CN104677301A - Helical weld pipe line outer diameter measuring device and method based on view detection - Google Patents
Helical weld pipe line outer diameter measuring device and method based on view detection Download PDFInfo
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- CN104677301A CN104677301A CN201510098323.3A CN201510098323A CN104677301A CN 104677301 A CN104677301 A CN 104677301A CN 201510098323 A CN201510098323 A CN 201510098323A CN 104677301 A CN104677301 A CN 104677301A
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Abstract
The invention relates to a helical weld pipe line outer diameter measuring device and a helical weld pipe line outer diameter measuring method based on view detection. The helical weld pipe line outer diameter measuring device comprises an industrial camera 1, an industrial camera 2, a grid calibration target, a linear laser generator, a cantilever, a guide track, a lifting mechanism and a measuring platform, wherein the plane of laser generated from the linear laser generator is perpendicular to the horizontal plane; the industrial camera is fixed on the guide track through the lifting mechanism; a central light axis is perpendicular to the plane of the laser; the industrial camera 2 is used for vertically taking images of the edge of a steel pipe and the laser light from top to bottom through the cantilever; the grid calibration target is arranged inside the plane of the laser and perpendicular to the central optical axis of the industrial camera 1; the calibration of the industrial camera is firstly completed; when a helical weld pipe is produced, laser light images are simultaneously taken by the industrial camera 1 and the industrial camera 2, and the outer diameter and the ellipticity of the helical weld pipe can be calculated by processing the images. Due to the cooperation of the double industrial cameras, the guide track and the lifting mechanism, dynamic measurement on the outer diameter and the ellipticity of helical weld pipes of different diameters can be achieved.
Description
Technical field
The invention belongs to spiral welded pipe Calibration technical field, relate to spiral welded pipe pipeline external diameter measuring device and the method for the detection of a kind of view-based access control model.
Background technology
In the steel pipe's production of steel industry, along with the trend of domestic and international pipe-line construction " heavy caliber, heavy wall, Hi-grade steel ", the production proportion of large-caliber spiral welded tube has accounted for increasing.In spiral welded pipe production industry, all require to measure diameter of steel tube at formative stage, to ensure product quality.At present, the Calibration method that factory is conventional is by manually adopting tape measure to measure.This metering system there is following shortcoming: automaticity is poor, and labour intensity is larger; Measurement result is large by artifical influence factor; The mean value of steel pipe caliber can only be obtained; The frequency detected is low.
Contactless measurement has the advantages such as precision is high, efficiency is high, easily be automated, and comes into one's own gradually.But in existing measuring method, the impact that the precision of measurement is subject to the location position of sensor and positioning precision is larger.The patent No. is the utility model of CN 201488707, describe a kind of spiral welded pipeline steel pipe diameter measuring device, adopt laser sensor measurement to obtain pipe diameter, but the object measuring outer diameter of steel pipes cannot be realized, and precision is also easily subject to the impact of location position and positioning precision.
Summary of the invention
According to background technology, the object of this invention is to provide the spiral welded pipe pipeline external diameter measuring device that a kind of structure is simple, easy to operate, measure view-based access control model detection accurately.
The object of the invention is to solve above-mentioned technical matters by following technical proposals:
The spiral welded pipe pipeline external diameter measuring device that a kind of view-based access control model detects, comprise industrial camera 1, industrial camera 2, grid demarcates target, laser line generator, cantilever, guide rail, elevating mechanism, measuring table, is characterized in that: industrial camera 1, industrial camera 2, grid demarcation target, laser line generator, cantilever, guide rail are fixed on measuring table; The laser plane that laser line generator produces is perpendicular to surface level, vertical with the direction of guide rail; Industrial camera 1 is connected with elevating mechanism, is fixed on the slide block of guide rail by elevating mechanism, and its central optical axis is parallel with the direction of guide rail, perpendicular to the laser plane that laser line generator produces; Industrial camera 2 is fixed on measuring table by cantilever, and the central optical axis of industrial camera 2 is in the laser plane that laser line generator produces, and perpendicular with surface level; Grid is demarcated target and is placed in the laser plane of described laser line generator generation, and vertical with the central optical axis of industrial camera 1, the center line of center line and guide rail that grid demarcates target vertical direction is in same plane.
Preferably, the described camera lens of industrial camera 1 and the vertical range of the laser plane of laser line generator are 400 ~ 1400mm.
Preferably, the vertical range of described laser line generator and the center line of guide rail is 300-600mm, and the length of guide rail is 600-1000mm.
Preferably, described grid is demarcated target and is assemblied on measuring table by bearing, and can dismantle.Grid is demarcated target and is adopted the size of 15 lattice × 15 lattice, every lattice to be accurately the standard of 10mm × 10mm.
Preferably, described measurement mechanism can carry out pipeline outside diameter measuring to the spiral welded pipe that caliber scope is 219-630mm by the selection of rail length and the cooperation of elevating mechanism.
Present invention also offers a kind of spiral welded pipe pipeline outside diameter measuring method that view-based access control model detects, comprise step as follows:
(1) measurement mechanism is placed on spiral welded pipe production line side, measuring table keeps level, adjustment elevating mechanism, make the central optical axis of industrial camera 1 and the center line of steel pipe at same level height, the position of adjustment measurement mechanism, the angle at the laser plane that laser generator is produced and steel pipe edge is 60 ° ~ 80 °, the laser rays that laser plane is crossing with spiral welded pipe is simultaneously in the visual field of industrial camera 1, the angle of adjustment cantilever and height, make industrial camera 2 can know shooting laser rays and steel pipe edge simultaneously;
(2) grid being demarcated target is fixed on measuring table, adjustment elevating mechanism, the central optical axis of industrial camera 1 and grid is made to demarcate the horizontal center line of target at sustained height, slide position on adjustment guide rail, the camera lens of fine setting industrial camera 1, makes industrial camera 1 can know the whole demarcation target of complete shooting, the slide position on fixed guide, demarcation target image now under shooting, can be demarcated industrial camera 1 by the image of shooting;
(3) disassembled from measuring table by demarcation target, the height of adjustment elevating mechanism, makes industrial camera 1 know to photograph the laser camber line on steel pipe, and laser camber line is in the centre position of shooting image, the height of fixing elevating mechanism;
(4) when the production of spiral welded pipe starts, control industrial camera 1,2 by the image taking software synchronization on computing machine and take steel pipe image, the image of each moment two cameras shooting is as the different classes of image of synchronization, the picture that industrial camera 1 is taken contains the marginal information of spiral welded pipe and the information of laser rays, and the picture that industrial camera 2 is taken contains the change information with steel pipe diverse location of laser rays on spiral welded pipe.Along with the continuous rotation of spiral welded pipe, image when two cameras constantly take steel pipe diverse location according to certain frequency, when steel pipe rotary one week, using all images of two cameras shootings as same group of image;
(5) according to the image that industrial camera 2 is taken, carry out image procossing, obtain the angle between laser plane and spiral welded pipe edge.
(6) the laser camber line image taken by industrial camera 1, we need to carry out image procossing, extract the center line of laser camber line.
Preferably, the concrete operations of described step (5) are:
1. find the center line equation of laser rays: first by gray level image through image filtering, after image enhaucament, gray analysis is carried out to image, the part of laser rays in image is followed and finds the central point of most bright spot as laser rays, again least squares line fitting is adopted to the laser spots searched out, the straight-line equation simulated is as the center line equation of laser rays, and straight slope is designated as k
1.
2. spiral welded pipe edge line equation is found: adopt Sobel edge detection operator to carry out rim detection to gray level image, obtain the bianry image of steel pipe edge and laser rays, remove laser spots, remaining employing least square method is carried out to the fitting a straight line at steel pipe edge, obtain the edge line equation of spiral welded pipe, straight slope is designated as k
2;
3. calculate the angle between laser plane and spiral welded pipe edge: both angles are designated as γ, the computing formula of angle be γ=| arctan (k
1) – arctan (k
2) |;
Preferably, the concrete operations of described step (6) are:
1. the image coordinate of laser arc centers point is extracted: image is carried out greyscale transformation, after image filtering, most bright spot is found line by line to laser arcuate portion, using the central point of most bright spot as laser camber line, then the smoothing process of method that five points near to every bit are averaged is adopted, point after process is designated as (X, Y);
2. the actual coordinate of laser arc centers point is calculated: according to the calibration result of camera, the laser spots pixel coordinate extracted is transformed into actual coordinate, concrete grammar is, detection laser camber line position in the picture and the grid position of correspondence in target image, according to the fitting coefficient that the diverse location Automatically invoked of laser spots is suitable, convert actual coordinate to, be designated as (X
w, Y
w);
3. laser spots projects to in the plane of spiral welded pipe central axis: due to laser plane and horizontal plane, angled crossing with spiral welded pipe, intersection is an ellipse, therefore to need projections of intersection according to angle between the two in the plane perpendicular with spiral welded pipe central axis, just can carry out the extraction of caliber, this angle is exactly the angle γ that industrial camera 2 obtains, during projection, due to the shooting of industrial camera 1 level, the image transverse coordinate axis of namely taking and plane-parallel, so the longitudinal coordinate of image does not change before and after projection, only need the horizontal ordinate according to projection angle adjustment laser spots, coordinate after projection is designated as (X
r, Y
r), conversion formula is:
X
r＝X
w×cosγ；
Y
r＝Y
w；
4. matching obtains spiral welded pipe external diameter and ovality information: obtain arc-coordinate point (X
r, Y
r) after, adopt the matching of least square method circle, obtain the steel pipe caliber that laser rays part when spiral welded pipe rotates to position is this moment corresponding, at the end of spiral welded pipe rotates a circle, obtain the caliber data of several spiral welded pipe diverse locations, by the average caliber of the mode determination spiral welded pipe removing error of averaging, can analyze the difference of diverse location caliber data simultaneously, obtain the information such as the ovality of spiral welded pipe.
The present invention is relative to the beneficial effect of prior art:
1. change original manual measurement mode, automatically can obtain external diameter and the ovality data of spiral welded pipe, its precision can ensure at below 0.1mm, compare hand dipping more accurately, efficiency is higher, simultaneously the data obtained can autostore, for data traceability.
2. improve the demarcation mode of traditional laser vision sensor, employing demarcation target overlaps with laser plane, the demarcation mode vertical with industrial camera 1 central optical axis, can by means of only shooting target image, just can obtain the parameter of required camera, make on-site proving process simple and convenient, be easy to operation.
3. owing to adopting the mode of measuring table to carry out Calibration, and the not accurate requirement of relative position between device and spiral welded pipe, only need meet the photographing request of camera, and the laser plane that laser line generator produces is without the need to the central axis with spiral welded pipe, therefore, the demarcation of position does not almost affect measuring accuracy, avoids the problem of the location position difficulty of original technology.
4., by the choose reasonable of rail length, coordinate elevating mechanism to the position of industrial camera 1 and highly can adjust, the spiral welded pipe external diameter of different tube diameters and the measurement of ovality can be realized simply and easily.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Wherein, 1, industrial camera, 2, industrial camera, 3, grid demarcates target, 4, laser line generator, 5, cantilever, 6, guide rail, 7, slide block, 8, elevating mechanism, 9, measuring table.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
The spiral welded pipe pipeline external diameter measuring device that view-based access control model detects, comprises industrial camera 1, industrial camera 2, and grid demarcates target 3, laser line generator 4, cantilever 5, guide rail 6, elevating mechanism 8, and measuring table 9, is characterized in that:
Industrial camera 1, industrial camera 2, grid demarcation target 3, laser line generator 4, cantilever 5, guide rail 6 are fixed on measuring table 9.The laser plane that laser line generator 4 produces is perpendicular to surface level, vertical with the direction of guide rail 6.Industrial camera 1 is connected with elevating mechanism 8, and be fixed on the slide block 7 of guide rail 6 by elevating mechanism 8, its central optical axis is parallel with the direction of guide rail 6, perpendicular to the laser plane that laser line generator 4 produces.Industrial camera 2 is fixed on measuring table 9 by cantilever 5, and the central optical axis of industrial camera 2 is in the laser plane that laser line generator 4 produces, and perpendicular with surface level.Grid is demarcated target 3 and is placed in the laser plane of described laser line generator 4 generation, and vertical with the central optical axis of industrial camera 1, the center line of center line and guide rail 6 that grid demarcates target 3 vertical direction is in same plane.
The vertical range of the camera lens of described industrial camera 1 and the laser plane of laser line generator 4 is 400 ~ 1400mm, and the vertical range of described laser line generator 4 and the center line of guide rail 6 is 300-600mm, and the length of guide rail 6 is 600-1000mm.
Described grid is demarcated target 3 and is assemblied on measuring table 9 by bearing, and can dismantle.Grid is demarcated target 3 and is adopted the size of 15 lattice × 15 lattice, every lattice to be accurately the standard of 10mm × 10mm.
Measurement mechanism is placed on spiral welded pipe production line side, measuring table 9 keeps level, adjustment elevating mechanism 8, make the central optical axis of industrial camera 1 and the center line of steel pipe at same level height, the position of adjustment measurement mechanism, the laser plane that laser generator 4 is produced and the angle at steel pipe edge are 60 ° ~ 80 °, the laser rays that laser plane is crossing with spiral welded pipe is simultaneously in the visual field of industrial camera 1, the angle of adjustment cantilever 5 and height, make industrial camera 2 can know shooting laser rays and steel pipe edge simultaneously.
Grid being demarcated target 3 is fixed on measuring table, adjustment elevating mechanism 8, the central optical axis of industrial camera 1 and grid is made to demarcate the horizontal center line of target 3 at sustained height, slide block 7 position on adjustment guide rail 6, the camera lens of fine setting industrial camera 1, makes industrial camera 1 can know the whole demarcation target 3 of complete shooting, the position of fixing slide block 7, demarcation target 3 image now under shooting, can realize the demarcation to industrial camera 1 by the image of shooting.Disassembled from measuring table 9 by demarcation target 3, the height of adjustment elevating mechanism 8, makes industrial camera 1 know to photograph the laser camber line on steel pipe, and laser camber line is in the centre position of shooting image, the height of fixing elevating mechanism 8.
When the production of spiral welded pipe starts, control industrial camera 1,2 by the image taking software synchronization on computing machine and take steel pipe image, using the different classes of image of the image of each moment two camera shootings as synchronization, the picture that industrial camera 1 is taken contains the marginal information of spiral welded pipe and the information of laser rays, and the picture that industrial camera 2 is taken to contain on spiral welded pipe laser rays with the change information of steel pipe rotary to diverse location.Along with the continuous rotation of spiral welded pipe, the image of steel pipe diverse location constantly taken by two cameras according to certain frequency, when steel pipe rotary one week, using all images of two cameras shootings as same group of image.
According to the grid target image that industrial camera 1 is taken, we can carry out the demarcation of camera, and the scaling method of camera is:
Camera calibration method is general public technology, this scaling method is different from traditional three-dimensional scaling, the demarcation target 3 adopted is accurately machined 15 lattice × 15 lattice, the size of every lattice is accurately the planar gridding target of 10mm × 10mm, the placement direction of target is mutually vertical with industrial camera 1 central optical axis, to be placed in laser plane and in camera 1 coverage.
According to the target image of shooting, first carry out the extraction of angular coordinate, outermost two row and two due to grid arranges and does not carry out angle point grid, so the angle point quantity obtained is 14 × 14, process obtains the pixel coordinate value (X of each angle point of grid
i,j, Y
i,j) (i=1,2,3 ... 14; J=1,2,3 ... 14); Then, by laterally with the angle α between the fitting a straight line determination target transverse grid of a line grid angle point and image transverse coordinate axis, by the angle β between the fitting a straight line determination longitudinal grid of longitudinal same row grid angle point and image longitudinal coordinate axle; Finally, according to the target distance of reality, obtain the horizontal and vertical calibration coefficient k of each corresponding angle point
x (i, j), k
y (i, j), in order to reduce calibrated error, demarcate the calibration coefficient of mean value as middle angle point of employing four lattice calibration coefficient, calibration coefficient formula:
k
x(i,j)＝(10×cosα)/[(X
i,j+2-X
i,j-2)]，i＝1,2,3……14；j＝3,4,5……12
k
y(i,j)＝(10×cosβ)/[(Y
i+2,j-Y
i-2,j)]，i＝3,4,5……12；j＝1,2,3……14
After obtaining calibration coefficient, just can obtain actual world coordinates position according to laser camber line pixel coordinate.
According to the image that industrial camera 2 is taken, we need to carry out image procossing, obtain the angle between laser plane and spiral welded pipe edge, and its key step is:
1. find the center line equation of laser rays: this step first by gray level image through image filtering, after image enhaucament, gray analysis is carried out to image, the part of laser rays in image is followed and finds the central point of most bright spot as laser rays, again least squares line fitting is adopted to the laser spots searched out, the straight-line equation simulated is as the center line equation of laser rays, and straight slope is designated as k
1.
2. find spiral welded pipe edge line equation: adopt sobel edge detection operator to carry out rim detection to gray level image, obtain the bianry image of steel pipe edge and laser rays, remove laser spots, remaining employing least square method is carried out to the fitting a straight line at steel pipe edge, obtain the edge line equation of spiral welded pipe, straight slope is designated as k
2.
3. calculate the angle between laser plane and spiral welded pipe edge: both angles are designated as γ, the computing formula of angle be γ=| arctan (k
1) – arctan (k
2) |.
The laser camber line image taken by industrial camera 1, we need to carry out image procossing, extract the center line of laser camber line, carry out caliber matching, the image procossing of such image and calculation step, and be general public technology, its key step is:
1. extract the image coordinate of laser arc centers point: image is carried out greyscale transformation, after image filtering, most bright spot is found line by line to laser arcuate portion, using the central point of most bright spot as laser camber line, then adopt the smoothing process of laser spots, point after process is designated as (X, Y).
2. calculate the actual coordinate of laser arc centers point: according to camera calibration horizontal and vertical calibration coefficient k out
x (i, j)and k
y (i, j), the laser spots pixel coordinate extracted is transformed into actual coordinate, and concrete grammar is, detection laser camber line position in the picture and the grid position of correspondence in target image, according to the fitting coefficient that the diverse location Automatically invoked of laser spots is suitable, convert actual coordinate to, be designated as (X
w, Y
w).
3. laser spots projects to in the plane of spiral welded pipe central axis: due to laser plane and horizontal plane, angled crossing with spiral welded pipe, intersection is an ellipse, therefore to need projections of intersection according to angle between the two in the plane perpendicular with spiral welded pipe central axis, just can carry out the extraction of caliber, this angle is exactly the angle γ that industrial camera 2 obtains.Due to the shooting of industrial camera 1 level, the image transverse coordinate axis of namely taking and plane-parallel, so the ordinate of image does not change before and after projection, only need the horizontal ordinate according to projection angle adjustment laser spots, the coordinate after projection is designated as (X
r, Y
r), conversion formula is:
X
r＝X
w×cosγ；
Y
r＝Y
w；
4. matching obtains spiral welded pipe external diameter and ovality information: obtain arc-coordinate point (X
r, Y
r) after, adopt the matching of least square method circle, obtain the steel pipe caliber that laser rays part when spiral welded pipe rotates to position is this moment corresponding, at the end of spiral welded pipe rotates a circle, obtain the caliber data of several spiral welded pipe diverse locations, by the average caliber of the mode determination spiral welded pipe removing error of averaging, can analyze the difference of diverse location caliber data simultaneously, obtain the information such as the ovality of spiral welded pipe.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (8)
1. the spiral welded pipe pipeline external diameter measuring device of a view-based access control model detection, comprise industrial camera 1, industrial camera 2, grid demarcates target, laser line generator, cantilever, guide rail, elevating mechanism, measuring table, is characterized in that: industrial camera 1, industrial camera 2, grid demarcation target, laser line generator, cantilever, guide rail are fixed on measuring table; The laser plane that laser line generator produces is perpendicular to surface level, vertical with the direction of guide rail; Industrial camera 1 is connected with elevating mechanism, is fixed on the slide block of guide rail by elevating mechanism, and its central optical axis is parallel with the direction of guide rail, perpendicular to the laser plane that laser line generator produces; Industrial camera 2 is fixed on measuring table by cantilever, and the central optical axis of industrial camera 2 is in the laser plane that laser line generator produces, and perpendicular with surface level; Grid is demarcated target and is placed in the laser plane of described laser line generator generation, and vertical with the central optical axis of industrial camera 1, the center line of center line and guide rail that grid demarcates target vertical direction is in same plane.
2. the spiral welded pipe pipeline external diameter measuring device of view-based access control model detection according to claim 1, is characterized in that: the described camera lens of industrial camera 1 and the vertical range of the laser plane of laser generator are 400 ~ 1400mm.
3. the spiral welded pipe pipeline external diameter measuring device of view-based access control model detection according to claim 1, it is characterized in that: the vertical range of described laser line generator and the center line of guide rail is 300-600mm, the length of guide rail is 600-1000mm.
4. the spiral welded pipe pipeline external diameter measuring device of view-based access control model detection according to claim 1, is characterized in that: described grid is demarcated target and adopted the size of 15 lattice × 15 lattice, every lattice to be accurately the standard of 10mm × 10mm.
5. the spiral welded pipe pipeline external diameter measuring device of view-based access control model detection according to claim 1, is characterized in that: described spiral welded pipe caliber is 219-630mm.
6. a spiral welded pipe pipeline outside diameter measuring method for view-based access control model detection, is characterized in that, comprise step as follows:
(1) measurement mechanism is placed on spiral welded pipe production line side, measuring table keeps level, adjustment elevating mechanism, make the central optical axis of industrial camera 1 and the center line of steel pipe at same level height, the position of adjustment measurement mechanism, the angle at the laser plane that laser generator is produced and steel pipe edge is 60 ° ~ 80 °, the laser rays that laser plane is crossing with spiral welded pipe is simultaneously in the visual field of industrial camera 1, the angle of adjustment cantilever and height, make industrial camera 2 can know shooting laser rays and steel pipe edge simultaneously;
(2) grid being demarcated target is fixed on measuring table, adjustment elevating mechanism, the central optical axis of industrial camera 1 and grid is made to demarcate the horizontal center line of target at sustained height, slide position on adjustment guide rail, the camera lens of fine setting industrial camera 1, makes industrial camera 1 can know the whole demarcation target of complete shooting, the slide position on fixed guide, demarcation target image now under shooting, can be demarcated industrial camera 1 by the image of shooting;
(3) disassembled from measuring table by demarcation target, the height of adjustment elevating mechanism, makes industrial camera 1 know to photograph the laser camber line on steel pipe, and laser camber line is in the centre position of shooting image, the height of fixing elevating mechanism;
(4) when the production of spiral welded pipe starts, control industrial camera 1,2 by the image taking software synchronization on computing machine and take steel pipe image, the image of each moment two cameras shooting is as the different classes of image of synchronization, the picture that industrial camera 1 is taken contains the marginal information of spiral welded pipe and the information of laser rays, and the picture that industrial camera 2 is taken contains the change information with steel pipe diverse location of laser rays on spiral welded pipe; Along with the continuous rotation of spiral welded pipe, image when two cameras constantly take steel pipe diverse location according to certain frequency, when steel pipe rotary one week, using all images of two cameras shootings as same group of image;
(5) according to the image that industrial camera 2 is taken, carry out image procossing, obtain the angle between laser plane and spiral welded pipe edge;
(6) the laser camber line image taken by industrial camera 1, we need to carry out image procossing, extract the center line of laser camber line.
7. method as claimed in claim 6, it is characterized in that, the concrete operations of described step (5) are:
1. find the center line equation of laser rays: first by gray level image through image filtering, after image enhaucament, gray analysis is carried out to image, the part of laser rays in image is followed and finds the central point of most bright spot as laser rays, again least squares line fitting is adopted to the laser spots searched out, the straight-line equation simulated is as the center line equation of laser rays, and straight slope is designated as k
1;
2. spiral welded pipe edge line equation is found: adopt sobel edge detection operator to carry out rim detection to gray level image, obtain the bianry image of steel pipe edge and laser rays, remove laser spots, remaining employing least square method is carried out to the fitting a straight line at steel pipe edge, obtain the edge line equation of spiral welded pipe, straight slope is designated as k
2;
3. calculate the angle between laser plane and spiral welded pipe edge: both angles are designated as γ, the computing formula of angle be γ=| arctan (k
1) – arctan (k
2) |.
8. method as claimed in claim 6, it is characterized in that, the concrete operations of step (6) are:
1. the image coordinate of laser arc centers point is extracted: image is carried out greyscale transformation, after image filtering, most bright spot is found line by line to laser arcuate portion, using the central point of most bright spot as laser camber line, then the smoothing process of method that five points near to every bit are averaged is adopted, point after process is designated as (X, Y);
2. the actual coordinate of laser arc centers point is calculated: according to the calibration result of camera, the laser spots pixel coordinate extracted is transformed into actual coordinate, concrete grammar is, detection laser camber line position in the picture and the grid position of correspondence in target image, according to the fitting coefficient that the diverse location Automatically invoked of laser spots is suitable, convert actual coordinate to, be designated as (X
w, Y
w);
3. laser spots projects to in the plane of spiral welded pipe central axis: due to laser plane and horizontal plane, angled crossing with spiral welded pipe, intersection is an ellipse, therefore to need projections of intersection according to angle between the two in the plane perpendicular with spiral welded pipe central axis, just can carry out the extraction of caliber, this angle is exactly the angle γ that industrial camera 2 obtains, during projection, due to the shooting of industrial camera 1 level, the image transverse coordinate axis of namely taking and plane-parallel, so the longitudinal coordinate of image does not change before and after projection, only need the horizontal ordinate according to projection angle adjustment laser spots, coordinate after projection is designated as (X
r, Y
r), conversion formula is:
X
r＝X
w×cosγ；
Y
r＝Y
w；
4. matching obtains spiral welded pipe external diameter and ovality information: obtain arc-coordinate point (X
r, Y
r) after, adopt the matching of least square method circle, obtain the steel pipe caliber that laser rays part when spiral welded pipe rotates to position is this moment corresponding, at the end of spiral welded pipe rotates a circle, obtain the caliber data of several spiral welded pipe diverse locations, by the average caliber of the mode determination spiral welded pipe removing error of averaging, can analyze the difference of diverse location caliber data simultaneously, obtain the information such as the ovality of spiral welded pipe.
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| CN201510098323.3A CN104677301B (en) | 2015-03-05 | 2015-03-05 | A kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection and method |
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