CN106152968B - A kind of pipeline circularities automatic testing method - Google Patents
A kind of pipeline circularities automatic testing method Download PDFInfo
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- CN106152968B CN106152968B CN201610422946.6A CN201610422946A CN106152968B CN 106152968 B CN106152968 B CN 106152968B CN 201610422946 A CN201610422946 A CN 201610422946A CN 106152968 B CN106152968 B CN 106152968B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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Abstract
The present invention provides a kind of pipeline circularities automatic testing methods.The horizontal distance for adjusting image collecting device and pipeline end face makes minimum range of the diametric outer of pipeline end face of acquisition apart from acquired image frame, less than or equal to the 5% of the framing mask side length for being parallel to the range direction；After adjusting the horizontal distance, Image Acquisition is carried out to pipeline end face, the image of acquisition is sent to image processing system；Image processing system carries out image procossing to the end face figure like of acquisition and extracts end face edge, obtains the circularities of each end face.Compared with prior art, end face edge is extracted by gray proces to the picture of shooting, pipeline horizontal diameter and perpendicular diameter is calculated according to pixel, than the difference that existing manual measurement has matter；The optimum level acquisition distance for determining image collecting device and pipeline end face collected, in optimum distance station acquisition pipeline end face image, it is possible to reduce interfere and improve accuracy.
Description
Technical field
The present invention relates to a kind of pipeline circularities automatic testing methods, are suitable for boiler piping pipeline more particularly to one kind
The automatic testing method of circularities detection.
Background technique
Before pipeline processing, the circularities of pipeline need to be detected, to determine whether pipeline meets processing request, at present
Way be: operator is determined with ocular estimate, or the circle of pipeline is measured and calculated with tape measure, steel ruler or slide calliper rule etc.
Angle value.Obviously there are very big randomness and large error using ocular estimate, when using manual measurement method, measurement accuracy can be because
The quality of operator and the difference of sense of responsibility bring biggish accidental error, and the occasion more demanding to the circularities of pipeline is
It is inappropriate.It is not suitable for industrializing automatic production procedure simultaneously.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind can be avoided artificial random or accidental error factor, realizes
The fast automatic circularities to pipeline carry out the pipeline circularities automatic testing method of precisely detection measurement.
The technical solution adopted by the invention is as follows:
A kind of pipeline circularities automatic testing method, method particularly includes:
The horizontal distance for adjusting image collecting device (such as camera or camera) and pipeline end face makes the pipeline end face of acquisition
Minimum range of the diametric outer apart from acquired image frame, less than or equal to the image side for being parallel to the range direction
The 5% of frame side length；After adjusting the horizontal distance, Image Acquisition is carried out to pipeline end face, the image of acquisition is sent to image
Processing system；Image processing system carries out image procossing to the end face figure like of acquisition and extracts end face edge, obtains the circle of each end face
Angle value.
Image collecting device is acquired pipeline end face image, before carrying out Image Acquisition, first adjusts Image Acquisition
The horizontal distance of device and pipeline end face, determine the optimum level acquisition of image collecting device and pipeline end face collected away from
From then again to the end face progress Image Acquisition of pipeline, if outer rim distance (arbitrary diameter direction) figure in pipe diameter direction
The minimum range of piece bottom frame then illustrates shooting distance too far greater than the 5% of the side length for being parallel to the range direction.It will be collected
Image is sent to image processing system, and image processing system carries out image procossing to the image of acquisition and extracts end face collected
The end face is calculated according to the edge (inward flange or outer edge) of the end face of extraction in edge (including inward flange and outer edge)
Circularities.
The method also includes using the horizontal distance of laser ranging module detection image acquisition device and pipeline end face.
By the horizontal distance of detection image acquisition device and pipeline end face, to determine the specific of image capturing apparatus image acquisition focus
Position.
The method also includes carrying out the image of two end faces using image collecting device align with tube end face center location
Acquisition.
In addition to the horizontal distance of adjustment image collecting device and pipeline end face, further includes adjustment Image Acquisition holding position, make
The Image Acquisition focus for obtaining image collecting device is directed at the center location that carry out the end face of pipeline of Image Acquisition, then right again
The end face of pipeline carries out Image Acquisition.
The circularity value calculating method are as follows: image grayscale processing is carried out to the end face figure like of acquisition and extracts end face edge, root
Pipeline end face horizontal diameter and perpendicular diameter are calculated according to pixel, is obtained according to the ratio calculation of the horizontal diameter and perpendicular diameter
The circularities of the end face.
It is straight using the horizontal diameter of end face overall diameter and the ratio calculation of perpendicular diameter, or using the level of end face interior diameter
The ratio calculation of diameter and perpendicular diameter obtains the circularities of the end face.
In the present invention, Image Acquisition is carried out to pipeline end face, after carrying out image procossing to the image of acquisition, extracts end face
Edge, then calculates the horizontal diameter and perpendicular diameter of each end face according to pixel, and the horizontal diameter and perpendicular diameter can be with
It is the horizontal diameter and perpendicular diameter of end face outer, can also is the horizontal diameter and perpendicular diameter on edge in end face, according to
The horizontal diameter and perpendicular diameter of end face, are calculated the circularities of the end face.
The method also includes being compared the horizontal diameter of two end faces of pipeline, determine the difference of two horizontal diameters
Value；The perpendicular diameter of two end faces of pipeline is compared, determines the difference of two perpendicular diameters；By two differences with determination
Whether the deviation of two end faces meets the requirements.
Judge whether two end faces of pipeline meet the requirements according to whether two differences meet the requirements, to judge pipeline
Quality.
The localization method of pipeline end face center location are as follows: image collecting device positioning system is along pipeline end face perpendicular diameter side
To movement, the reaction made by optoelectronic switch to the reflected beams records upper end edge and the lower end of end face diameter inner circle or outer circle
Edge, then the central point of upper end edge and lower end edge is the center location of the end face.
The center of circle of optoelectronic switch the reflected beams locating module survey calculation pipeline end face can be used.With face pipeline end face
Emit light beam (such as laser beam), when receiving the reflected beams, illustrates that emitted light beam is get to pipeline end face interior
Between edge and outer, when the reflected beams can not be received, illustrate that emitted light beam does not get to the interior edge of pipeline end face
Between outer.Meanwhile from the reflection receivable of light beam sequence, can judge for interior edge or outer.
The method also includes: set the threshold range of qualified Double End deviation, by calculated Double End deviation with set
Fixed Double End deviation qualification threshold value compares, and judges whether Double End deviation is qualified.
If calculated deviation in the threshold range in the qualified Double End deviation of setting, is judged as both-end
Face deviation is qualified, otherwise unqualified for Double End deviation.
The method also includes: the threshold range of qualified circularities is set, by the circularity of calculated circularities and setting
Value qualification threshold value compares, and judges whether circularities are qualified.
If certain calculated end face circularities in the circularities qualification threshold range of setting, are judged as that circularities are closed
Lattice, it is otherwise unqualified for circularities.
The method also includes: prompt circularities and/or pipeline Double End deviation whether qualified in a manner of audio signal.
The audio signal can be voice audio signals, be also possible to non-speech audio signals.
Compared with prior art, the beneficial effects of the present invention are:
The optimum level acquisition distance for determining image collecting device and pipeline end face collected, is adopted in optimum distance position
Collect pipeline end face figure like, it is possible to reduce interfere and improve precision.
It determines pipeline center location, shoots pipeline end face image in pipeline center location, it is possible to reduce interfere and improve standard
Exactness.
Optimum photographing position is determined using image border comparative approach, can accurately determine shooting head and pipe with laser ranging
Best shooting distance between road, and shooting distance setting value L3 of the data as same type pipeline processing when is saved, rear
In continuous processing, it is only necessary to which then input channel type is completed camera site positioning by laser ranging together with control device.
Using the light beam of laser ranging system, the outer rim of pipeline vertical direction is determined in conjunction with optoelectronic switch, can both be mentioned
High measurement accuracy, and such a device of laser ranging system is made to play the role of two.Improve labor productivity.
End face edge is extracted by gray proces to the picture of shooting, pipeline horizontal diameter and vertical straight is calculated according to pixel
Diameter, than the difference that existing manual measurement has matter.
The horizontal diameter of two end faces, perpendicular diameter are compared respectively, determine the horizontal diameter, vertical of two end faces
The difference of diameter.Effectively it can determine whether pipeline has shrinkage phenomenon.
By the circularities of pipe level diameter and the ratio in judgement of the perpendicular diameter end face, pass through the level of two end faces
Diameter, perpendicular diameter difference to determine whether two end faces of pipeline meet the requirements, this evaluation method can be intuitive and accurate
Judge pipeline circularities quality.
According to the circularities of pipe level diameter and the ratio in judgement of the perpendicular diameter end face, can accurately judge.Through surveying
Examination, circularities judging nicety rate reach 99%.All operations are all integrated in PC control software, easy to operate.
Detailed description of the invention
Fig. 1 is the image capturing apparatus image collection process schematic diagram of a wherein embodiment of the invention.
Fig. 2 is that the pipeline end face of a wherein embodiment of the invention places schematic diagram.
Fig. 3 is the working principle block diagram of a wherein embodiment of the invention.
Fig. 4 is the positioning Image Acquisition flow chart of a wherein embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Any feature disclosed in this specification (including abstract and attached drawing) unless specifically stated can be equivalent by other
Or the alternative features with similar purpose are replaced.That is, unless specifically stated, each feature is a series of equivalent or class
Like an example in feature.
Specific embodiment 1
As shown in Figure 1, Figure 2 and Figure 3, pipeline circularities automatic testing method, method particularly includes:
The horizontal distance for adjusting image collecting device (such as camera or camera) and pipeline end face makes the pipeline end face of acquisition
Minimum range of the diametric outer apart from acquired image frame, less than or equal to the image side for being parallel to the range direction
The 5% of frame side length；After adjusting the horizontal distance, Image Acquisition is carried out to pipeline end face, the image of acquisition is sent to image
Processing system；Image processing system carries out image procossing to the end face figure like of acquisition and extracts end face edge, obtains the circle of each end face
Angle value.
Image collecting device is acquired pipeline end face image, before carrying out Image Acquisition, first adjusts Image Acquisition
The horizontal distance of device and pipeline end face, determine the optimum level acquisition of image collecting device and pipeline end face collected away from
From then again to the end face progress Image Acquisition of pipeline；Acquired image is sent to image processing system, image procossing system
It unites and the edge (including inward flange and outer edge) of end face collected is extracted according to extraction to the image progress image procossing of acquisition
End face edge (inward flange or outer edge), the circularities of the end face are calculated.As shown in Figure 1, image collecting device is in x
Axis, y-axis and z-axis move on three directions, and image collecting device is adjusted in x-axis direction at a distance from pipeline end face.
In this embodiment, figure is carried out to the end face of pipeline as image collecting device using camera or camera
As acquiring, after the completion of Image Acquisition, the end face figure like of acquisition is sent to image processing system, image processing system is to acquisition
After end face figure like carries out image procossing (carrying out gray proces to the end face figure like of acquisition in this embodiment), end face is extracted
Edge, then calculates the horizontal diameter and perpendicular diameter of each end face according to pixel, and the horizontal diameter and perpendicular diameter can be with
It is the horizontal diameter and perpendicular diameter of end face outer, can also is the horizontal diameter and perpendicular diameter on edge in end face, according to
The horizontal diameter and perpendicular diameter of end face, are calculated the circularities of the end face.In this embodiment, according to end face outer
Horizontal diameter and perpendicular diameter, the circularities of end face are calculated.
Specific embodiment 2
On the basis of specific embodiment 1, the method also includes using laser ranging module detection image acquisition device
With the horizontal distance of pipeline end face.By the horizontal distance of detection image acquisition device and pipeline end face, to determine Image Acquisition
The specific location of device Image Acquisition focus.
Specific embodiment 3
On the basis of specific embodiment 1 or 2, the method also includes using image collecting device align with tube end face
Center location carries out the Image Acquisition of two end faces.
In addition to the horizontal distance of adjustment image collecting device and pipeline end face, further includes adjustment Image Acquisition holding position, make
The Image Acquisition focus for obtaining image collecting device is directed at the center location that carry out the end face of pipeline of Image Acquisition, then right again
The end face of pipeline carries out Image Acquisition.Image is carried out using image collecting device (such as camera or camera) alignment center location to adopt
Collection.Before carrying out Image Acquisition, the position of image collecting device is adjusted, makes the circle of the focus align with tube end face of Image Acquisition
The heart, the line in the center of circle of the focus and pipeline end face of Image Acquisition is perpendicular to the plane where pipeline end face.
As shown in Figure 1, moving left and right on y-axis direction, z-axis moves up and down on direction, and adjustment image capturing apparatus image is adopted
Collection focus be registered to pair end face center location.As shown in Fig. 2, in this embodiment, since pipeline is located in
In one u-bracket, and u-bracket is fixed in an operating table surface, from the inner concave minimum point of u-bracket to ground
Distance be it is fixed, be set as L1, be pipeline perpendicular diameter direction along L1 vertical direction.Along this perpendicular diameter direction,
The highs and lows of internal diameter or outer diameter are found, then the intermediate point of highs and lows is the center of circle position of the pipeline end face
It sets.
Specific embodiment 4
On the basis of one of specific embodiment 1 to 3, the circularity value calculating method are as follows: to the end face figure like of acquisition into
End face edge is extracted in the processing of row image grayscale, pipeline end face horizontal diameter and perpendicular diameter is calculated according to pixel, according to the water
The ratio calculation of straight diameter and perpendicular diameter obtains the circularities of the end face.
It is straight using the horizontal diameter of end face overall diameter and the ratio calculation of perpendicular diameter, or using the level of end face interior diameter
The ratio calculation of diameter and perpendicular diameter obtains the circularities of the end face.
In the present invention, Image Acquisition is carried out to pipeline end face, after carrying out image procossing to the image of acquisition, extracts end face
Edge, then calculates the horizontal diameter and perpendicular diameter of each end face according to pixel, and the horizontal diameter and perpendicular diameter can be with
It is the horizontal diameter and perpendicular diameter of end face outer, can also is the horizontal diameter and perpendicular diameter on edge in end face, according to
The horizontal diameter and perpendicular diameter of end face, are calculated the circularities of the end face.
Specific embodiment 5
On the basis of one of specific embodiment 1 to 4, the method also includes by the horizontal diameter of two end faces of pipeline
It is compared, determines the difference of two horizontal diameters；The perpendicular diameter of two end faces of pipeline is compared, determine two it is vertical
The difference of diameter；Whether met the requirements by two differences with the deviation for determining two end faces.
Judge whether two end faces of pipeline meet the requirements according to whether two differences meet the requirements, to judge pipeline
Quality.
Specific embodiment 6
On the basis of one of specific embodiment 3 to 5, the localization method of pipeline end face center location are as follows: image collector
It sets positioning system to move along pipeline end face perpendicular diameter direction, the reaction for making the reflected beams by optoelectronic switch, records end
The upper end edge and lower end edge of face diameter inner circle or outer circle, then the central point of upper end edge and lower end edge is the center of circle position of the end face
It sets.
The center of circle that optoelectronic switch the reflected beams locating module survey calculation pipeline end face can be used, passes through optoelectronic switch pair
The induction of the reflected beams, the center of circle of survey calculation pipeline end face.Emit light beam (such as laser beam) with face pipeline end face, when
When receiving the reflected beams, illustrate that emitted light beam is got between the interior edge of pipeline end face and outer, when can not receive
When to the reflected beams, illustrate that emitted light beam is not got between the interior edge of pipeline end face and outer.Meanwhile from the anti-of light beam
Reception sequence is penetrated, can be judged for interior edge or outer.
Transmitting light beam can connect optoelectronic switch after being reflected back.When transmitting light beam externally prolongs end outside end face
When face diametrical direction is moved into end face, pass through the outer of the end face diametrical direction side first, when having not moved into outer,
Due to that cannot receive the reflected beams, optoelectronic switch is in an off state, and when arriving the outer, photoelectricity switch receives reflected light
Beam is switched on, and positioning system is able to record the position, when from outer to interior edge, leave it is interior along when, photoelectricity switch is disconnected, fixed
Position system is able to record that this is interior along position, and it is mobile after the diametrical direction that renews to emit light beam, reach in another side end face along when, light
Electric switch is turned back on, and positioning system is able to record the position, and when continuing to move to leave outer, optoelectronic switch is broken again
It opens, positioning system records the outer position.By the position for recording the edge along the position of diametric two outers or two
Set, can be derived that in two along or two outers intermediate point be the end face center location.Then image collecting device
It is directed at the center location and Image Acquisition is carried out to the end face.The light beam is that laser, infrared light or ultraviolet light etc. can be in natures
By penstock reflection and the light beam of optoelectronic switch is acted under environment.The laser ranging module and the positioning of optoelectronic switch the reflected beams
Module can be the same beam emissions module, may not be the same beam emissions module, emitting the light beam used can
Think that same light beam may be two different light beams.
Specific embodiment 7
On the basis of one of specific embodiment 5 to 6, the method also includes: set the threshold value of qualified Double End deviation
Calculated Double End deviation and the Double End deviation qualification threshold value of setting are compared, whether judge Double End deviation by range
It is qualified.
Pipeline or so two end face horizontal inside diameters or outer diameter tolerance, perpendicular diameter or outer diameter tolerance are set；Meter
Calculate the deviation and vertical outer diameter of two end face horizontal inside diameters or outer diameter or the deviation of internal diameter, if calculated deviation
In the threshold range of the qualified Double End deviation of setting, then it is judged as that Double End deviation is qualified, does not otherwise conform to for Double End deviation
Lattice.It when the horizontal diameter and perpendicular diameter of described two end faces compare or is compared or all adopts using outer diameter
It is compared with internal diameter.
Specific embodiment 8
On the basis of one of specific embodiment 4 to 7, the method also includes: the threshold range of qualified circularities is set,
Calculated circularities are compared with the circularities qualification threshold value of setting, judge whether circularities are qualified.
After the circularities of one side end face of pipeline are calculated, by the threshold range of the circularities and the qualified circularities of setting
It compares, if calculated face circularities in the threshold range of the qualified circularities of setting, are judged as the end face circularity
Value is qualified, otherwise unqualified for the end face circularities.
Specific embodiment 9
On the basis of one of specific embodiment 7 or 8, the method also includes: circularity is prompted in a manner of audio signal
Whether value and/or pipeline Double End deviation are qualified.
The audio signal can be voice audio signals, be also possible to non-speech audio signals.
Specific embodiment 10
As shown in figure 3, by filming apparatus (i.e. image collecting device), filming apparatus control host and host computer, (PC is calculated
Machine) composition.As shown in Figure 1, image collecting device can be moved along the guide rail in three directions of x-axis, y-axis and z-axis, in x-axis
Direction determines that shooting head, in this embodiment can be according to institute for 10mm(at a distance from pipeline end face by laser ranging
The image of acquisition makes minimum range of the diametric outer of pipeline end face of acquisition apart from acquired image frame, is less than
5% requirement equal to the framing mask side length for being parallel to the range direction, which calculate, sets the distance)；Pass through in z-axis direction
Laser determines outer diameter tube position,；Pipeline vertically upper outer rim edge position is determined by laser in y-axis direction, when laser determines
When outer diameter tube position, it is mobile to stop y-axis direction.
It includes: using ARM as development platform that image collecting device, which controls host, devises laser ranging, laser determines pipeline
Outer radial position, laser determine that pipeline vertically goes up the mobile control program and hardware circuit in three directions of outer rim edge and x, y, z.
Host computer (PC computer): it completes to carry out the picture of shooting gray proces extraction end face edge, according to pixel meter
Calculation pipe level diameter and perpendicular diameter, the circularities of foundation pipe level diameter and the ratio in judgement of the perpendicular diameter end face,
In addition, the horizontal diameter of two end faces, perpendicular diameter are compared respectively, the horizontal diameter, vertical straight of two end faces is determined
The difference of diameter.By the circularities of pipe level diameter and the ratio in judgement of the perpendicular diameter end face, pass through the water of two end faces
Straight diameter, perpendicular diameter difference to determine whether two end faces of pipeline meet the requirements, judgment criteria is defeated by quality inspection personnel in advance
Enter computer, and operator is reminded with voice mode.
After tested, pipeline circularities judging nicety rate reaches 99%.All operations are all integrated in PC control software, operation
Simply.As shown in figure 4, this method is to the realization that pipeline circularities detect automatically, steps are as follows:
1, on computers input channel end face circularities allowable error, left and right two end face horizontal inside diameter tolerances, hang down
Straight internal diameter tolerance.
2, start automatic checkout system.
3, as depicted in figs. 1 and 2, since pipeline is located in a u-bracket, and u-bracket is to be fixed on one
In operating table surface, the distance from inner concave minimum point to the ground of u-bracket be it is fixed, be set as L1, along L1 Vertical Square
To as pipeline perpendicular diameter direction.
After station is fixed, the distance of the concave minimum point from the origin of filming apparatus to u-bracket is also determining
, it is set as L2,
When starting circularities detection button, filming apparatus under the control of the controller, the distance of advance L2 along the y-axis direction,
One limit switch is set at L2, is halted when filming apparatus reaches the position L2.
4, filming apparatus is mounted on the bracket that one can go up and down, and initial position can be adjusted as needed away from ground 400mm(
It is whole), after the position L2 stops, rising the height of L1-400=M1 by initial position, at this time the laser ranging dress on filming apparatus
Set the inner concave minimum point for being just aligned u-bracket, it may be assumed that pipeline lower edge outer diameter point, station table top A1(are as shown in Figure 1) position
It sets, records current distance ground location data D1.
5, after the horizontal position of shooting determines, filming apparatus is moved up, at this point, laser ranging module is started to work,
The reflected light that laser ranging module transmitting is received by optoelectronic switch, when filming apparatus is moved upwardly into pipeline hollow part, light
Electric switch disconnects once, and when filming apparatus is continued to move up between inner and outer walls of pipeline, optoelectronic switch is again switched on, so
When filming apparatus is continued to move up beyond pipeline outer wall afterwards, optoelectronic switch is again off, and when optoelectronic switch is again off, is stopped
It only moves, i.e. the position A2 (as shown in Figure 1).
6, it determines pipeline center location: when filming apparatus stops mobile, this point and ground distance D2 is recorded, by (D2-
D1)/2=D3, then filming apparatus moves down D3 value, arrives the position A3 (as shown in Figure 1), referred to herein as the pipeline center of circle.
Because when pipeline is placed in u-bracket, the vertical join line of the inner concave minimum point of u-bracket to ground along length
Line is pipeline perpendicular diameter direction.Therefore, it is not required to left and right positioning again and looks for the center of circle.
7, after determining center location, when being placed on station table top due to pipeline, position is unfixed, so needing
Adjust the distance between filming apparatus and pipeline end face.
8, image picking-up apparatus is opened, takes the photograph a width picture by 1 width/second beats, host computer is passed to and carries out image analysis, analyzing
As a result in, if the minimum range of outer rim distance (arbitrary diameter direction) the picture bottom frame in pipe diameter direction, greater than being parallel to
This value of the 5%(of the side length of the range direction can be set as x value, and specific value is true according to measurement accuracy and actual conditions by user
It is fixed), then illustrate shooting distance too far, is moved left and right by image capturing device control host control filming apparatus, until pipeline is straight
Minimum range of the outer rim in diameter direction apart from picture bottom frame stops moving less than the 5%(or x) for the side length for being parallel to the range direction
It is dynamic.
9, at this point, laser ranging module works on, filming apparatus is measured at a distance from pipeline end face, this distance is stored in
Database, as the shooting distance setting value L3 of the size pipeline, when processing the pipeline of identical caliber next time, directly by laser
Range finder module measures the distance between filming apparatus and pipeline end face, and compared with the setting value of last stored, determines shooting position
It sets, the movement of step 8 is not repeated.
10, after determining camera site, image capturing device shoots image, and image inputs host computer.
11, after the completion of an end face is shot, origin is retracted by device control host control filming apparatus along the y-axis direction
Afterwards, then another end face is moved right to.
12, move right start when, laser ranging system turns left 90 °, the light installed on laser ranging system
Electric switch (being same with aforementioned Photon-Electron switch) is to disconnect when filming apparatus just turns right, when moving right and pipeline
When entity is parallel, optoelectronic switch receives the reflected light that laser ranging system issues, and optoelectronic switch is connected, when filming apparatus moves right
When dynamic disengaging pipe entity, optoelectronic switch cannot receive the reflected light of laser ranging system sending, and optoelectronic switch disconnects, at this time again
The distance for moving forward L3, then stops.
13, filming apparatus stop along x-axis (to the right) it is mobile after, then move along the y-axis direction, along the y-axis direction advance L2 away from
From one limit switch of setting at the L2 of right side halts when filming apparatus reaches the position L2 of right side.
14, at this point, no longer looking for center location again, picture is directly shot, and picture is inputted into host computer.
15, after the shooting for completing another end face, auto-returned origin restPoses, and waits lower task.
16, quality assessment: 1) the shooting image of first end face and second end face passes through gray proces on computers
End face edge is extracted, pipeline horizontal diameter and perpendicular diameter are calculated according to pixel, according to pipe level diameter and perpendicular diameter
The circularities of the ratio in judgement end face, judgment criteria have been executed in the first step；2) by the horizontal diameter of two end faces, perpendicular diameter
It is compared respectively, determines the horizontal diameter of two end faces, the difference of perpendicular diameter, by the horizontal diameter of two end faces, hang down
For the difference of straight diameter to determine whether two end faces of pipeline meet the requirements, judgment criteria inputs computer by quality inspection personnel in advance.
And operator is reminded with voice mode.
Image processing method about acquisition figure:
It is gray proces first, each pixel of a sub-picture indicates that wherein RGB accounts for low by 32 place values in VB6
Three bytes, highest byte are useless.Gray level image is converted into realize by following formula:
Gray=Red*0.3+Green*0.6+Blue*0.1
Wherein, Gray is gray value, and Red is red primary, and Green is green primary, and Blue is blue primary.
Followed by edge extracting, edge extracting is realized using Robets operator, extracts steel pipe circular arc boundary, and in VB6
Middle realization.
Citing: for demonstrating effect, 1.5 meters of the length bought on building materials market, the pvc pipe of 250 millimeters of diameter are used
Instead of boiler piping.Upper computer software control USB camera is found a view from inside pipe wall, is calculated by gray proces, edge extracting etc.
The series of algorithms such as method extract characteristic circle.The circularities calculated are that 1.045455(is accurate to after decimal point 6).
It is calculated about pipeline end face circularities, quality assessment:
Image according to pipeline end face shooting calculates horizontal inside diameter d1 and perpendicular diameter d2, d1/ after edge processing
D2*%=m, m value represent the circularities of the end face, compared with the permission circularities being previously set, that is, can determine whether pipeline at the end
Whether face is qualified, and the processing method of another end face is identical.
Compare about two end face horizontal inside diameters of pipeline, perpendicular diameter, quality assessment:
The horizontal inside diameter for defining left side is d1, and the horizontal inside diameter of right side is d3, and the perpendicular diameter of left side is d2, right
The perpendicular diameter of end face is d4.
It is qualified when d1-d3≤allowable error, it is otherwise unqualified；
It is qualified when D2-d4≤allowable error, it is otherwise unqualified.
It is overall to judge: there are a unqualified i.e. judgement pipeline circularities unqualified in These parameters, on the contrary it is qualified.
Function about optoelectronic switch:
Limit switch SB1 is set at the position L2 of left side, limit switch SB2 is set at the position L2 of right side；
When SB1 is connected, while filming apparatus rises to the position A1, photoswitch circuit is connected.The status signal of optoelectronic switch at this time
Input control device, and the control of filming apparatus is participated in, work relationship is as follows:
Photoelectric switch state: 1(laser is between workbench and pipeline inner circle) → 0(laser is in pipeline inner circle) → 1
(laser in pipeline between outer rim) → 0(laser leaves pipeline outer rim) for → 1(filming apparatus when moving down, laser is in pipeline
Between interior outer rim) → 0(laser is in pipeline inner circle) → 1(is when returning, laser is in pipeline between outer rim) → 0(laser is detached from
Object) → state clearing (filming apparatus return origin).0(moves right when starting, laser areflexia) → 1(is when moving right,
Laser is parallel with pipe entity) → 0(laser disengaging pipe entity).
From in above-mentioned relation it is known that receiving second 0 after the status signal input control device of optoelectronic switch
When signal, stop moving up for vertical direction；When receiving second 0 signal after clearing, indicate to be shifted to the right to
The right side of pipeline is added the offset of L3, then the L3 that moves right by control device at this point, providing a control signal, is stopped
It moves to right.
Component composition:
Host, host computer (PC computer) are controlled including image collecting device, image collecting device, image collecting device
Camera unit, image transmitting unit, photographing control unit, processor, host computer, the video camera or camera unit, figure
As transmission unit, photographing control unit, processor are sequentially connected, processor is connect with PC machine both-way communication.
Claims (9)
1. a kind of pipeline circularities automatic testing method, method particularly includes: the level of adjustment image collecting device and pipeline end face
Distance makes minimum range of the diametric outer of pipeline end face of acquisition apart from acquired image frame, is less than or equal to flat
The 5% of the framing mask side length of the capable range direction in the minimum range；After adjusting the horizontal distance, to pipeline end face
Image Acquisition is carried out, the image of acquisition is sent to image processing system；Image processing system carries out the end face figure like of acquisition
Image procossing extracts end face edge, obtains the circularities of each end face；
The circularity value calculating method are as follows: image grayscale processing is carried out to the end face figure like of acquisition and extracts end face edge, according to picture
Element calculates pipeline end face horizontal diameter and perpendicular diameter, obtains the end according to the ratio calculation of the horizontal diameter and perpendicular diameter
The circularities in face.
2. pipeline circularities automatic testing method according to claim 1, the method also includes using laser ranging mould
The horizontal distance of block detection image acquisition device and pipeline end face.
3. pipeline circularities automatic testing method according to claim 2, the method also includes using image collector
Set the Image Acquisition that align with tube end face center location carries out two end faces.
4. pipeline circularities automatic testing method according to claim 1, using end face overall diameter horizontal diameter and hang down
The ratio calculation of straight diameter, or the circle of the end face is obtained using the horizontal diameter of end face interior diameter and the ratio calculation of perpendicular diameter
Angle value.
5. pipeline circularities automatic testing method according to claim 1, the method also includes by two end faces of pipeline
Horizontal diameter be compared, determine the difference of two horizontal diameters；The perpendicular diameter of two end faces of pipeline is compared, really
The difference of fixed two perpendicular diameters；Whether met the requirements by two differences with the deviation for determining two end faces.
6. pipeline circularities automatic testing method according to claim 3, the localization method of pipeline end face center location are as follows:
Image collecting device positioning system is moved along pipeline end face perpendicular diameter direction, is made by optoelectronic switch to the reflected beams anti-
It answers, records the upper end edge and lower end edge of end face diameter inner circle or outer circle, then the central point of upper end edge and lower end edge is the end face
Center location.
7. pipeline circularities automatic testing method according to claim 5, the method also includes: two end faces of setting are inclined
Two end face deviation qualification threshold values of calculated two end face deviations and setting are compared, are sentenced by the qualified threshold range of difference
Whether disconnected two end face deviations are qualified.
8. pipeline circularities automatic testing method according to claim 4, the method also includes: set qualified circularities
Threshold range, calculated circularities are compared with the circularities qualification threshold value of setting, judge whether circularities qualified.
9. pipeline circularities automatic testing method according to claim 7 or 8, the method also includes: with audio signal
Mode prompt circularities and/or two end face deviations of pipeline whether qualified.
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| CN110631491A (en) * | 2019-09-12 | 2019-12-31 | 广州海狮软件科技有限公司 | Pipe measuring and calibrating method |
| CN113109240B (en) * | 2021-04-08 | 2022-09-09 | 国家粮食和物资储备局标准质量中心 | Method and system for determining imperfect grains of grains implemented by computer |
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