the accuracy of the gun zero line inspection. The three target stars of the inspection target can be adjusted in the horizontal and vertical directions, and the inspection target can be applied to various types of guns, and has strong universality. The technology is advanced, and has the advantages of fast inspection speed, high accuracy and good universality, and has certain military benefits.

[0120] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0121] In the present specification, the principles and implementation modes of the application are described by using specific examples, and the above description of the embodiments is only used to help understand the method of the application and its core idea; meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation modes and application ranges can be changed. In conclusion, the content of the specification should not be understood as a limitation of the application.

Claims

1. A method for checking zero line based on laser and swarm intelligence optimization control, characterized in that, The method comprises the following steps: acquiring first distances between multiple points of a gun barrel and a test target; coarsely adjusting a swing mechanism of the test target according to the first distances; acquiring second distances between the multiple points of the gun barrel and the coarsely adjusted test target; finely adjusting the swing mechanism of the test target according to the second distances by using closed-loop control, a particle swarm optimization algorithm and a step-by-step adjustment strategy to obtain a vertical gun barrel axis and the test target, specifically comprising the following steps: the second distances comprise a coarsely adjusted first laser distance, a coarsely adjusted second laser distance and a coarsely adjusted third laser distance; and the closed-loop control is PID control; ； In the formula, k represents the time, is the control amount, is the proportional gain, is the integral gain, is the differential gain, is the target value minus the actual value, i.e. the deviation value; the parameter is the output value of the controller subsystem, which is the rotation signal of the stepper motor, 、 and are the parameters of the controller, the input controller internal parameters, which represent the control performance of the control; a step response method is used to set a pulse number value of a stepper motor, the swing mechanism drives the test target to swing, and then the change of a distance signal is acquired; a transfer function is identified according to a distance signal curve with respect to time; the transfer function is used to build a simulation system to complete the setting and optimization of controller parameters on a computer; The laser ranging variation is selected as the controlled quantity, and the integral of the absolute value of time and deviation e is selected as the objective function of the particle swarm optimization. Through multiple iteration optimizations, the controller parameters with good adjustment speed and precision are finally obtained, , and ; the difference between the set value and the actual value at time t, the regulation time of the control process, the difference between the set value and the actual value at time t, the particle swarm optimization algorithm and the PID control are used to perform step-by-step adjustment on the swing mechanism corresponding to the coarsely adjusted second laser distance and the coarsely adjusted third laser distance to obtain a finely adjusted first laser distance, a finely adjusted second laser distance and a finely adjusted third laser distance; it is judged whether the finely adjusted first laser distance, the finely adjusted second laser distance and the finely adjusted third laser distance all meet a fine adjustment set value to obtain a second judgment result; if the second judgment result is yes, a vertical gun barrel axis and the test target are obtained; if the second judgment result is no, the step of acquiring the second distances between the multiple points of the gun barrel and the coarsely adjusted test target is returned to.

2. The method of null line inspection based on laser and swarm intelligence optimization control according to claim 1, characterized in that, the swing mechanism of the test target is coarsely adjusted according to the first distances, specifically comprising the following steps: swing mechanisms corresponding to second and third laser distances of the first distances are selected; the first distances comprise a first laser distance, a second laser distance and a third laser distance; the distances of the first laser distance, the second laser distance and the third laser distance decrease in turn; an adjustment variable corresponding to the second laser distance is determined according to the first laser distance and the second laser distance; the swing mechanism corresponding to the second laser distance is coarsely adjusted according to the adjustment variable corresponding to the second laser distance; an adjustment variable corresponding to the third laser distance is determined according to the first laser distance and the third laser distance; the swing mechanism corresponding to the third laser distance is coarsely adjusted according to the adjustment variable corresponding to the third laser distance; it is judged whether the first laser distance, the coarsely adjusted second laser distance and the coarsely adjusted third laser distance all meet a coarse adjustment set value to obtain a first judgment result; if the first judgment result is yes, the test target is coarsely adjusted; if the first judgment result is no, the step of acquiring the first distances between multiple points of a gun barrel and a test target is returned to.

3. A zero line inspection system based on laser and swarm intelligence optimization control, characterized in that, The zero line inspection system based on laser and swarm intelligence optimization control applies the zero line inspection method based on laser and swarm intelligence optimization control according to any one of claims 1-2, and the system comprises a laser ranging subsystem, an inspection target and a control subsystem; The laser ranging subsystem is arranged on a cannon barrel; the laser ranging subsystem is used to acquire the distance between the cannon barrel and the inspection target; the inspection target is connected with the control subsystem; The inspection target comprises an inspection target plate, an inspection target horizontal and vertical fixing plate, a supporting mechanism and a plurality of swing mechanisms; The swing mechanism is arranged on the back of the inspection target plate; the inspection target horizontal and vertical fixing plate is connected with the inspection target plate through the swing mechanism; the swing mechanism is also connected with the control subsystem; the control subsystem is used to control the swing mechanism to rotate so as to make the cannon barrel vertical to the inspection target; the supporting mechanism is used to fix and support the inspection target plate.

4. The laser and swarm intelligence optimization control based null line inspection system of claim 3, wherein, The inspection target plate comprises a back plate, three target stars, two moving slide rails and a plurality of moving vertical columns; The moving slide rail and the moving vertical column are arranged on the back plate; the moving slide rail and the moving vertical column are vertical; each target star is arranged on a moving vertical column; the cross line center of the target star corresponds to the periscope sight line, the direct sight line and the cannon bore axis of the cannon respectively.

5. The laser and swarm intelligence optimization control based neutral line inspection system of claim 3, wherein, The laser ranging subsystem comprises three laser sensors; the three laser sensors are arranged on the cannon barrel; the included angle between the line connecting each two laser sensors and the center of the cannon barrel is 120°.

6. The laser and swarm intelligence optimization control based neutral line inspection system of claim 4, wherein, The target star is a magnetic target star.

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