检测机器人标定补偿方法研究

Research on Calibration Compensation Method of the Detection Robot

针对火炮身管内部膛线检测问题,提出测量仪器的标定方法,搭载激光测距仪的机器人配有驱动爬行机构,能够准确测量炮膛的半径,采用psd激光位置传感器对采集半径值进行补偿,将采集数据拟合成二维截面图,并对标定前后的数据进行对比,验证标定后的数据更加准确,对标定后采集的数据进行补偿优化,使其更加合理。

This paper proposes the calibration method of the instrument for measuring the rifling of the gun barrel.A robot with laser range finder and travelling driver is used for accurate measurement of the radius of the gun barrel,and the psd laser displacement sensor is adopted for compensation of the collected radius value.The collected data is then fitted into two-dimensional cross-section diagram,and by comparing the data collected before and after calibration,it is rectified that the data collected after calibration is more accurate.In order to make the data collected after calibration more reasonable,it is then compensated and optimized.