Aiming at the problem of the positioning deviation of the composite material surface metallization spraying equipment when spraying the workpiece, in order to ensure the processing quality, the robot vision calibration control algorithm is designed to complete the positioning calibration during the thermal spraying process. The vision calibration system is composed of a control system, a robot system, a vision system and a laser rangefinder. When the system is started, the laser rangefinder transmits the measurement data to the control system in real time, and the XYZABC position compensation data is processed by the control algorithm and transmitted to the robot to complete the vision calibration. Take composite material surface metallization automatic spraying equipment as an example, the result is that the robot system’s planar motion radius is greater than or equal to 2.55m, the height direction motion distance is 3m, the repeat positioning accuracy is ±0.05mm, and the mold positioning accuracy is ±0.08mm. Finally, the composite material surface metal is completed. Chemical spraying operations.

The spatial resolution of the gamma-rays camera was measured on a 60 Co gamma-rays source with edge method. The gamma-rays camera is consisting with rays-fluorescence convertor, optical imaging system, MCP image intensifier, CCD camera, electronic control system and other devices, and is mainly used in the image diagnostics of the intense pulse radiation sources [1]. Due to the relatively big quantum detective efficiency (DQE) and quantum gain of the gamma-rays, etc., the experimental data were processed by averaging multiple images and fitting curves. According to the experimental results, the spatial resolution MTF (modulation transfer function) at the 10% intensity was about 2 lp/mm. Meanwhile, because of the relatively big dispersion effects of the fluorescence transmissions in the scintillator and the optical imaging system, the maximal single-noise ratio (SNR) of the camera was found to be about 5:1. In addition, the spatial resolution of the camera was measured with pulse X-rays with 0.3 MeV in average energy and exclusion of the effects of secondary electrons from consideration. Accordingly, the spatial resolution MTF at the 10% intensity was about 5 lp/mm. This could be an additional evidence to verify the effects of secondary electrons induced by the 1.25 MeV gamma-rays in the scintillator upon the spatial resolution. Based on our analysis, the dispersion sizes of the secondary electrons in the scintillator are about 0.4 mm-0.6 mm. Comparatively, as indicated by the detailed analysis of the spatial resolutions of the MCP image intensifier and CCD devices, both of them have little effect on the spatial resolution of the gamma-rays camera that could be well neglected.