CN107289856A - A kind of method that pipeline dimensional orientation is measured based on cmos image sensor - Google Patents
A kind of method that pipeline dimensional orientation is measured based on cmos image sensor Download PDFInfo
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- CN107289856A CN107289856A CN201710322023.8A CN201710322023A CN107289856A CN 107289856 A CN107289856 A CN 107289856A CN 201710322023 A CN201710322023 A CN 201710322023A CN 107289856 A CN107289856 A CN 107289856A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The present invention provides a kind of method that pipeline dimensional orientation is measured based on cmos image sensor, including：LASER Light Source and cmos image sensor are arranged to the mechanical centering fixing end at universal joint two ends, and attenuator and bubble fluorescence ring are set between LASER Light Source and cmos image sensor, set laser and pipeline center's overlapping of axles that the initial position of LASER Light Source is located at pipeline center and sent；LASER Light Source is moved and cmos image sensor often moves a certain distance one two field picture of collection since initial position；Processing is carried out to the laser facula on the image of collection and bubble fluorescence ring and obtains the direction of laser spot bubble on the location of pixels and fluorescence ring of photosurface, and records the position of each laser spot center and fluorescence ring bubble；Each pixel spot center is switched into actual facula center physical location coordinate；Actual physical location coordinate, the direction of fluorescence ring bubble to spot center, the orientation curve of pipeline is fitted based on least square curve fit algorithm.
Description
Technical field
It is particularly a kind of that pipeline space side is measured based on cmos image sensor the present invention relates to a kind of gauge check technology
The method of position.
Background technology
In engineering survey, spatial angle measuring is very universal, particularly the spatial position measuring of pipeline.General pipeline track
Often there is larger difference with navigation designing track, the e measurement technology after being particularly completed is delayed, causes underground pipeline project to be completed
Work data and pipeline real space position coordinates error are larger, be unfavorable for underground pipeline construction and society utilizes.Therefore it is accurate
The underground space position for really grasping completion pipeline is particularly significant, and it is not only the index of evaluation engineering quality, and can be follow-up
The Trajectory Design of newly-built pipeline and construction provide foundation, to avoid pipeline from intersecting.
Tradition carries out pipe bending angular surveying and generally uses two ways：One is to use angel measuring instrument, such a mode
There is post-processing workload greatly in data acquisition, gathered data precision is low, and measuring point chooses affected by environment larger, discontinuous etc.
Shortcoming；Two be in walking in pipe, by the data of measurement by cable transmission to host computer using the detecting head based on electronic compass
Processing calculates three-dimensional track, but electronic compass is caused by that can be disturbed during cable transmission data by environmental magnetic field
Bearing data misalignment, measurement accuracy is reduced, therefore it is only applicable in the environment of magnetic interference without exception.
The content of the invention
It is an object of the invention to provide a kind of method that pipeline dimensional orientation is measured based on cmos image sensor, the party
Method is easy to operate, and measurement accuracy is higher.
This method comprises the following steps：Comprise the following steps：
Step 1, LASER Light Source and cmos image sensor are arranged to the mechanical centering fixing end at universal joint two ends, and swashed
Attenuator and bubble fluorescence ring are set between radiant and cmos image sensor, and the initial position of setting LASER Light Source makes its position
In pipeline center and the laser that sends and pipeline center's overlapping of axles；
Step 2, LASER Light Source is moved and cmos image sensor often moves a certain distance collection one since initial position
Two field picture；
Step 3, processing is carried out to the laser facula on the image of collection and bubble fluorescence ring and obtains laser spot photosensitive
The direction of bubble on the location of pixels and fluorescence ring in face, and record the position of each laser spot center and fluorescence ring bubble
Put；
Step 4, each pixel spot center is switched into actual facula center physical location coordinate；
Step 5, actual physical location coordinate to spot center, the direction of fluorescence ring bubble, it is bent based on least square method
Line fitting algorithm fits the orientation curve of pipeline.
The present invention gathers representation of laser facula based on cmos image sensor, and ingenious utilization laser spot center is on image
Displacement information be converted into pipeline space azimuth information.Compared with prior art, have the characteristics that：
(1) during detection, two mechanical centering structures effectively ensure LASER Light Source, attenuator, bubble fluorescence
Ring, the central axis of the center of cmos image sensor as far as possible with pipeline can measure angle of bend on same horizontal line
The bigger pipeline of degree.
(2) although laser emitting light beam collimation is fine, power is very big.If the illumination on photosurface is spent
Greatly, the output saturation of photoelectric receiving system will be caused and can not be worked.Prior art is swashed using imaging sensor collection mostly
The flare of light, and neutral density attenuator is used in the present invention, shoot laser is significantly decayed, made
Its transmissivity is extremely low.Therefore the collection requirement of cmos image sensor can be met.
(3) high-resolution cmos image sensor is used, precision and the range requirement of measurement can be efficiently met.
(4) existing electronic compass causes orientation by that can be disturbed during cable transmission data by environmental magnetic field
Data misalignment, measurement accuracy reduction.The present invention be based on image analysis processing, do not influenceed by surrounding conduit dense degree, not by
The influence of ambient electromagnetic radiation.
(5) bubble fluorescence ring can be imaged on cmos image sensor, the gas on fluorescence ring that can see from image
The position of bubble.Due to center of gravity of earth graviational interaction, bubble direction is all directed towards top forever.By the current direction of bubble, so that it may
To judge the direction of pipe bending.
(6) the design is easy to use, and measurement accuracy is high, and equipment is light, and has the characteristics of usability methods are flexible.
The present invention is described further with reference to Figure of description.
Brief description of the drawings
Fig. 1 is the inventive method flow chart.
Fig. 2 is detecting a laser beam schematic diagram of the present invention.
Fig. 3 is inventive pipeline spatial distribution detection means schematic diagram.
Fig. 4 is laser facula of the present invention and bubble fluorescence ring imaging model figure.
Fig. 5 is curve matching schematic diagram of the present invention.
Embodiment
With reference to Fig. 1, a kind of method that pipeline dimensional orientation is measured based on cmos image sensor, what LASER Light Source was launched swashs
Light beam passes through neutral density attenuator, through bubble fluorescence ring, is imaged on cmos image sensor.Via image data acquiring
Processing system, laser facula and bubble fluorescence ring image to acquisition are analyzed and handled, including gray proces, it is adaptive in
Value filtering, maximum kind differences method obtain binary image, then calculate laser spot in photosurface using grey scale centre of gravity method
Bubble position on location of pixels and fluorescence ring.With Coordinate Conversion, pixel spot center is switched into actual physics spot center.When fixed
Center device often advances a step-length pause once, reads the position of laser facula at this position.By that analogy, obtain in pipeline
The position of multiple measurement points, and then fit the dimensional orientation curve of whole piece pipeline.With reference to Fig. 1, following steps are specifically included：
Step 1, LASER Light Source and cmos image sensor are arranged to the mechanical centering fixing end at universal joint two ends, and swashed
Attenuator and bubble fluorescence ring are set between radiant and cmos image sensor, and the initial position of setting LASER Light Source makes its position
In pipeline center and the laser that sends and pipeline center's overlapping of axles；
Step 2, LASER Light Source is moved and cmos image sensor often moves a certain distance collection one since initial position
Two field picture；
Step 3, processing is carried out to the laser facula on the image of collection and bubble fluorescence ring and obtains laser spot photosensitive
The direction of bubble on the location of pixels and fluorescence ring in face, and record the position of each laser spot center and fluorescence ring bubble
Put；
Step 4, each pixel spot center is switched into actual facula center physical location coordinate；
Step 5, actual physical location coordinate to spot center, the direction of fluorescence ring bubble, it is bent based on least square method
Line fitting algorithm fits the orientation curve of pipeline.
Equipment is chosen to be included with installation：
In field of machine vision, the resolution ratio of cmos image sensor is bigger, and the precision reached is higher, but picture size
Cross conference influence to calculate and transmit, it is critically important to select suitable resolution ratio.Present invention contemplates that precision can reach 10-3M, then will
At least pixel is asked to reflect 10-3M, the 300W selected here cmos pixel camera, resolution ratio is 2048*1536.Laser light
Small-sized He-Ne laser is selected in source, and its rated power is 4.0mW, and rated current is 6.0mA.According to measuring principle figure, bag
Two centering machines are included, two centering machines distinguish fixed two fixing ends, and two fixing ends are connected by universal joint,
One of fixing end fixes IMAQ and the transmission equipments such as a cmos image sensor, constitutes fixing end so that CMOS
Video camera can obtain whole pictures rich in detail of receiving surface.Another fixing end fixes a laser, constitutes laser and fixes
End.The laser beam that laser is projected is fallen on the image sensor by attenuator and bubble fluorescence ring.When centring means often advances
Certain distance, cmos image sensor can all gather image.
Following pre- place is carried out to the image of collection before the position of laser spot center and fluorescence ring bubble is obtained
Reason：
Proposed by the invention based in, mainly use OpenCV first will just to image to the pretreatment for obtaining image
Beginning image is converted into gray level image, and adaptive median filter, maximum kind differences method are carried out afterwards and obtains binary image, final figure
As the profile of the upper round spot profile and fluorescence ring for only remaining laser spots.Shooting is first opened using the VideoCapture in OpenCV
Head, this class is the class for handling video file or camera video stream, can control opening and the closing of camera, utilizes
cap>>Frame, can read in video flowing hardware platform, and be stored in matrix frame, so as to each two field picture in video
Handled.Because the video that camera is gathered in the present invention is colour, gray level image, RGB should be first processed into during processing
The grey image R of form, tri- components of G, B are all equal, and equal to gray value.In OpenCV, realize RGB color to ash
The function declaration of the conversion of degree figure is：CvCvtColor (const CvArr*src, CvArr*dst, int code), Ji Jiangyuan
Image src is converted into dst, and code represents color space conversion parameter, each color image frame of this function pair can be used to carry out
Gradation conversion.Specific function is embodied as cvtColor (frame, edges, CV_BGR2GRAY), and wherein frame is original image,
Edges is gray level image.Image denoising is the step commonly used in image preprocessing, and conventional Image denoising algorithm has adaptive
Answer medium filtering, gaussian filtering etc..Wherein adaptability medium filtering is more suitable for the white point of mutation or this spiced salt of stain
Noise.Picture noise is mainly derived from image and obtained and transmitting procedure, and common noise has additive noise, multiplicative noise, quantization
Noise and salt-pepper noise etc..Therefore, the present invention eliminates noise using adaptive median filter.OTSU algorithms are also referred to as maximum kind
Differences method, sometimes referred to as Otsu algorithm.Otsu uses the thought of cluster, and the grey of image is divided into by gray level
2 parts so that the grey value difference between two parts is maximum, the gray difference between each part is minimum, passes through variance
Calculating divided to find a suitable grey level.So can when binaryzation using otsu algorithms come automatic
Selected threshold carries out binaryzation.Otsu algorithms are considered as the optimal algorithm that threshold value is chosen in image segmentation, calculate simple, not by
The influence of brightness of image and contrast.In OpenCV binarization operation, use function otsu (IplImage*src)) make image
Become binary image.
Position of Laser-Spot Center Coordinate Conversion is specifically included：The location of pixels of laser spot, present invention weight are calculated first
Heart method is a kind of interior zone representation, it is assumed that the bianry image containing laser round spot contour area is g (i, j) then laser round spots
Centre coordinate, can be by formula
Obtain the center i.e. laser spots center of whole image white pixel point.Wherein i, j are respectively image slices
The column locations of element, M, N are respectively the pixel ranks sum of image.
Coordinate Conversion is carried out again, and formula used is：
Wherein, (xd,yd) be laser spot centre coordinate, (u, v) be hot spot actual physics coordinate system coordinate, dx, dy
For physical size of the pixel on pixel coordinate axle, θ is the angle between two reference axis of pixel coordinate system.
The known each pixel physical size size of cmos image sensor is 4.7*10-5M, two reference axis of pixel coordinate system
Between angle be θ≤90 °.Then real space physical location coordinate is as shown in the table, and unit is m.
| Change coordinate | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
| x/m | 0.100 | 0.435 | 0.756 | 1.108 | 1.501 | 2.103 | 2.443 | 2.926 |
| y/m | 0.199 | 0.789 | 1.344 | 1.991 | 2.497 | 2.773 | 3.075 | 3.319 |
Step 4：Curve matching and flat orientation are rebuild
Least square method (also known as least squares method) is a kind of mathematical optimization techniques.It is by minimizing the quadratic sum of error
Find the optimal function matching of data.Unknown data can be easily tried to achieve using least square method, and these are tried to achieve
Data and real data between error quadratic sum for minimum.Using matlab functions polyfit (x, y, n), x, y are data
Point, n is polynomial order, and return p is the system of polynomials number vector p of power from high to low.X must be dull.Matrix s is used for
Generate the estimation error of predicted value.Polynomial curve value finding function：Polyval (p, x) returns to correspondence independent variable x in given coefficient
P polynomial value.According to upper table, the flat orientation figure of pipeline can be obtained using matlab least square curve fits.
Claims (4)
1. a kind of method that pipeline dimensional orientation is measured based on cmos image sensor, it is characterised in that comprise the following steps：
Step 1, LASER Light Source and cmos image sensor are arranged to the mechanical centering fixing end at universal joint two ends, and laser light
Attenuator and bubble fluorescence ring are set between source and cmos image sensor, and the initial position of setting LASER Light Source is located at pipe
Road center and the laser and pipeline center's overlapping of axles sent；
Step 2, LASER Light Source is moved and cmos image sensor often moves a certain distance one frame figure of collection since initial position
Picture；
Step 3, processing is carried out to the laser facula on the image of collection and bubble fluorescence ring and obtains laser spot in photosurface
The direction of bubble on location of pixels and fluorescence ring, and record the position of each laser spot center and fluorescence ring bubble；
Step 4, each pixel spot center is switched into actual facula center physical location coordinate；
Step 5, actual physical location coordinate to spot center, the direction of fluorescence ring bubble, are intended based on least square method curve
Hop algorithm fits the orientation curve of pipeline.
2. according to the method described in claim 1, it is characterised in that cmos image sensor is centrally located at the central shaft of pipeline
On.
3. according to the method described in claim 1, it is characterised in that the detailed process of step 3 is：
Step 3.1, the image of collection is subjected to gray proces, binary conversion treatment and obtains including the round spot profile of laser spot and glimmering
The image g (i, j) of the profile of the ring of light；
Step 3.2, the centre coordinate (x of laser spot is obtained based on gravity model appoachd,yd)
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Wherein, i, j are respectively the column locations of image pixel, and M, N are respectively the pixel ranks sum of image.
4. according to the method described in claim 1, it is characterised in that the detailed process of step 4 is：
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| CN108844463A (en) * | 2018-06-12 | 2018-11-20 | 南京理工大学 | Underground piping dimensional orientation measuring system and method based on laser spot position |
| CN109708574A (en) * | 2019-02-25 | 2019-05-03 | 河北科技大学 | Pipeline bulk measuring system |
| CN111523607A (en) * | 2020-04-29 | 2020-08-11 | 成都国铁电气设备有限公司 | Method and system for detecting abnormity of catenary dropper |
| CN112782779A (en) * | 2021-02-04 | 2021-05-11 | 上海洋深市政工程有限公司 | Underground pipeline positioning device and method |
| CN114460008A (en) * | 2022-02-16 | 2022-05-10 | 西南石油大学 | Wellhead foam detection device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108844463A (en) * | 2018-06-12 | 2018-11-20 | 南京理工大学 | Underground piping dimensional orientation measuring system and method based on laser spot position |
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| CN109708574B (en) * | 2019-02-25 | 2020-08-14 | 河北科技大学 | Pipeline space dimension measuring system |
| CN111523607A (en) * | 2020-04-29 | 2020-08-11 | 成都国铁电气设备有限公司 | Method and system for detecting abnormity of catenary dropper |
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| CN114460008A (en) * | 2022-02-16 | 2022-05-10 | 西南石油大学 | Wellhead foam detection device and method |
| CN114460008B (en) * | 2022-02-16 | 2023-11-21 | 西南石油大学 | Wellhead foam detection device and method |
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Application publication date: 20171024 |