A barrel bore detection device with centering correction

Abstract

The present invention discloses a barrel inner bore detection device with centering correction, comprising: a first attitude sensor device and a centering correction device arranged on the outer wall of a correction pipe, wherein the centering correction device comprises a correction device, a walking support device and a second attitude sensor device arranged inside the correction pipe, wherein one end of the walking support device is connected to the correction device, and the other end is connected to the second attitude sensor device; wherein the first attitude sensor device is used to obtain the attitude angle of the correction pipe, and the second attitude sensor device is used to obtain the attitude angle of the centering correction device, and the walking support device is expanded and / or contracted to make the two attitude angles the same; the relative position between the axis of the centering correction device and the inner bore axis of the correction pipe is judged to control the rotation center axis of the laser displacement sensor on the correction device to coincide with the inner bore axis of the correction pipe, thereby realizing the centering positioning of the centering correction device.

Description

Technical Field

[0001] The invention relates to the technical field of tubular inner bore detection, and in particular to a barrel inner bore detection device with centering correction. Background Art

[0002] Artillery plays an irreplaceable role in large-scale operations such as field battles and urban assaults by virtue of its high cost-effectiveness and mature technology. When the artillery is fired, the propellant burns, generating a large amount of high-temperature and high-pressure gunpowder gas that washes the inner surface of the barrel at high speed. At the moment of energy conversion, the chemical energy of the propellant is transferred from 22.34% to the barrel. Under the impetus of the gunpowder gas, the projectile belt squeezes into the rifling, causing the projectile to rotate at high speed toward the muzzle. When the artillery is fired, the high-temperature and high-pressure gunpowder gas forces heat transfer to the inner surface of the barrel. The belt squeezed into the barrel will also cause frictional heat. The temperature of the inner surface of the barrel increases sharply in an instant, and the thermal equilibrium state of the inner surface of the barrel is destroyed. The instantaneous high temperature will cause chemical changes in the barrel material, and the metal material of the inner wall will undergo phase change. In severe cases, the inner surface of the barrel will melt. The high-speed washing gunpowder gas will blow away the surface melt layer, thereby gradually expanding the inner diameter of the barrel. High-speed rotating projectiles will wear out the rifling of the barrel, and cause copper hanging, peeling, and pitting on the guide part of the barrel. It will also change the inner diameter of the barrel. The change in the inner diameter of the barrel and the condition of the inner bore directly affect the shooting accuracy and safety. According to relevant documents, the change in the inner diameter of the barrel is also the main basis for judging the remaining life of the barrel. At the same time, quantitative measurement of the inner diameter of the barrel and detection of the inner bore condition are required throughout the entire process of artillery manufacturing, acceptance, use, overhaul, and scrapping. Therefore, accurate measurement of the inner bore of the barrel is of great significance.

[0003] At home and abroad, non-destructive testing technology is mostly used for the inspection of the inner bore of artillery barrels, among which photoelectric detection method is the main one. Photoelectric detection mostly uses a laser displacement sensor to scan the inner diameter of the barrel around the axis of the barrel bore in a circle, and then converts the measurement data into a two-dimensional graph. The two-dimensional graph can be used to complete the calculation of specific values ​​such as the inner diameter, dent depth, and scratch length. When using laser circular scanning to inspect the inner bore, centering is required, that is, the central axis of the measuring device coincides with the axis of the barrel bore. Traditional mechanical design is difficult to achieve accurate centering and positioning, so a barrel bore inspection device with centering correction is needed. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a barrel inner bore detection device with centering correction.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A barrel inner bore detection device with centering correction, comprising: a first attitude sensor device and a centering correction device arranged on the outer wall of a correction pipe, wherein the centering correction device comprises a correction device, a walking support device and a second attitude sensor device arranged inside the correction pipe, wherein one end of the walking support device is connected to the correction device, and the other end is connected to the second attitude sensor device;

[0007] Among them, the first posture sensing device is used to obtain the posture angle of the correction pipe, the second posture sensing device is used to obtain the posture angle of the centering correction device, and the walking support device expands and / or contracts to make the two posture angles the same; the relative position between the axis of the centering correction device and the inner bore axis of the correction pipe is judged to control the rotation center axis of the laser displacement sensor on the correction device to coincide with the inner bore axis of the correction pipe.

[0008] Preferably, the correction device comprises a pan-tilt base fixedly connected to one end of the walking support device, a turntable connected to one end of the pan-tilt base, a servo motor fixed to the pan-tilt base, and a correction unit arranged on one end surface of the turntable, and the laser displacement sensor is arranged on the correction unit;

[0009] The laser displacement sensor measures the inner diameter value of the calibration pipe to determine the relative position between the axis of the centering correction device and the inner bore axis of the calibration pipe. The correction unit adjusts the position and / or angle of the laser displacement sensor according to the measured inner diameter value so that the rotation center axis of the laser displacement sensor coincides with the inner bore axis of the calibration pipe.

[0010] Preferably, the correction unit also includes an XY-axis automatic moving device fixed on the turntable, a laser rangefinder, and a steering gear connected to one end of the XY-axis automatic moving device, the laser displacement sensor is arranged on the steering gear, the XY-axis automatic moving device is used to adjust the position of the laser displacement sensor, and the steering gear is used to adjust the angle of the laser displacement sensor.

[0011] Preferably, the XY axis automatic moving device includes a Y axis automatic moving device and an X axis automatic moving device;

[0012] The Y-axis automatic moving device comprises a Y-axis stepper motor fixed on the turntable, a Y-axis bottom slider, a Y-axis lead screw connected to the power output end of the Y-axis stepper motor, a Y-axis top slider, and a Y-axis nut fixedly connected to the Y-axis top slider and embedded in the Y-axis bottom slider for use with the Y-axis lead screw. The Y-axis stepper motor drives the Y-axis lead screw to rotate, and the Y-axis lead screw passes through the Y-axis nut to push the Y-axis top slider to move along the axial direction of the Y-axis lead screw;

[0013] The X-axis automatic moving device comprises an X-axis bottom slider arranged on the Y-axis top slider, an X-axis lead screw connected to the power output end of the X-axis stepper motor, an X-axis top slider, an X-axis nut fixedly connected to the X-axis top slider and embedded in the X-axis bottom slider for use with the X-axis lead screw, the X-axis stepper motor drives the X-axis lead screw to rotate, and the X-axis nut pushes the X-axis top slider to move along the axial direction of the X-axis lead screw;

[0014] Preferably, the laser displacement sensor scans and corrects the inner diameter of the pipeline to collect N inner diameter distance measurement values ​​a i ;

[0015] By measuring the distance value a i Determine whether the axis of the centering correction device coincides with the axis of the inner bore of the calibration pipe;

[0016] If they coincide, it is determined to be an ideal situation, and the centering correction device is placed into the barrel to be measured to generate a cross-sectional view of the inner bore of the barrel to be measured;

[0017] If they do not coincide, it is determined whether there is eccentricity, eccentricity angle, or both eccentricity and eccentricity angle between the axis of the centering correction device and the axis of the inner bore of the correction pipe, and the eccentricity and / or eccentricity angle are eliminated by the correction device, and the centering correction device is placed in the barrel to be measured to generate a cross-sectional view of the inner bore of the barrel to be measured.

[0018] Preferably, the distance measurement value a i Determining whether the axis of the centering correction device coincides with the inner bore axis of the calibration pipe includes:

[0019] Determine by the following formula:

[0020]

[0021] Among them, a i is the distance measurement value output by the laser displacement sensor, l is the distance from the laser beam to the edge of the outer surface of the laser displacement sensor, r is the distance from the edge of the outer surface of the laser displacement sensor to the rotation center axis of the laser displacement sensor, and R is the inner diameter of the calibration pipe;

[0022] when And the standard deviation of the distance value is less than a σ When a, it is determined that the axis of the centering correction device coincides with the inner bore axis of the calibration pipe, wherein a err To determine the distance deviation from the ideal situation, a σ is the standard deviation threshold of the ranging value;

[0023] The step of placing the centering correction device into the barrel to be measured and generating a cross-sectional view of the inner bore of the barrel to be measured comprises:

[0024] The laser displacement sensor rotates one circle to collect N inner diameter distance measurement values ​​a i , get the i-th inner diameter value R to be measured i '=r+a i The laser displacement sensor collects a distance information set of N inner diameter distance measurement values ​​{R'1, R'2, ..., R' N-1 , R' N}; Establish a coordinate system with the axis of the inner bore of the barrel to be measured as the center, and determine the coordinates of the inner diameter measurement value according to the following formula:

[0025]

[0026] Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value;

[0027] The coordinates of N inner diameter distance measurement values ​​are obtained, and a cross-sectional view of the inner bore of the barrel to be measured is generated.

[0028] Preferably, if they do not coincide, determining whether there is an eccentricity between the axis of the centering correction device and the axis of the inner bore of the correction pipe comprises:

[0029] Collect N inner diameter distance values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ), when |a min +a max +2r-2R|<a e When , it is determined that there is an eccentricity between the axis of the centering correction device and the inner bore axis of the correction pipe, where a e The distance deviation threshold for determining whether there is an eccentricity situation is e0, which is the distance between the axis of the centering correction device and the inner bore axis of the correction pipe, i.e., the eccentricity. The eccentricity value e0 = α max +rR;

[0030] The elimination of eccentricity by the correction device comprises:

[0031] The laser displacement sensor rotates one circle to collect N inner diameter distance measurement values ​​a i , get the end position a end with a minThe angle Δθ between the positions, the coordinates of the correction pipeline diameter center O' in the coordinate xoy are (0, e0), through coordinate transformation, the coordinates of the correction pipeline diameter center O' in the coordinate x'oy' are (0·cos(Δθ)+e0·sin(Δθ),-0·sin(Δθ)+e0·cos(Δθ)), that is, (e0·sin(Δθ), e0·cos(Δθ)), then at this time at the end position a end At, the Y-axis stepper motor and the X-axis stepper motor move e0·sin(Δθ) and e0·cos(Δθ) distances respectively to move the rotation center axis of the laser displacement sensor to the center of the diameter of the calibration pipeline to eliminate the eccentricity;

[0032] The coordinate transformation formula is as follows:

[0033]

[0034] If they do not coincide, determining whether there is an eccentric angle between the axis of the centering correction device and the axis of the inner bore of the correction pipe includes:

[0035] Collect N inner diameter distance values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ); when |a min +a max +2r-2R|≥a e , and the standard deviation of the distance value is less than a σ When the axis of the centering correction device is determined to have an eccentric angle with the inner bore axis of the correction pipe, the value of the eccentric angle β is Satisfies the following formula:

[0036]

[0037]

[0038] Combined to get:

[0039]

[0040]

[0041] The method of eliminating the eccentric angle by the correction device comprises:

[0042] Adjust the steering gear adjustment angle Make the rotation center axis of the laser displacement sensor coincide with the center of the diameter of the calibration pipeline to eliminate the eccentric angle;

[0043] If they do not coincide, determining whether there is both an eccentricity and an eccentricity angle between the axis of the centering correction device and the axis of the inner bore of the correction pipe comprises:

[0044] Collect N inner diameter distance values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ), a min As the first value, a min As a1, other distance measurements are filled in order. The filling method is as follows: Assume that the original data is {a1, a2, ..., a k …、a N-2 、a N-1 、a N}, if a k The minimum, then the data to be filled is {a k 、a k+1 , …, a N-2 、a N-1 、a N , a1, a2, a k-1};

[0045] when|a min +a max +2r-2R|≥a e , and the standard deviation of the distance value is greater than or equal to a σ , while satisfying |a N-i -a i |<Δa It is determined that there is both an eccentric distance and an eccentric angle between the axis of the centering correction device and the inner bore axis of the correction pipe, and Δa is a threshold value for determining that the difference between the two values ​​is small; a max If the line is extended to the lower wall, the total length of the line segment is a max +a min +2r0,a max The angle between the extended line and 2R is β, and the cosine value of the angle is as follows:

[0046]

[0047] in,

[0048]

[0049] In addition, in calculating the eccentricity:

[0050] (a max +r0)cosβ=R+e0

[0051] (a min +r0)cosβ=R-e0

[0052] Combining the above two equations, we can get:

[0053] a max cosβ-a min cosβ=2e0

[0054] Combining the above formulas, we can get the radial eccentricity e0 and the eccentricity angle β;

[0055] The elimination of eccentricity and eccentricity angle by the correction device comprises:

[0056] The eccentricity e0 is eliminated by the Y-axis stepper motor and the X-axis stepper motor, and the eccentricity angle β is eliminated by the servo.

[0057] Preferably, the walking support device includes a first joint fixedly connected to the pan-tilt base, a wheel group with one end fixed on the first joint, a second joint fixedly connected to the middle part of the wheel group through a support rod, a screw motor, and a skeleton for fixing the screw motor, and the two ends of the support rod are rotatably connected to the middle part of the roller support rod and the second joint respectively; the screw motor drives the screw to rotate, and the middle of the second joint is a thread matching the screw, which drives the second joint to move along the axial direction of the screw, so that the wheel group expands and / or contracts.

[0058] Preferably, the wheel group also includes a roller bracket fixed on the outside of the roller and a walking motor fixed on the outside of the roller bracket. The middle part of the roller support rod is fixed to the second joint through the support rod. The walking motor drives the roller to rotate, and the roller drives the walking support device to move in the correction pipe.

[0059] Preferably, the second posture sensing device comprises a second posture sensor, a connecting rod and a bearing. The second posture sensor is mounted on the bearing via the connecting rod, and the connecting rod is mounted on the frame via the bearing, so that the second posture sensor is always along the vertical line.

[0060] Compared with the prior art, the technical progress achieved by the present invention is that: the present invention obtains the attitude angle of the correction pipe by a first attitude sensing device, obtains the attitude angle of the centering correction device by a second attitude sensing device, expands and / or contracts the walking support device to make the two attitude angles the same, and determines the relative position between the axis of the centering correction device and the inner bore axis of the correction pipe to control the rotation center axis of the laser displacement sensor on the correction device to coincide with the inner bore axis of the correction pipe, thereby realizing the centering correction of the device. Therefore, the present invention can realize higher-precision detection of the inner bore of multi-caliber artillery barrels, and has a wider application. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0062] In the attached picture:

[0063] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0064] Figure 2 It is a schematic diagram of the connection between the correction device, the walking support device and the second posture sensor device of the present invention;

[0065] Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle;

[0066] Figure 4 This is an exploded view of the XY axis automatic moving device of the present invention;

[0067] Figure 5 is a schematic structural diagram of a second posture sensing device of the present invention;

[0068] Figure 6 It is a schematic diagram of the coincidence of the axis of the centering correction device of the present invention and the inner bore axis of the correction pipe 1;

[0069] Figure 7 It is a schematic diagram of the coordinate system of the center of the inner bore axis of the barrel to be measured;

[0070] Figure 8 It is a schematic diagram of a display interface of a comparison diagram of a reference circle and a defective rifling cross-section diagram of the present invention;

[0071] Fig. 9 It is a schematic diagram of the situation where there is an eccentricity between the axis of the centering correction device of the present invention and the axis of the inner bore of the correction pipe;

[0072] Fig.10 This is a schematic diagram of centering the Y-axis stepper motor and the X-axis stepper motor of the present invention;

[0073] Fig.11Schematic diagram of the algorithm correction of the measurement data of the correction device of the present invention

[0074] Fig.12 A schematic diagram showing a situation in which an eccentric angle exists between the axis of the centering correction device of the present invention and the axis of the inner bore of the correction pipe;

[0075] Fig.13 It is a schematic diagram of the situation where there is both an eccentric distance and an eccentric angle between the axis of the centering correction device of the present invention and the axis of the inner bore of the correction pipe;

[0076] Fig.14 It is a schematic diagram of two symmetrical measuring points when there is both an eccentricity and an eccentricity angle between the axis of the centering correction device of the present invention and the axis of the inner bore of the correction pipe;

[0077] Fig.15 It is a contour diagram of the laser beam scanning path when there is both an eccentricity and an eccentricity angle between the axis of the centering correction device of the present invention and the axis of the inner bore of the correction pipe.

[0078] 1. Correction pipeline; 2. First attitude sensor device; 21. Attitude sensor support; 22. First attitude sensor; 3. Correction device; 31. PTZ base; 32. Turntable; 33. Servo motor; 34. Correction unit; 341. Laser displacement sensor; 342. XY axis automatic moving device; 3421. Y axis stepper motor; 3422. Y axis bottom slider; 3423. Y axis lead screw; 3424. Triangle; 3425. Y axis top slider; 3426. Y axis nut; 3427. X axis stepper motor; 3428 , X-axis bottom slider; 3429, X-axis lead screw; 34210, X-axis top slider; 34211, X-axis nut; 343, laser rangefinder; 344, servo; 4, walking support device; 41, first joint; 42, wheel set; 421, roller bracket; 422, roller support rod; 423, roller; 424 walking motor; 43, support rod; 44, second joint; 45, lead screw motor; 46, lead screw; 47, skeleton; 5, second posture sensing device; 51, second posture sensor; 52, connecting rod; 53, bearing. DETAILED DESCRIPTION

[0079] The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0080] Figure 1 This is a schematic diagram of the overall structure of the present invention, a barrel inner bore detection device with centering correction, comprising: a first attitude sensor device 2 arranged on the outer wall of the correction pipe 1, the first attitude sensor 22 is fixed to the outer wall of the correction pipe 1 through an attitude sensor support 21, and is used to obtain the attitude angle of the correction pipe 1.

[0081] Figure 5 This is a schematic diagram of the structure of the second posture sensing device of the present invention. The second posture sensing device 5 includes a second posture sensor 51, a connecting rod 52 and a bearing 53. The second posture sensor 51 is installed on the bearing 53 through the connecting rod 52. The connecting rod 52 is rotatably installed on the skeleton 47 through the bearing 53, so that the second posture sensor 51 is always along the vertical line, which is used to obtain the posture angle of the centering correction device, and the operation is convenient.

[0082] Figure 2 This is a schematic diagram of the connection between the correction device, the walking support device and the second posture sensor device of the present invention, that is, a schematic diagram of the structure of the centering correction device. The centering correction device includes: a correction device 3, a walking support device 4 and a second posture sensor device 5. The second posture sensor device 5 obtains the posture angle of the centering correction device and compares it with the posture angle of the correction pipe 1, and then controls the walking support device 4 to expand and / or contract to make the two posture angles the same, and then starts to judge the relative position of the axis of the centering correction device and the inner bore axis of the correction barrel, and controls the rotation center axis of the laser displacement sensor 341 on the correction device 3 to coincide with the inner bore axis of the correction pipe 1 through the relative position of the two.

[0083] Specifically, the walking support device 4 includes a first joint 41 fixedly connected to the pan / tilt base 31, a wheel set 42 with one end fixed on the first joint 41, a second joint 44 fixedly connected to the middle of the wheel set 42 through a support rod 43, a screw motor 45, a screw 46, and a frame 47 for fixing the screw motor 45. The two ends of the support rod 43 are rotatably connected to the middle of the roller support rod 422 and the second joint 44 respectively; the wheel set 42 includes a roller bracket 421 fixed to the outside of the roller 423, a roller support rod 422 connected to the roller bracket 421, and a walking motor 424 fixed to the outside of the roller bracket 421. The middle of the roller support rod 422 is fixed to the second joint 44 through the support rod 43.

[0084] The walking support device 4 receives a signal and drives the roller 423 to rotate through the walking motor 424, thereby driving the walking support device 4 to move back and forth in the calibration pipeline 1, so that the entire device can move forward or backward in the calibration pipeline 1 completely and easily.

[0085] In this embodiment, the walking support device 4 has two parts, each of which is provided with three sets of wheel groups 42. The screw motor 45 of the walking support device 4 drives the screw 46 to rotate, and the middle of the second joint 44 is a thread matching the screw 46, which drives the second joint 44 to move along the axial direction of the screw 46, and the two ends of the support rod 43 are rotatably connected to the middle of the roller support rod 422 and the second joint 44 respectively, so that the wheel group 42 can be expanded and contracted. The second attitude sensor 51 collects the attitude angle of the centering correction device, and compares this attitude angle with the attitude angle on the correction pipe 1, and the walking support device 4 obtains a signal. Through the expansion and contraction of the wheel group 42, the axis of the centering correction device is basically parallel to the axis of the inner bore of the correction pipe 1. The two parts of the walking support device 4 adopt the same design, and the expansion and contraction of the two parts of the wheel group 42 are independent of each other, thereby improving the stability of the device support and walking, and can adapt to more calibers and shapes of barrels, such as: tapered barrels.

[0086] Figure 3 For the present invention Figure 2 The enlarged view at point A is a schematic diagram of the structure of the correction device. The correction device 3 includes a pan-tilt base 31 fixedly connected to the first joint 41, a turntable 32 connected to one end of the pan-tilt base 31, a servo motor 33 fixed on the pan-tilt base 31, and a correction unit 34 arranged on one end surface of the turntable 32.

[0087] The correction unit 34 includes an XY-axis automatic moving device 342 fixed on the turntable 32, a servo 344 connected to one end of the XY-axis automatic moving device 342, and a laser displacement sensor 341 located on the servo 344; the laser displacement sensor 341 is used to measure the inner diameter of the barrel, the XY-axis automatic moving device 342 is used to adjust the position of the laser displacement sensor 341, and the servo 344 is used to adjust the angle of the laser displacement sensor 341.

[0088] Figure 4The XY-axis automatic moving device of the present invention is an exploded view, wherein the XY-axis automatic moving device 342 comprises a Y-axis automatic moving device and an X-axis automatic moving device, wherein the Y-axis automatic moving device comprises a Y-axis stepping motor 3421 fixed to the turntable 32 by a motor bracket, a Y-axis bottom slider 3422, a Y-axis lead screw 3423 connected to the power output end of the Y-axis stepping motor 3421, and passing through a triangular body 3424 to connect to a Y-axis top slider 3425, and a Y-axis bottom slider 3422 fixedly connected to the Y-axis top slider 3425 and embedded in the Y-axis bottom slider The Y-axis nut 3426 in the block 3422 is used in conjunction with the Y-axis screw 3423, and the X-axis automatic moving device includes an X-axis bottom slider 3428 arranged on the Y-axis top slider 3425, an X-axis screw 3429 connected to the power output end of the X-axis stepper motor 3427, passing through the triangle 3424 to connect to the X-axis top slider 34210, and an X-axis nut 34211 fixedly connected to the X-axis top slider 34210 and embedded in the X-axis bottom slider 3428 and used in conjunction with the X-axis screw 3429.

[0089] The laser displacement sensor 341 rotates around the correction pipe 1 at a constant speed in a fixed direction for one circle, measures and collects the inner diameter of the correction pipe 1, obtains a signal according to the inner diameter value, and adjusts the angle of the laser displacement sensor 341 through the servo 344 fixed on the servo bracket; as the Y-axis stepper motor 3421 fixed on the turntable 32 through the motor bracket drives the Y-axis lead screw 3423 to rotate, the Y-axis lead screw 3423 passes through the matching Y-axis nut 3426 to push the Y-axis top slider 3425 along the axial direction of the Y-axis lead screw 3423; the bottom of the X-axis stepper motor 3427 is not fixed, so when the Y-axis top slider 3425 moves along the axial direction of the Y-axis lead screw 3423, the X-axis top slider 34210 and the X-axis stepper motor 3427 move along the Y-axis at the same time, and when the X-axis stepper motor 3427 drives When the movable X-axis screw 3429 rotates, the X-axis screw 3429 passes through the matching X-axis nut 34211 to push the top of the X-axis slider 34210 to move along the axial direction of the X-axis screw 3429, and the X-axis stepper motor 3427 and / or the Y-axis stepper motor 3421 rotate, driving the X-axis screw 3429 and / or the Y-axis screw 3423 to rotate, driving the X-axis top slider 34210 and / or the Y-axis top slider 3425 to move in two mutually perpendicular directions, and adjusting the position of the laser displacement sensor 344; by adjusting the angle and / or position of the laser displacement sensor 341, the rotation center axis of the laser displacement sensor 341 coincides with the center of the correction pipe 1, and the position of the laser displacement sensor 341 in the correction pipe 1 is accurately corrected, that is, the centering correction of the inner bore of the barrel is completed.

[0090] Figure 6The centering correction device of the present invention is shown in the schematic diagram of the coincidence of the axis of the inner bore of the calibration pipe 1. The centering correction process is as follows: the centering correction device is placed in the calibration pipe 1, and the laser displacement sensor 341 rotates at a constant speed in a fixed direction for one circle, and collects N inner diameter distance measurement values ​​a i . Considering that the laser displacement sensor 341 may have bad points with large errors during the measurement process, the bad points are filtered and eliminated according to the 3σ principle of normal distribution. The N inner diameter distance measurement values ​​of the entire circumference measured by the laser displacement sensor 341 are calculated and processed to obtain the standard deviation. The data with values ​​in the (μ-3σ,μ+3σ) area are retained, and the data exceeding this area are eliminated. The eliminated points are assigned to the distance measurement value of the previous sampling point. The relative position of the axis of the centering correction device and the inner bore axis of the correction pipe 1 is described in four cases as follows:

[0091] 1. The ideal situation for the laser displacement sensor 341 to scan and measure the inner diameter of the barrel is that the axis of the centering correction device coincides with the inner bore axis of the calibration pipe 1, and the laser is vertically incident on the inner bore surface of the calibration pipe 1, and the laser beam is perpendicular to the inner bore axis of the calibration pipe 1. The determination process is as follows:

[0092]

[0093] In the above formula, a i is the distance measurement value output by the laser displacement sensor 341, l is the distance from the laser beam to the outer surface edge of the laser displacement sensor 341, r is the distance from the outer surface edge of the laser displacement sensor 341 to the rotation center axis, and R is the inner diameter of the calibration pipe 1;

[0094] when And the standard deviation of the distance value is less than a σ When the axis of the centering correction device coincides with the inner bore axis of the calibration pipe 1, a err To determine the distance deviation from the ideal situation, a σ is the standard deviation threshold of the ranging value;

[0095] like Figure 7 As shown in the schematic diagram of the coordinate system of the center of the inner bore axis of the barrel to be measured, the centering correction device in the calibration pipe 1 is taken out and placed in the barrel to be measured. The laser displacement sensor 341 reaches the specified position and rotates one circle to collect N inner diameter distance measurement values ​​a i , get the i-th inner diameter value R to be measured i '=r+a i , the laser displacement sensor 341 collects the distance information set {R'1, R'2, ..., R' N-1 , R' N}; Establish a coordinate system with the axis of the inner bore of the barrel to be measured as the center, and determine the coordinates of the inner diameter measurement value according to the following formula:

[0096]

[0097] Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value;

[0098] The coordinates of N inner diameter distance measurement values ​​are obtained, and then put into matlab to generate a cross-sectional diagram of the inner bore of the barrel to be measured, so as to obtain the defects of the inner bore at the measurement position. The laser rangefinder 343 determines the distance between the defect position and the muzzle to determine the position information of the defect of the inner bore of the barrel to be measured.

[0099] like Figure 8 As shown in the display interface diagram of the reference circle and the defective rifling cross-section diagram of the present invention, the center of the line connecting the two inner diameter distance measurement values ​​with the largest distance is used as the center of the reference circle to generate the reference circle, and the reference circle is compared with the inner bore cross-section diagram of the barrel to be measured, and the inner diameter distance measurement value at the defect feature is determined to be different from the inner diameter distance measurement value of the reference circle at the corresponding position, so as to obtain the depth information of the defect;

[0100] Collect the pixel coordinates of the two target feature points of the defect feature in the cross-sectional view of the inner bore of the barrel to be tested, and determine the pixel distance information D of the two target feature points according to the following formula x :

[0101]

[0102] The pixel distance information D is converted into x Convert to actual distance information D s :

[0103]

[0104] Among them, ε is the conversion coefficient between pixel distance information and actual distance information;

[0105] According to the actual distance information D s Determine the surface information of the defect.

[0106] 2.1. There is an eccentricity between the axis of the centering correction device and the inner bore axis of the correction pipe 1: Fig. 9 As shown, this situation is because the centering correction device is not centered accurately. Although the axis of the centering correction device is parallel to the inner bore axis of the calibration pipe 1, the laser can be vertically incident on the inner bore surface of the calibration pipe 1, and the laser beam is perpendicular to the inner bore axis of the calibration pipe 1, there is eccentricity. The judgment process is as follows:

[0107] Place the centering correction device into the correction barrel 1, and after the two inclination angles are the same, collect N inner diameter distance measurement values ​​a. i , inner diameter distance value a iThe maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ), when |a min +a max +2r-2R|<a e When the axis of the centering correction device is determined to have an eccentricity with the inner bore axis of the calibration pipe 1, a e The distance deviation threshold is used to determine whether it is an eccentricity situation. e0 is the distance between the axis of the centering correction device and the inner bore axis of the correction pipe 1, that is, the eccentricity. The eccentricity value e0 = α max +rR, in this embodiment, the eccentricity is eliminated by adjusting the Y-axis stepper motor 3421 and the X-axis stepper motor 3427, and the elimination method is as follows:

[0108] like Fig.10 As shown in the centering diagram of the Y-axis stepper motor and the X-axis stepper motor of the present invention, the laser displacement sensor 341 rotates one circle to collect N inner diameter distance measurement values ​​a i , get the end position a end with a min The angle Δθ between the positions, the coordinates of the center O' of the diameter of the correction pipeline 1 in the coordinate xoy are (0, e0). Through coordinate transformation, the coordinates of the center O' of the diameter of the correction pipeline 1 in the coordinate x'oy' are (0·cos(Δθ)+e0·sin(Δθ),-0·sin(Δθ)+e0·cos(Δθ)), that is, (e0·sin(Δθ), e0·cos(Δθ)). At this time, at the end position a end At, the Y-axis stepper motor 3421 and the X-axis stepper motor 3427 move e0·sin(Δθ) and e0·cos(Δθ) distances respectively to move the rotation center of the laser displacement sensor 341 to the center of the diameter of the correction pipeline 1 to eliminate the eccentricity;

[0109] The coordinate transformation formula is as follows:

[0110]

[0111] After eliminating the eccentricity, Figure 7 As shown in the schematic diagram of the coordinate system of the center of the inner bore axis of the barrel to be measured, the centering correction device in the calibration pipe 1 is taken out and placed in the barrel to be measured. The laser displacement sensor 341 reaches the specified position and rotates one circle to collect N inner diameter distance measurement values ​​a i , the i-th inner diameter value R to be measured i '=r+a i ;

[0112] The laser displacement sensor 341 collects a distance information set {R'1, R'2, ..., R' N-1 , R' N}; Establish a coordinate system with the inner bore axis as the center, and determine the coordinates of the inner diameter distance value according to the following formula:

[0113]

[0114] Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value;

[0115] Obtain the coordinates of N inner diameter distance measurement values, and then put them into matlab to generate a cross-sectional diagram of the inner bore of the barrel to be measured, so as to obtain the defect of the inner bore at the measurement position. The laser rangefinder 343 determines the distance between the defect position and the muzzle to determine the position information of the defect of the inner bore of the barrel to be measured. The process of obtaining the defect depth information is the same as the above method and will not be repeated here.

[0116] 2.2. When the inner diameter of the correction barrel 1 is too large (generally, in actual measurement, the inner diameter is too large when it exceeds 200 mm), the distance moved by the Y-axis stepper motor 3421 and the X-axis stepper motor 3427 cannot make the axis of the centering correction device coincide with the inner bore axis of the correction pipe 1. The measured distance data can be corrected by the following method:

[0117] When there is an eccentricity between the axis of the centering correction device and the inner bore axis of the correction pipe 1 and the inner diameter is too large, such as Fig.11 As shown in the schematic diagram of the algorithm correction of the measurement data of the correction device of the present invention, after the centering correction device is placed in the barrel to be measured, the laser displacement sensor 341 reaches the specified position and rotates one circle to collect N inner diameter distance measurement values ​​a i , using the law of cosines for a triangle we get:

[0118]

[0119] e0=a max +rR

[0120] A min As the first value, a min As a1, other distance measurements are filled in order. The filling method is as follows: Assume that the original data is {a1, a2, ..., a k …、a N-2 、a N-1 、a N}, if a k The minimum, then the data to be filled is {a k 、ak+1 , …, a N-2 、a N-1 、a N , a1, a2, a k-1}, angle value i is the numerical sequence number after reordering, and the calculated R i ' is the corrected bore measurement value.

[0121] After correction by the above formula, we can get the distance information set {R'1, R'2, ..., R' n-1 , R' n}; At this time, the distance information set still starts from the minimum value as sequence number 1, and a coordinate system is established with the inner bore axis as the center. The coordinates of the inner diameter distance value are determined according to the following formula:

[0122]

[0123] Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value;

[0124] The coordinates of N inner diameter distance measurement values ​​are obtained, and then put into matlab to generate a cross-sectional diagram of the inner bore of the barrel to be measured, so as to obtain the defect of the inner bore at the measurement position. The laser rangefinder 343 determines the distance between the defect position and the muzzle to determine the position information of the defect in the inner bore of the barrel to be measured. The process of obtaining the defect depth information is the same as the above method, which will not be repeated here.

[0125] 3. There is an eccentric angle between the axis of the centering correction device and the inner bore axis of the correction pipe 1: Fig.12 As shown in the figure, this situation is caused by inaccurate positioning. The axis of the centering correction device is not parallel to the inner bore axis of the correction tube 1, causing the laser beam emitted by the laser displacement sensor 341 to be not perpendicular to the inner bore axis of the correction barrel 1. The laser beam scanning path forms a conical surface. The angle between the laser beam and the vertical line of the inner bore axis of the correction barrel 1 is called the eccentric angle β. The determination process is as follows:

[0126] Place the centering correction device into the correction barrel 1, and after the two inclination angles are the same, collect N inner diameter distance measurement values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ), when |a min +a max+2r-2R|≥a e , and the standard deviation of the distance value is less than a σ When (the difference between all measured values ​​is small), it can be determined that there is an eccentric angle between the axis of the centering correction device and the inner bore axis of the correction pipe 1. The value of the eccentric angle β is Satisfy the following formula:

[0127]

[0128]

[0129] Combined to get:

[0130]

[0131]

[0132] The laser displacement sensor 341 is adjusted in angle by the steering gear 344 The eccentric angle can be eliminated.

[0133] After eliminating the eccentric angle, Figure 7 As shown in the schematic diagram of the coordinate system of the center of the inner bore axis of the barrel to be measured, the centering correction device in the calibration pipe 1 is taken out and placed in the barrel to be measured. The laser displacement sensor 341 reaches the specified position and rotates one circle to collect N inner diameter distance measurement values ​​a i , the i-th inner diameter value R to be measured i '=r+a i , the laser displacement sensor 341 collects the distance information set {R'1, R'2, ..., R' N-1 , R' N}; Establish a coordinate system with the axis of the inner bore of the barrel to be measured as the center, and determine the coordinates of the inner diameter measurement value according to the following formula:

[0134]

[0135] Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value;

[0136] Obtain the coordinates of N inner diameter distance measurement values, and then put them into matlab to generate a cross-sectional diagram of the inner bore of the barrel to be measured, so as to obtain the defect of the inner bore at the measurement position. The laser rangefinder 343 determines the distance between the defect position and the muzzle to determine the position information of the defect of the inner bore of the barrel to be measured. The process of obtaining the defect depth information is the same as the above method and will not be repeated here.

[0137] 4. There is both eccentricity and eccentricity between the axis of the centering correction device and the inner bore axis of the correction pipe 1: Fig.13 and Fig.15 When the axis of the centering correction device of the present invention and the axis of the inner bore of the correction pipe 1 have both eccentricity and eccentricity, as shown in the contour diagram of the laser beam scanning path, the determination process is as follows:

[0138] Place the centering correction device into the correction barrel 1, and after the two inclination angles are the same, collect N inner diameter distance measurement values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ). when|a min +a max +2r-2R|≥a e , and the standard deviation of the distance value is greater than or equal to a σ , and sort the data, and put a min Set as sequence number 1, and fill in the remaining data in sequence, while satisfying |a N-i -a i |<Δa It is determined that there is both an eccentric distance and an eccentric angle between the center line of the correction device 3 and the inner bore axis of the correction pipe 1. The distance values ​​of the two symmetrical points should be very close, such as Fig.14 The schematic diagram of the positions of two symmetrical measuring points when the axis of the centering correction device of the present invention and the inner bore axis of the correction pipe 1 have both eccentricity and eccentricity is shown in a i and a N-i For two symmetrical measurement points, when the minimum point is taken as the serial number 1, a i and a N-i The values ​​should be close, and Δa is the threshold for judging whether the difference between two values ​​is small;

[0139] A max If the line is extended to the lower wall, the total length of the line segment is a max +a min +2r0,a max The angle between the extended line and 2R is β, and the cosine value of the angle is as follows:

[0140]

[0141] in,

[0142]

[0143] In addition, in calculating the eccentricity:

[0144] (a max+r0)cosβ=R+e0

[0145] (a min +r0)cosβ=R-e0

[0146] Combining the above two equations, we can get:

[0147] a max cosβ-a min cosβ=2e0

[0148] Combining the above formulas, we can get the eccentricity e0 and the eccentricity angle β.

[0149] The method of using the eccentric angle between the axis of the centering correction device of the present invention and the inner bore axis of the correction pipe 1 and the eccentric distance between the axis of the centering correction device of the present invention and the inner bore axis of the correction pipe 1 to eliminate the eccentric angle β and the eccentric distance e0 respectively, so that the rotation center of the laser displacement sensor 341 moves to the diameter center of the correction pipe 1.

[0150] After eliminating the eccentric angle and eccentricity, Figure 7 As shown in the schematic diagram of the coordinate system of the center of the inner bore axis of the barrel to be measured, the centering correction device in the calibration pipe 1 is taken out and placed in the barrel to be measured. The laser displacement sensor 341 reaches the specified position and rotates one circle to collect N inner diameter distance measurement values ​​a i , the i-th inner diameter value R to be measured i '=r+a i , the laser displacement sensor 341 collects the distance information set {R'1, R'2, ..., R' N-1 , R' N}; Establish a coordinate system with the axis of the inner bore of the barrel to be measured as the center, and determine the coordinates of the inner diameter measurement value according to the following formula:

[0151]

[0152] Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value;

[0153] Obtain the coordinates of N inner diameter distance measurement values, and then put them into matlab to generate a cross-sectional diagram of the inner bore of the barrel to be measured, so as to obtain the defect of the inner bore at the measurement position. The laser rangefinder 343 determines the distance between the defect position and the muzzle to determine the position information of the defect of the inner bore of the barrel to be measured. The process of obtaining the defect depth information is the same as the above method and will not be repeated here.

[0154] It should be noted that the above control processes can all be implemented using a controller. The controller can be a control terminal or a server. The control terminal can be hardware or software. When the terminal device is hardware, it can be a portable computer, a host computer, a workstation, a desktop computer, etc. When the terminal device is software, it can be installed in the electronic devices listed above. It can be implemented as, for example, multiple software or software modules for providing data collection and processing, or it can be implemented as a single software or software module, which is not specifically limited here.

[0155] The server can also be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules for providing distributed services, or it can be implemented as a single software or software module. No specific limitation is made here.

[0156] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A barrel bore detection device with centering correction, characterized in that: include: A first posture sensing device (2) and a centering correction device are arranged on the outer wall of the correction pipe (1), wherein the centering correction device comprises a correction device (3) arranged inside the correction pipe (1), a travel support device (4) and a second posture sensing device (5), wherein one end of the travel support device (4) is connected to the correction device (3), and the other end is connected to the second posture sensing device (5); The first posture sensing device (2) is used to obtain the posture angle of the correction pipe (1), the second posture sensing device (5) is used to obtain the posture angle of the centering correction device, and the walking support device (4) is expanded and / or contracted to make the two posture angles the same; the relative position between the axis of the centering correction device and the inner bore axis of the correction pipe (1) is determined to control the rotation center axis of the laser displacement sensor (341) on the correction device (3) to coincide with the inner bore axis of the correction pipe (1); The correction device (3) comprises a pan head base (31) fixedly connected to one end of the walking support device (4), a turntable (32) connected to one end of the pan head base (31), a servo motor (33) fixed to the pan head base (31), and a correction unit (34) arranged on one end surface of the turntable (32), wherein the laser displacement sensor (341) is arranged on the correction unit (34); The laser displacement sensor (341) measures the inner diameter value of the calibration pipe (1) to determine the relative position between the axis of the centering correction device and the inner bore axis of the calibration pipe (1); the correction unit (34) adjusts the position and / or angle of the laser displacement sensor (341) according to the measured inner diameter value so that the rotation center axis of the laser displacement sensor (341) coincides with the inner bore axis of the calibration pipe (1); The correction unit (34) comprises an XY-axis automatic moving device (342) fixed on the turntable (32), and a steering gear (344) connected to one end of the XY-axis automatic moving device (342); the laser displacement sensor (341) is arranged on the steering gear (344); the XY-axis automatic moving device (342) is used to adjust the position of the laser displacement sensor (341); and the steering gear (344) is used to adjust the angle of the laser displacement sensor (341); The XY axis automatic moving device (342) comprises a Y axis automatic moving device and an X axis automatic moving device; The Y-axis automatic moving device comprises a Y-axis stepping motor (3421) fixed on the rotating disk (32), a Y-axis bottom slider (3422), a Y-axis lead screw (3423) connected to the power output end of the Y-axis stepping motor (3421), a Y-axis top slider (3425), and a Y-axis nut (3426) fixedly connected to the Y-axis top slider (3425) and embedded in the Y-axis bottom slider (3422) and used in conjunction with the Y-axis lead screw (3423); the Y-axis stepping motor (3421) drives the Y-axis lead screw (3423) to rotate, and the Y-axis lead screw (3423) passes through the Y-axis nut (3426) to push the Y-axis top slider (3425) to move along the axial direction of the Y-axis lead screw (3423); The X-axis automatic moving device comprises an X-axis bottom slider (3428) arranged on the Y-axis top slider (3425), an X-axis lead screw (3429) connected to the power output end of the X-axis stepping motor (3427), an X-axis top slider (34210), and an X-axis nut (34211) fixedly connected to the X-axis top slider (34210) and embedded in the X-axis bottom slider (3428) and used in conjunction with the X-axis lead screw (3429), wherein the X-axis stepping motor (3427) drives the X-axis lead screw (3429) to rotate, and the X-axis lead screw (3429) passes through the X-axis nut (34211) to push the X-axis top slider (34210) to move along the axial direction of the X-axis lead screw (3429); The laser displacement sensor (341) scans and corrects the inner diameter of the pipeline to collect N inner diameter distance measurement values ​​a i ; By measuring the distance value a i Determining whether the axis of the centering correction device coincides with the axis of the inner bore of the calibration pipe (1); If they coincide, it is determined to be an ideal situation, and the centering correction device is placed into the barrel to be measured to generate a cross-sectional view of the inner bore of the barrel to be measured; If they do not coincide, it is determined whether there is an eccentricity, an eccentricity angle, or both an eccentricity and an eccentricity angle between the axis of the centering correction device and the axis of the inner bore of the calibration pipe (1), and the eccentricity and / or the eccentricity angle are eliminated by the correction device, and the centering correction device is placed in the barrel to be measured to generate a cross-sectional view of the inner bore of the barrel to be measured; The distance measurement value a i Determining whether the axis of the centering correction device coincides with the axis of the inner bore of the calibration pipe (1) comprises: Determine by the following formula: Among them, a i is the distance measurement value output by the laser displacement sensor (341), l is the distance from the laser beam to the edge of the outer surface of the laser displacement sensor (341), r is the distance from the edge of the outer surface of the laser displacement sensor (341) to the central axis of rotation of the laser displacement sensor (341), and R is the inner diameter of the calibration pipe (1); when And the standard deviation of the distance value is less than a σ When a, it is determined that the axis of the centering correction device coincides with the axis of the inner bore of the calibration pipe (1), wherein a err To determine the distance deviation from the ideal situation, a σ is the standard deviation threshold of the ranging value; The step of placing the centering correction device into the barrel to be measured and generating a cross-sectional view of the inner bore of the barrel to be measured comprises: The laser displacement sensor (341) collects N inner diameter distance measurement values ​​a by rotating one circle. i , get the i-th inner diameter value R to be measured i '=r+a i The laser displacement sensor (341) collects a distance information set {R1', R'2, ..., R' N-1 , R' N }; Establish a coordinate system with the axis of the inner bore of the barrel to be measured as the center, and determine the coordinates of the inner diameter measurement value according to the following formula: Among them, x i is the horizontal coordinate of the i-th inner diameter distance measurement value, y i is the ordinate of the i-th inner diameter distance measurement value; Obtain the coordinates of N inner diameter range values ​​and generate a cross-sectional view of the inner bore of the barrel to be measured; If they do not coincide, determining whether there is an eccentricity between the axis of the centering correction device and the axis of the inner bore of the correction pipe (1) comprises: Collect N inner diameter distance values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ), when |a min +a max +2r-2R|<a e When a is equal to or greater than 0.05, it is determined that there is an eccentricity between the axis of the centering correction device and the axis of the inner bore of the correction pipe (1), wherein a e The distance deviation threshold for determining whether there is an eccentricity situation is e0, which is the distance between the axis of the centering correction device and the inner bore axis of the correction pipe (1), i.e., the eccentricity. The eccentricity value e0=α max +rR; The elimination of eccentricity by the correction device comprises: The laser displacement sensor (341) collects N inner diameter distance measurement values ​​a by rotating one circle. i , get the end position a end with a min The angle Δθ between the positions, the coordinates of the center O' of the diameter of the correction pipeline (1) in the coordinate xoy are (0, e0), through coordinate transformation, the coordinates of the center O' of the diameter of the correction pipeline (1) in the coordinate x'oy' are (0·cos(Δθ)+e0·sin(Δθ),-0·sin(Δθ)+e0·cos(Δθ)), that is, (e0·sin(Δθ), e0·cos(Δθ)), then at this time at the end position a end At the position, the Y-axis stepper motor (3421) and the X-axis stepper motor (3427) respectively move the distances e0·sin(Δθ) and e0·cos(Δθ) to move the rotation center axis of the laser displacement sensor (341) to the center of the diameter of the calibration pipeline (1) to eliminate the eccentricity; The coordinate transformation formula is as follows: If they do not coincide, determining whether there is an eccentric angle between the axis of the centering correction device and the axis of the inner bore of the correction pipe (1) comprises: Collect N inner diameter distance values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ); when |a min +a max +2r-2R|≥a e , and the standard deviation of the distance value is less than a σ When the axis of the centering correction device is determined to have an eccentric angle with the axis of the inner bore of the correction pipe (1), the value of the eccentric angle β is Satisfies the following formula: Combined to get: The method of eliminating the eccentric angle by the correction device comprises: Adjust the steering gear (344) to adjust the angle The rotation center axis of the laser displacement sensor (341) is made to coincide with the diameter center of the calibration pipeline (1) to eliminate the eccentric angle; If they do not coincide, determining whether the axis of the centering correction device and the axis of the inner bore of the correction pipe (1) have both an eccentric distance and an eccentric angle includes: Collect N inner diameter distance values ​​a i , inner diameter distance value a i The maximum value is a max , that is, a max =max(a i ), inner diameter distance value a i The minimum value is a min , that is, a min =min(a i ), a min As the first value, a min As a1, other distance measurements are filled in order. The filling method is as follows: Assume that the original data is {a1, a2, ..., a k …、a N-2 、a N-1 、a N }, if a k The minimum, then the data to be filled is {a k 、a k+1 , …, a N-2 、a N-1 、a N , a1, a2, a k-1 }; when|a min +a max +2r-2R|≥a e , and the standard deviation of the distance value is greater than or equal to a σ , while satisfying |a N-i -a i |<Δa, it is determined that there is both an eccentricity and an eccentricity angle between the axis of the centering correction device and the axis of the inner bore of the correction pipe (1), and Δa is a threshold value for determining that the difference between the two values ​​is small; a max If the line is extended to the lower wall, the total length of the line segment is a max +a min +2r0,a max The angle between the extended line and 2R is β, and the cosine value of the angle is as follows: in, In addition, in calculating the eccentricity: (a max +r0)cosβ=R+e0(3 ) (a min +r0)cosβ=R-e0 ( 4 ) Combining the above two equations (3) and (4), we can get: a max cosβ-a min cosβ=2e0(5) Combining the above equations (1) and (5), we can get the radial eccentricity e0 and the eccentricity angle β; The elimination of eccentricity and eccentricity angle by the correction device comprises: The eccentricity e0 is eliminated by the Y-axis stepper motor (3421) and the X-axis stepper motor (3427), and the eccentricity angle β is eliminated by the steering gear (344).

2. A barrel bore inspection device with centering correction according to claim 1, characterized in that: The walking support device (4) comprises a first joint (41) fixedly connected to the pan / tilt base (31), a wheel group (42) with one end fixed to the first joint (41), a second joint (44) fixedly connected to the middle of the wheel group (42) via a support rod (43), a screw motor (45), a screw (46), and a frame (47) for fixing the screw motor (45); the two ends of the support rod (43) are rotatably connected to the middle of the roller support rod (422) and the second joint (44); the screw motor (45) drives the screw (46) to rotate, and the middle of the second joint (44) is a thread matching the screw (46), which drives the second joint (44) to move along the axial direction of the screw (46), so that the wheel group (42) expands and / or contracts.

3. A barrel bore inspection device with centering correction according to claim 2, characterized in that: The wheel set (42) further comprises a roller bracket (421) fixed on the outside of the roller (423), and a travel motor (424) fixed on the outside of the roller bracket (421); the middle portion of the roller support rod (422) is fixed to the second joint (44) via the support rod (43); the travel motor (424) drives the roller (423) to rotate, and the roller (423) drives the travel support device (4) to move in the calibration pipeline (1).

4. A barrel bore inspection device with centering correction according to claim 3, characterized in that: The second posture sensing device (5) comprises a second posture sensor (51), a connecting rod (52) and a bearing (53); the second posture sensor (51) is mounted on the bearing (53) via the connecting rod (52); the connecting rod (52) is mounted on the frame (47) via the bearing (53), so that the second posture sensor (51) is always along the vertical line.

Images