CN104677301B - A kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection and method - Google Patents
A kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection and method Download PDFInfo
- Publication number
- CN104677301B CN104677301B CN201510098323.3A CN201510098323A CN104677301B CN 104677301 B CN104677301 B CN 104677301B CN 201510098323 A CN201510098323 A CN 201510098323A CN 104677301 B CN104677301 B CN 104677301B
- Authority
- CN
- China
- Prior art keywords
- laser
- image
- industrial camera
- welded pipe
- spiral welded
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The present invention relates to a kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection and method, including industrial camera 1, industrial camera 2, grid demarcates target, laser line generator, cantilever, guide rail, elevating mechanism, measuring table.On measuring table, laser plane and horizontal plane that laser line generator produces, industrial camera 1 is fixed on guide rail by elevating mechanism, central optical axis are vertical with laser plane, industrial camera 2 passes through cantilever and vertically shoots steel pipe edge and laser rays from top to bottom, grid is demarcated target and is placed in laser plane, vertical with the central optical axis of industrial camera 1, complete the demarcation of industrial camera 1 first, when spiral welded pipe produces beginning, industrial camera 1,2 shoots laser line image simultaneously, can calculate external diameter and the ovality of spiral welded pipe by image procossing.By the cooperation of double industrial cameras, guide rail and elevating mechanism, the present invention can realize to the spiral welded pipe external diameter of different-diameter and the kinetic measurement of ovality.
Description
Technical field
The invention belongs to spiral welded pipe Calibration technical field, it is related to a kind of spiral welded pipe pipeline of view-based access control model detection
External diameter measuring device and method.
Background technology
In the steel pipe's production of steel industry, along with becoming of domestic and international pipe-line construction " heavy caliber, heavy wall, Hi-grade steel "
Gesture, the production proportion of large-caliber spiral welded tube has accounted for increasing.In spiral welded pipe production industry, it is required in molding
Stage measures to diameter of steel tube, to ensure product quality.At present, the Calibration method that factory commonly uses is by manually adopting
Tape measure measures.The suffering from the drawback that of this metering system：Automaticity is poor, and labor intensity is than larger；Measurement result
Big by artifical influence factor；Can only obtain the meansigma methodss of steel pipe caliber；The frequency of detection is low.
Contactless measurement has the advantages that high precision, efficiency high, easy to automate, is gradually taken seriously.
But in existing measuring method, the precision of measurement is affected larger by the location position of sensor and positioning precision.The patent No.
For the utility model of CN 201488707, describe a kind of spiral welded pipeline steel pipe diameter measuring device, using laser sensor
Measurement obtains pipe diameter, but cannot realize measuring the purpose of outer diameter of steel pipes, and precision be also easily subject to location position and
The impact of positioning precision.
Content of the invention
According to background technology, it is an object of the invention to provide a kind of structure is simple and convenient to operate, measures accurate base
Spiral welded pipe pipeline external diameter measuring device in vision-based detection.
The purpose of the present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection, including industrial camera 1, industrial camera 2, net
Case marker targeting mark, laser line generator, cantilever, guide rail, elevating mechanism, measuring table it is characterised in that：Industrial camera 1, industry
Camera 2, grid demarcation target, laser line generator, cantilever, guide rail are fixed on measuring table；Laser line generator produces
Laser plane is perpendicular to horizontal plane, vertical with the direction of guide rail；Industrial camera 1 is connected with elevating mechanism, by elevating mechanism
It is fixed on the slide block of guide rail, its central optical axis is parallel with the direction of guide rail, put down perpendicular to the laser that laser line generator produces
Face；Industrial camera 2 is fixed on measuring table by cantilever, and the central optical axis of industrial camera 2 produce in laser line generator
In laser plane and perpendicular with horizontal plane；The laser that grid demarcation target is placed on described laser line generator generation is put down
In face, vertical with the central optical axis of industrial camera 1, grid demarcates the centrage of target vertical direction with the centrage of guide rail same
In one plane.
Preferably, the vertical dimension of the laser plane of the described camera lens of industrial camera 1 and laser line generator is 400
～1400mm.
Preferably, the vertical dimension of the centrage of described laser line generator and guide rail is 300-600mm, guide rail
Length is 600-1000mm.
Preferably, described grid is demarcated target and is assemblied on measuring table by bearing, and can dismantle.Grid
The standard that demarcation target adopts 15 lattice × 15 lattice, the accurate size of every lattice is 10mm × 10mm.
Preferably, the cooperation of selection and elevating mechanism that described measurement apparatus pass through rail length can be to caliber
Scope is that the spiral welded pipe of 219-630mm carries out pipeline outside diameter measuring.
Present invention also offers a kind of spiral welded pipe pipeline outside diameter measuring method of view-based access control model detection, including step such as
Under：
(1) measurement apparatus are placed on spiral welded pipe production line side, measuring table keeps level, adjust elevating mechanism,
Make the central optical axis of industrial camera 1 and the centrage of steel pipe in same level height, the position of adjustment measurement apparatus, so that laser is sent out
The laser plane that raw device produces and the angle at steel pipe edge are 60 °～80 °, the laser that laser plane is intersected with spiral welded pipe simultaneously
Line, in the visual field of industrial camera 1, adjusts angle and the height of cantilever, enables industrial camera 2 clearly to shoot laser rays simultaneously
With steel pipe edge；
(2) grid demarcation target is fixed on measuring table, adjusts elevating mechanism, make the central optical axis of industrial camera 1
With the horizontal center line that grid demarcates target in sustained height, adjust the slide position on guide rail, the mirror of fine setting industrial camera 1
Head, enables industrial camera 1 to understand that target is entirely demarcated in complete shooting, the slide position on fixing guide rail, under shooting now
Demarcate target image, industrial camera 1 can be demarcated by the image shooting；
(3) disassemble demarcating target from measuring table, the height of adjustment elevating mechanism, enable industrial camera 1 clear
Chu photographs 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, industrial camera is controlled by the image taking software synchronization on computer
1st, 2 shooting steel pipe image, the image that each two cameras of moment shoot is as the different classes of image of synchronization, industrial phase
The picture that machine 1 shoots contains the marginal information of spiral welded pipe and the information of laser rays, and the picture that industrial camera 2 shoots contains
The change information with steel pipe diverse location of laser rays on spiral welded pipe.With the continuous rotation of spiral welded pipe, two cameras are pressed
Constantly shoot image during steel pipe diverse location according to certain frequency, when steel pipe rotary one week, by two cameras shoot all
Image is as same group of image；
(5) image being shot according to industrial camera 2, carries out image procossing, obtain laser plane and spiral welded pipe edge it
Between angle.
(6) the laser camber line image being shot by industrial camera 1, it would be desirable to carry out image procossing, extracts laser camber line
Center line.
Preferably, the concrete operations of described step (5) are：
1. find the center line equation of laser rays：First by gray level image after image filtering, image enhaucament, to image
Carry out gray analysis, bright spot is found as the central point of laser rays along row to the part of laser rays in image, then to searching out
Laser spots adopt least squares line fitting, the linear equation simulating as the center line equation of laser rays, remember by straight slope
For k1.
2. find spiral welded pipe edge line equation：Using Sobel edge edge detective operators, edge inspection is carried out to gray level image
Survey, obtain the bianry image of steel pipe edge and laser rays, remove laser spots, using method of least square, steel pipe is carried out to remaining point
The fitting a straight line at edge, obtains the edge line equation of spiral welded pipe, and straight slope is designated as k2；
3. calculate the angle between laser plane and spiral welded pipe edge：Both angles are designated as γ, and the calculating of angle is public
Formula be γ=| arctan (k1)–arctan(k2)|；
Preferably, the concrete operations of described step (6) are：
1. extract the image coordinate of laser arc centers point：Image is carried out greyscale transformation, after image filtering, to laser
Arcuate portion finds bright spot line by line, using bright spot as the central point of laser camber line, then adopts to five near every bit
The method that individual point is averaged is smoothed, and the point after process is designated as (X, Y)；
2. calculate the actual coordinate of laser arc centers point：According to the calibration result of camera, by the laser spots extracting
Pixel coordinate is transformed into actual coordinate, and concrete grammar is, detection laser camber line position in the picture and corresponding in target figure
Grid position in picture, the diverse location according to laser spots automatically calls suitable fitting coefficient, is converted into actual coordinate, is designated as
(Xw,Yw)；
3. laser spots project to the plane of spiral welded pipe central axis on：Due to laser plane and horizontal plane,
Angled with spiral welded pipe intersect, intersection is an ellipse it is therefore desirable to according to angle between the two by intersection
Project to the extraction that caliber just can be carried out on the plane perpendicular with spiral welded pipe central axis, this angle is exactly industrial phase
The angle γ that machine 2 obtains, during projection, because industrial camera 1 level shoots, that is, the image transverse coordinate axis shooting are put down with horizontal plane
OK, thus projection before and after image longitudinal coordinate do not change it is only necessary to according to projection angle adjust laser spots abscissa,
Coordinate after projection is designated as (Xr,Yr), conversion formula is：
Xr=Xw×cosγ；
Yr=Yw；
4. matching obtains spiral welded pipe external diameter and ovality information：Obtain arc-coordinate point (Xr,Yr) after, adopt a young waiter in a wineshop or an inn
Multiplication justifies matching, obtains spiral welded pipe and rotates to laser rays partly corresponding steel pipe caliber during position this moment, works as spiral welded pipe
At the end of rotating a circle, obtain the caliber data of several spiral welded pipe diverse locations, by the side removing error of averaging
Formula determines the average caliber of spiral welded pipe, the difference of diverse location caliber data can be analyzed simultaneously, obtain spiral welding
The information such as the ovality of pipe.
The present invention having the beneficial effects that with respect to prior art：
1. change original manual measurement mode, the external diameter of spiral welded pipe and oval degrees of data can be automatically obtained, its
Precision can ensure that in below 0.1mm, compares that hand dipping is more accurate, in hgher efficiency, and the data obtained can store automatically simultaneously,
For data traceability.
2. improve the demarcation mode of traditional laser vision sensor, using demarcate target overlap with laser plane and
The vertical demarcation mode of industrial camera 1 central optical axis, can only pass through to shoot a target image it is possible to obtain required camera
Parameter so that field calibration process is simple and convenient, easily operated.
3. due to carrying out Calibration by the way of measuring table, and the relative position between device and spiral welded pipe
Accurately do not require, only need to meet the photographing request of camera, and the laser plane that laser line generator produces need not
With the central axis of spiral welded pipe, therefore, the demarcation of position has little to no effect to certainty of measurement, it is to avoid original technology
The difficult problem of location position.
4., by the reasonable selection of rail length, cooperation elevating mechanism can be carried out to the position of industrial camera 1 and height
Adjustment, you can simply and easily realize the spiral welded pipe external diameter of different tube diameters and the measurement of ovality.
Brief description
Fig. 1 is the structural representation of the present invention.
Wherein, 1, industrial camera, 2, industrial camera, 3, grid demarcate target, 4, laser line generator, 5, cantilever, 6, lead
Rail, 7, slide block, 8, elevating mechanism, 9, measuring table.
Specific embodiment
The specific embodiment of the present invention is described below in conjunction with the accompanying drawings.
The spiral welded pipe pipeline external diameter measuring device of view-based access control model detection, including industrial camera 1, industrial camera 2, grid mark
Targeting mark 3, laser line generator 4, cantilever 5, guide rail 6, elevating mechanism 8, measuring table 9 it is characterised in that：
Industrial camera 1, industrial camera 2, grid demarcation target 3, laser line generator 4, cantilever 5, guide rail 6 are fixed on measurement
On platform 9.The laser plane that laser line generator 4 produces is perpendicular to horizontal plane, vertical with the direction of guide rail 6.Industrial camera 1 with
Elevating mechanism 8 is connected, and is fixed on the slide block 7 of guide rail 6 by elevating mechanism 8, and its central optical axis is flat with the direction of guide rail 6
OK, the laser plane producing perpendicular to laser line generator 4.Industrial camera 2 is fixed on measuring table 9 by cantilever 5, industry
The central optical axis of camera 2 are in the laser plane that laser line generator 4 produces and perpendicular with horizontal plane.Grid demarcates target 3
It is placed in the laser plane that described laser line generator 4 produces, vertical with the central optical axis of industrial camera 1, grid is demarcated
The centrage of target 3 vertical direction and the centrage of guide rail 6 are in approximately the same plane.
The vertical dimension of the laser plane of the described camera lens of industrial camera 1 and laser line generator 4 be 400～
1400mm, the vertical dimension of the centrage of described laser line generator 4 and 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 demarcates target
The standard that mark 3 adopts 15 lattice × 15 lattice, the accurate size of every lattice is 10mm × 10mm.
Measurement apparatus are placed on spiral welded pipe production line side, measuring table 9 keeps level, adjust elevating mechanism 8, make
The central optical axis of industrial camera 1 and the centrage of steel pipe, in same level height, the position of adjustment measurement apparatus, make laser occur
The laser plane that device 4 produces is 60 °～80 ° with the angle at steel pipe edge, the laser that laser plane is intersected with spiral welded pipe simultaneously
Line, in the visual field of industrial camera 1, adjusts angle and the height of cantilever 5, enables industrial camera 2 clearly to shoot laser rays simultaneously
With steel pipe edge.
Grid is demarcated target 3 be fixed on measuring table, adjusts elevating mechanism 8, make the central optical axis of industrial camera 1 with
Grid demarcates the horizontal center line of target 3 in sustained height, adjusts slide block 7 position on guide rail 6, the mirror of fine setting industrial camera 1
Head, enables industrial camera 1 to understand that target 3, the position of fixing slide block 7, demarcation now under shooting are entirely demarcated in complete shooting
Target 3 image, can realize the demarcation to industrial camera 1 by the image shooting.Tear open demarcating target 3 from measuring table 9
Lay down, the height of adjustment elevating mechanism 8, enable industrial camera 1 clearly to photograph the laser camber line on steel pipe, and laser camber line
In the centre position of shooting image, the height of fixing elevating mechanism 8.
When the production of spiral welded pipe starts, industrial camera 1,2 is controlled by the image taking software synchronization on computer
Shoot steel pipe image, the image that each two cameras of moment are shot is as the different classes of image of synchronization, industrial phase
The picture that machine 1 shoots contains the marginal information of spiral welded pipe and the information of laser rays, and the picture that industrial camera 2 shoots contains
On spiral welded pipe, laser rays are with the change information of steel pipe rotary to diverse location.With the continuous rotation of spiral welded pipe, two phases
Machine constantly shoots the image of steel pipe diverse location according to certain frequency, when steel pipe rotary one week, institute that two cameras are shot
There is image as same group of image.
The grid target image being shot according to industrial camera 1, we can carry out the demarcation of camera, the scaling method of camera
For：
Camera calibration method is general public technology, and this scaling method is different from traditional three-dimensional scaling, the mark of employing
The planar gridding target that targeting mark 3 is 15 lattice × 15 lattice of polish, the accurate size of every lattice is 10mm × 10mm, the putting of target
Put direction to be mutually perpendicular to industrial camera 1 central optical axis, be placed in laser plane and in camera 1 coverage.
According to the target image shooting, carry out the extraction of angular coordinate first, due to outermost two row and two row of grid
Do not carry out angle point grid, so the angle point quantity obtaining is 14 × 14, process the pixel coordinate value obtaining each angle point of grid
(Xi,j,Yi,j) (i=1,2,3 ... 14；J=1,2,3 ... 14)；Then, intended by the laterally straight line with a line grid angle point
Close the angle α determining between target transverse grid and image transverse coordinate axis, intended by the straight line of longitudinal same row grid angle point
Close the angle β determining between longitudinal grid and image longitudinal coordinate axle；Finally, according to actual target distance, obtain every a pair
Answer the horizontal and vertical calibration coefficient k of angle pointx(i,j)、ky(i,j), in order to reduce calibrated error, demarcate using four lattice calibration coefficients
Meansigma methodss are as the calibration coefficient of middle angle point, calibration coefficient formula：
kx(i,j)=(10 × cos α)/[(Xi,j+2-Xi,j-2)], i=1,2,3 ... 14；J=3,4,5 ... 12
ky(i,j)=(10 × cos β)/[(Yi+2,j-Yi-2,j)], i=3,4,5 ... 12；J=1,2,3 ... 14
The world coordinates position of reality after obtaining calibration coefficient, just can be obtained according to laser camber line pixel coordinate.
Image according to industrial camera 2 shooting, it would be desirable to carry out image procossing, obtains laser plane and spiral welding tube edge
Angle between edge, it mainly comprises the following steps：
1. find the center line equation of laser rays：This step first by gray level image after image filtering, image enhaucament,
Gray analysis are carried out to image, bright spot is found as the central point of laser rays along row to the part of laser rays in image, more right
The laser spots searching out adopt least squares line fitting, and the linear equation simulating is as the center line equation of laser rays, straight line
Slope is designated as k1.
2. find spiral welded pipe edge line equation：Using sobel edge detection operator, edge inspection is carried out to gray level image
Survey, obtain the bianry image of steel pipe edge and laser rays, remove laser spots, using method of least square, steel pipe is carried out to remaining point
The fitting a straight line at edge, obtains the edge line equation of spiral welded pipe, and straight slope is designated as k2.
3. calculate the angle between laser plane and spiral welded pipe edge：Both angles are designated as γ, and the calculating of angle is public
Formula be γ=| arctan (k1)–arctan(k2)|.
The laser camber line image being shot by industrial camera 1, it would be desirable to carry out image procossing, extracts in laser camber line
Line, carries out caliber matching, the image procossing of such image and calculation step, and for general public technology, it mainly comprises the following steps：
1. extract the image coordinate of laser arc centers point：Image is carried out greyscale transformation, after image filtering, to laser
Arcuate portion finds bright spot line by line, using bright spot as the central point of laser camber line, then smooths using to laser spots
Process, the 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 out
kx(i,j)And ky(i,j), the laser spots extracting pixel coordinate is transformed into actual coordinate, concrete grammar is to detect laser camber line
Position in the picture and corresponding grid position in target image, the diverse location according to laser spots calls properly automatically
Fitting coefficient, be converted into actual coordinate, be designated as (Xw,Yw).
3. laser spots project to the plane of spiral welded pipe central axis on：Due to laser plane and horizontal plane,
Angled with spiral welded pipe intersect, intersection is an ellipse it is therefore desirable to according to angle between the two by intersection
Project to the extraction that caliber just can be carried out on the plane perpendicular with spiral welded pipe central axis, this angle is exactly industrial phase
The angle γ that machine 2 obtains.Due to the shooting of industrial camera 1 level, that is, the image transverse coordinate axis shooting and plane-parallel, so
Before and after projection, the vertical coordinate of image does not change it is only necessary to adjust the abscissa of laser spots according to projection angle, after projection
Coordinate is designated as (Xr,Yr), conversion formula is：
Xr=Xw×cosγ；
Yr=Yw；
4. matching obtains spiral welded pipe external diameter and ovality information：Obtain arc-coordinate point (Xr,Yr) after, adopt a young waiter in a wineshop or an inn
Multiplication justifies matching, obtains spiral welded pipe and rotates to laser rays partly corresponding steel pipe caliber during position this moment, works as spiral welded pipe
At the end of rotating a circle, obtain the caliber data of several spiral welded pipe diverse locations, by the side removing error of averaging
Formula determines the average caliber of spiral welded pipe, the difference of diverse location caliber data can be analyzed simultaneously, obtain spiral welding
The information such as the ovality of pipe.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (8)
1. a kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection, including industrial camera 1, industrial camera 2, grid
Demarcate target, laser line generator, cantilever, guide rail, elevating mechanism, measuring table it is characterised in that：Industrial camera 1, industrial phase
Machine 2, grid demarcation target, laser line generator, cantilever, guide rail are fixed on measuring table；What laser line generator produced swashs
Optical plane is perpendicular to horizontal plane, vertical with the direction of guide rail；Industrial camera 1 is connected with elevating mechanism, solid by elevating mechanism
It is scheduled on the slide block of guide rail, its central optical axis is parallel with the direction of guide rail, the laser plane producing perpendicular to laser line generator；
Industrial camera 2 is fixed on measuring table by cantilever, the laser that the central optical axis of industrial camera 2 produce in laser line generator
In plane and perpendicular with horizontal plane；Grid is demarcated target and is placed in the laser plane that described laser line generator produces,
Vertical with the central optical axis of industrial camera 1, grid demarcates the centrage of target vertical direction and the centrage of guide rail same
In plane.
2. view-based access control model according to claim 1 detection spiral welded pipe pipeline external diameter measuring device it is characterised in that：Institute
The camera lens of industrial camera 1 stated and the vertical dimension of the laser plane of laser generator are 400～1400mm.
3. view-based access control model according to claim 1 detection spiral welded pipe pipeline external diameter measuring device it is characterised in that：Institute
The laser line generator stated and the vertical dimension of the centrage of guide rail are 300-600mm, and the length of guide rail is 600-1000mm.
4. view-based access control model according to claim 1 detection spiral welded pipe pipeline external diameter measuring device it is characterised in that：Institute
State grid demarcate target adopt 15 lattice × 15 lattice, every lattice accurate size be 10mm × 10mm standard.
5. view-based access control model according to claim 1 detection spiral welded pipe pipeline external diameter measuring device it is characterised in that：Institute
Stating spiral welded pipe caliber is 219-630mm.
6. a kind of spiral welded pipe pipeline outside diameter measuring method of view-based access control model detection is it is characterised in that inclusion step is as follows：
(1) measurement apparatus are placed on spiral welded pipe production line side, measuring table keeps level, adjust elevating mechanism, make work
The central optical axis of industry camera 1 and the centrage of steel pipe, in same level height, the position of adjustment measurement apparatus, make laser generator
The laser plane producing is 60 °～80 ° with the angle at steel pipe edge, and the laser rays that laser plane is intersected with spiral welded pipe simultaneously exist
In the visual field of industrial camera 1, adjust angle and the height of cantilever, enable industrial camera 2 clearly to shoot laser rays and steel simultaneously
Tube edges；
(2) grid demarcation target is fixed on measuring table, adjusts elevating mechanism, make central optical axis and the net of industrial camera 1
Case marker targeting target horizontal center line, in sustained height, adjusts the slide position on guide rail, the camera lens of fine setting industrial camera 1, makes
Industrial camera 1 can understand that target, the slide position on fixing guide rail, demarcation target now under shooting are entirely demarcated in complete shooting
Logo image, can be demarcated to industrial camera 1 by the image shooting；
(3) disassemble demarcating target from measuring table, the height of adjustment elevating mechanism, so that industrial camera 1 is clearly clapped
Take the photograph the laser rays on steel pipe, and laser rays are in the centre position of shooting image, the height of fixing elevating mechanism；
(4) when the production of spiral welded pipe starts, industrial camera 1,2 is controlled to clap by the image taking software synchronization on computer
Take the photograph steel pipe image, the image that each two cameras of moment shoot is clapped as the different classes of image of synchronization, industrial camera 1
The picture taken the photograph contains the marginal information of spiral welded pipe and the information of laser rays, and the picture that industrial camera 2 shoots contains spiral
The change information with steel pipe diverse location of laser rays on welded tube；With the continuous rotation of spiral welded pipe, two cameras are according to one
Determine frequency and constantly shoot image during steel pipe diverse location, when steel pipe rotary one week, all images that two cameras are shot
As same group of image；
(5) image being shot according to industrial camera 2, carries out image procossing, obtains between laser plane and spiral welded pipe edge
Angle；
(6) the laser line image being shot by industrial camera 1, it would be desirable to carry out image procossing, extracts the center line of laser rays.
7. method as claimed in claim 6 is it is characterised in that the concrete operations of described step (5) are：
1. find the center line equation of laser rays：First by gray level image after image filtering, image enhaucament, image is carried out
Gray analysis, find bright spot as the central point of laser rays to the part of laser rays in image along row, then to swashing of searching out
Luminous point adopts least squares line fitting, and the linear equation simulating is designated as k as the center line equation of laser rays, straight slope1；
2. find spiral welded pipe edge line equation：Using sobel edge detection operator, rim detection is carried out to gray level image, obtains
To the bianry image at steel pipe edge and laser rays, remove laser spots, using method of least square, steel pipe edge is carried out to remaining point
Fitting a straight line, obtain the edge line equation of spiral welded pipe, straight slope is designated as k2；
3. calculate the angle between laser plane and spiral welded pipe edge：Both angles are designated as γ, and the computing formula of angle is
γ=| arctan (k1)–arctan(k2)|.
8. method as claimed in claim 6 is it is characterised in that the concrete operations of step (6) are：
1. extract the image coordinate of laser rays central point：Image is carried out greyscale transformation, after image filtering, to laser rays part
Find bright spot line by line, using bright spot as the central point of laser rays, be then averaged using to five points near every bit
The method of value is smoothed, and the point after process is designated as (X, Y)；
2. calculate the actual coordinate of laser rays central point：According to the calibration result of camera, the laser spots extracting pixel is sat
Mark is transformed into actual coordinate, and concrete grammar is to detect net in target image for the laser rays position and correspondence in the picture
Case is put, and the diverse location according to laser spots calls suitable fitting coefficient automatically, is converted into actual coordinate, is designated as (Xw,Yw)；
3. laser spots project to the plane of spiral welded pipe central axis on：Due to laser plane and horizontal plane, with spiral shell
Rotation welded tube is angled intersecting, and intersection is an ellipse it is therefore desirable to according to angle between the two by projections of intersection
To in the plane perpendicular with spiral welded pipe central axis, just can carry out the extraction of caliber, this angle is exactly that industrial camera 2 obtains
The angle γ obtaining, during projection, due to the shooting of industrial camera 1 level, that is, the image transverse coordinate axis shooting and plane-parallel, institute
Do not changed it is only necessary to adjust the abscissa of laser spots according to projection angle with the longitudinal coordinate of image before and after projecting, projection
Coordinate afterwards is designated as (Xr,Yr), conversion formula is：
Xr=Xw×cosγ；
Yr=Yw；
4. matching obtains spiral welded pipe external diameter and ovality information：Obtain arc-coordinate point (Xr,Yr) after, using method of least square
Circle matching, obtains spiral welded pipe and rotates to laser rays partly corresponding steel pipe caliber during position this moment, when spiral welded pipe rotation
At the end of one week, obtain the caliber data of several spiral welded pipe diverse locations, true by way of averaging and removing error
Determine the average caliber of spiral welded pipe, the difference of diverse location caliber data can be analyzed simultaneously, obtain spiral welded pipe
Ovality information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104677301A CN104677301A (en) | 2015-06-03 |
| CN104677301B true CN104677301B (en) | 2017-03-01 |
Family
ID=53312673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510098323.3A Expired - Fee Related 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104677301B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104913739B (en) * | 2015-06-26 | 2017-10-27 | 北方工业大学 | Visual measurement method and device for eccentricity of crank throw of crankshaft |
| CN105571531B (en) * | 2016-01-30 | 2018-11-02 | 吉林大学 | A kind of rotating machinery misaligns device for dynamically detecting and method of adjustment |
| CN107036938B (en) * | 2016-12-28 | 2023-09-15 | 宁波工程学院 | Measuring device and measuring method for evaluating hydrophobicity of concrete surface |
| CN107449368B (en) * | 2017-08-17 | 2019-05-21 | 中国水利水电科学研究院 | A kind of buried pipeline deformation pattern detection method |
| CN107884412B (en) * | 2017-12-21 | 2023-11-14 | 华南农业大学 | Annual ring information detection device and method for conifer tree core |
| CN108398097A (en) * | 2018-03-07 | 2018-08-14 | 南通大学 | Hose diameter on-line monitoring system based on laser displacement sensor |
| CN109539995B (en) * | 2018-11-19 | 2021-08-17 | 国网四川省电力公司电力科学研究院 | Automatic measuring device for creepage distance of insulator |
| CN109781002B (en) * | 2019-01-31 | 2020-11-17 | 浙江省计量科学研究院 | Machine vision-based machine tool full-axis-stroke accurate positioning method |
| CN112017239B (en) * | 2019-05-31 | 2022-12-20 | 北京市商汤科技开发有限公司 | Method for determining orientation of target object, intelligent driving control method, device and equipment |
| CN110260824B (en) * | 2019-06-14 | 2021-10-08 | 广东博智林机器人有限公司 | Device and method for acquiring wall board groove edge angle |
| CN110415303A (en) * | 2019-07-29 | 2019-11-05 | 华天慧创科技（西安）有限公司 | Scaling method is imaged in a kind of camera 3D imaging caliberating device and 3D |
| CN110660073B (en) * | 2019-09-20 | 2022-10-25 | 北京神工科技有限公司 | Straight line edge recognition equipment |
| CN110660072B (en) * | 2019-09-20 | 2022-08-26 | 北京神工科技有限公司 | Method and device for identifying straight line edge, storage medium and electronic equipment |
| CN111220077B (en) * | 2020-01-20 | 2021-08-24 | 山东大学 | Visual detection device and method for installation size of threaded hole of radiator |
| CN113551619B (en) * | 2020-04-26 | 2023-03-28 | 宝山钢铁股份有限公司 | On-line measuring method and device for straightness of seamless steel pipe |
| CN112797895B (en) * | 2020-12-24 | 2022-07-22 | 上海智殷自动化科技有限公司 | Frame body positioning device based on vision and laser |
| CN113327229B (en) * | 2021-05-27 | 2023-09-22 | 扬州大学 | Method for rapidly positioning image point grid |
| CN117288459B (en) * | 2023-11-24 | 2024-02-02 | 齐鲁工业大学(山东省科学院) | Butterfly valve detection method and system based on underwater vehicle in pipeline |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU681831B1 (en) * | 1996-08-28 | 1997-09-04 | Fersil Pty Limited | Spiral welded pipe machine |
| CN1752714A (en) * | 2005-10-26 | 2006-03-29 | 武汉理工大学 | Optical projection measurer for external diameter of large wheel diameter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1110233A (en) * | 1997-06-18 | 1999-01-19 | Kubota Corp | Lining jig attaching device in tube body deformation correcting device |
-
2015
- 2015-03-05 CN CN201510098323.3A patent/CN104677301B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU681831B1 (en) * | 1996-08-28 | 1997-09-04 | Fersil Pty Limited | Spiral welded pipe machine |
| CN1752714A (en) * | 2005-10-26 | 2006-03-29 | 武汉理工大学 | Optical projection measurer for external diameter of large wheel diameter |
Non-Patent Citations (2)
| Title |
|---|
| 棒、线材及螺纹钢截面形状在线测量技术;陈炳生 刘宝瑛;《激光与光电子学进展》;20080229;全文 * |
| 螺旋缝焊管截面在线测量系统的机构设计;张勇等;《清华大学学报》;20060831;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104677301A (en) | 2015-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104677301B (en) | A kind of spiral welded pipe pipeline external diameter measuring device of view-based access control model detection and method | |
| CN104200086B (en) | Wide-baseline visible light camera pose estimation method | |
| CN104084669B (en) | A kind of circumferential weld visible detection method detected based on decoupling zero | |
| CN109632103A (en) | High vacant building Temperature Distribution and surface crack remote supervision system and monitoring method | |
| CN105488808B (en) | Gathering pipe field measurement apparatus and method based on three dimensions shooting location technology | |
| CN103389136A (en) | External floating top vertical metal can volume measuring method based on three-dimensional laser scanning technology | |
| US20130027544A1 (en) | Electronic device and method for regulating coordinates of probe measurement system | |
| CN111457848B (en) | Method and system for measuring displacement through coordinate change between adjacent monitoring points | |
| CN103322916A (en) | Large-scale vertical tank volume measurement system and method based on three-dimensional laser scanning method | |
| CN103017666A (en) | Method and assembly for determining the position of a measurement point in geometric space | |
| CN107816980A (en) | A kind of steel roller system position detecting device and method | |
| CN203973025U (en) | A kind of circumferential weld vision inspection apparatus detecting based on decoupling zero | |
| CN105953742A (en) | 3D laser scanner based on unknown environment detection | |
| CN104236480A (en) | Line-structured light machine vision hexagonal billet steel profile measuring device and method | |
| CN105865372A (en) | Pipeline roundness value automatic detection system and detection method | |
| CN211576110U (en) | Auxiliary orientation device for correcting single-side station point cloud space orientation based on wire drawing point cloud | |
| TWI526670B (en) | Device and method for measuring three-dimensional images of tunnel deformation | |
| CN102589529A (en) | Scanning close-range photogrammetry method | |
| CN113776462B (en) | Three-dimensional shape detection method for high-speed rail ballastless track bearing platform based on digital image | |
| CN105588512B (en) | The measuring device and method of class rectangle tunnel tunnel segment component size | |
| CN109047338A (en) | A kind of micron order cold roll system spatial accuracy control method | |
| CN106152968B (en) | A kind of pipeline circularities automatic testing method | |
| CN108050995A (en) | It is a kind of based on the oblique photograph of DEM without photo control point Hang Shece areas merging method | |
| CN206556590U (en) | A kind of mobile device range unit based on laser projection technology | |
| CN102322794B (en) | Real-time radius compensation method and measuring head device based on LED (light-emitting diode) annular light |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170301 Termination date: 20200305 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |