回转组合体超声自动检测中防碰撞研究

doi:10.3969/j.issn.1000-1093.2018.04.018

兵工学报 ›› 2018, Vol. 39 ›› Issue (4): 780-786.doi: 10.3969/j.issn.1000-1093.2018.04.018

回转组合体超声自动检测中防碰撞研究

王炫润¹，倪培君²，易兵¹，李雄兵¹

(1.中南大学轨道交通安全教育部重点实验室, 湖南长沙 410075;2.中国兵器科学研究院宁波分院, 浙江宁波 315103)

收稿日期:2017-06-28 修回日期:2017-06-28 上线日期:2018-05-30
作者简介:王炫润（1991—），男，博士研究生。E-mail:wxr200846065@163.com
基金资助:
中南大学硕士生自主探索创新项目(2017zzts587)

Research on Collision Detection in Ultrasonic Automatic Testing of Rotary Assembly

WANG Xuan-run¹， NI Pei-jun²， YI Bing¹， LI Xiong-bing¹

(1.Key Laboratory of Traffic Safety on Track of Ministry of Education, Central South University, Changsha 410075, Hunan, China;2.Ningbo Branch, Ordnance Science Institute of China, Ningbo 315103, Zhejiang, China)

Received:2017-06-28 Revised:2017-06-28 Online:2018-05-30

摘要/Abstract

摘要： 为解决基于机械手的超声自动检测系统检测过程中碰撞问题，将超声检测系统分为碰撞体和静止体，并引入基于距离场的碰撞检测算法。结合检测机械手的运动学方程，在超声自动化检测系统虚拟环境中进行碰撞检测，实现了镁合金弹壳检测过程中对系统的防碰撞监测。通过对比不同扫描参数的检测实验，分析静止体与碰撞体最短距离的变化规律，实现镁合金弹壳的超声检测工艺优化；将近似距离场的改进算法与传统方法进行了对比实验。实验结果表明：改进算法使碰撞检测效率提升了80.62%，可满足镁合金壳体超声检测防碰撞的效率要求，且在关键位置可保证与传统距离场检测算法相同的精度。

关键词: 弹壳, 镁合金, 碰撞检测, 距离场, 超声检测

Abstract: In order to solve the collision in the detection process of robotic ultrasonic automatic detection system, the ultrasonic detection system is divided into collision and stationary bodies, and the collision detection algorithm based on the distance field is introduced. Based on the kinematics equation of robot, the collision detection is carried out in the virtual environment of the ultrasonic automatic detection system, and the anti-collision detection of the system during the detection process of magnesium alloy shell is realized. The variation law of the shortest distance between the stationary body and the collision body is analyzed by comparing the detected results of different scanning parameters, and the ultrasonic detection process optimization of magnesium alloy shell is realized. The experimental results show that the improved algorithm can improve the efficiency of collision detection by 80.62%, which can meet the requirements of collision efficiency during ultrasonic testing of magnesium alloy shell and guarantee the same precision as the traditional distance field detection algorithm at the critical position.Key

Key words: cartridgecase, magnesiumalloy, collisiondetection, distancefield, ultrasonicdeection

中图分类号:

TB551

王炫润，倪培君，易兵，李雄兵. 回转组合体超声自动检测中防碰撞研究[J]. 兵工学报, 2018, 39(4): 780-786.

WANG Xuan-run， NI Pei-jun， YI Bing， LI Xiong-bing. Research on Collision Detection in Ultrasonic Automatic Testing of Rotary Assembly[J]. Acta Armamentarii, 2018, 39(4): 780-786.

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回转组合体超声自动检测中防碰撞研究

Research on Collision Detection in Ultrasonic Automatic Testing of Rotary Assembly

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