CN107796821B - A kind of pipe crack detection method using laser ranging - Google Patents
A kind of pipe crack detection method using laser ranging Download PDFInfo
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- CN107796821B CN107796821B CN201710953608.XA CN201710953608A CN107796821B CN 107796821 B CN107796821 B CN 107796821B CN 201710953608 A CN201710953608 A CN 201710953608A CN 107796821 B CN107796821 B CN 107796821B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention is related to pipeline inspection technology field, more particularly to a kind of underground caliber is more than 1 meter of pipe crack detection method, the distance of filming apparatus to tube wall is measured by laser range finder, practical spacing of the laser facula on tube wall is calculated, by image procossing, the pixel distance of the pixel distance and target defect on defect image between laser facula is obtained, finally obtains the size of target defect using the transformational relation of pixel distance and actual distance.The present invention corrects the theoretical distance of given laser facula by measuring filming apparatus to the distance of tube wall, to improve the accuracy of calibration.Meanwhile the detection speed and precision of pipe crack are improved instead of the method for manual measurement Size of Crack in engineering using the method for image procossing.Pipeline crack detection method of the present invention efficiently solves the error problem of underground piping Crack Detection.
Description
Technical field
The present invention relates to underground piping detection fields, and in particular to a kind of underground piping crack detection method.
Background technology
Crack is the most common damage of underground piping, and the Size of Crack in underground piping is the mark of underground piping life appraisal
One of standard, the detection of fracture are the technical barriers for having generality.Existing Crack Detection means mainly have：Image procossing,
The methods of ultrasound examination.Ultrasonic Detection Method is confined to detection surface appearance, the detection result when detection surface is more smooth
Preferably, the underground piping of out-of-flatness is difficult to reach ideal detection result；Image procossing testing requirements crack, which has, compares
High contrast and preferable continuity, however in the underground piping of operating mode complexity, single can not be ensured using image procossing
The accuracy of Crack Detection.
In the engineering application of underground piping detection at present, mainly by means of the laser progress mounted on photographic device both sides
Detection.Clipping room, when photographic device acquires rift defect image, can emit two beam laser beams away from two certain lasers
It is irradiated on tube wall, can form two laser faculas on target defect image, then target defect and laser facula are carried out pair
Than obtaining the length of target defect.The error of hot spot spacing directly affects the quality of detection in visual defects image.Laser facula
The error source of spacing, it is curved surface and filming apparatus not perpendicular to tube wall surface mainly to detect surface, is more than 1 in detection caliber
When the pipeline of rice, the pipeline crack region that filming apparatus obtains is similar to plane, and the error of defects detection is primarily due at this time
Filming apparatus fails vertically to shoot.When actually obtaining defect image, two beam laser of laser range finder transmitting are not vertically to shine
Penetrate tube wall, the spacing of the two dot laser hot spots formed on tube wall changes, not equal to laser range finder installation calibration away from
From d.When filming apparatus shooting direction (closer to vertical tube wall) smaller with the angle of tube wall vertical direction, laser facula spacing
Error is smaller (mounting distance of the laser facula spacing closer to laser range finder)；When filming apparatus shooting direction is vertical with tube wall
When the angle in direction is bigger, range error is bigger (laser facula spacing is bigger compared with mounting distance) between laser facula.
In engineering application, target defect length is to carry out setting-out measurement, first defect using the paintbrush on upper computer software
Image is not excluded the influence that other impurities detect target defect and is existed then by the way of paintbrush without image procossing
Manual operation error.
In Practical Project measurement, the testing result with error can bring sternly the maintenance of underground piping and life appraisal
Ghost image is rung, therefore the accuracy for improving pipe crack detection is of great significance to the maintenance of underground piping, improves pipe
Road Crack Detection accuracy can be improved in terms of following two：On the one hand take laser ranging mode that laser facula is calculated
Spacing；On the other hand it is measured instead of artificial setting-out using image processing method.
Invention content
The technical problems to be solved by the invention are exactly overcome the deficiencies in the prior art, for lacking in engineering practice pair
Underground piping crack is efficient, accurate measurement method, proposes a kind of pipe crack detection method using laser ranging.
In order to solve the above technical problems, the present invention provides a kind of fast and accurately underground piping crack detection method, specifically
Steps are as follows：
Step 1, pipe crack is shot twice using picture pick-up device, obtains the crack image shot twice, camera shooting
Laser range finder is installed in the both sides of equipment respectively, and spacing d, the data of recording laser stadia surveying, realization method is as follows,
When note is shot for the first time, picture pick-up device is in initial position, and laser range finder position is respectively A, B at this time, with two
Laser range finder symmetrical centre is that O points establish rectangular coordinate system in space, and it is x-y plane, Laser Measuring to be parallel to picture pick-up device plane
Distance meter beam direction is the directions z, and x-axis is laser range finder installation site AB lines direction, and y-axis is to connect perpendicular to AB by O points
Line direction, the distance that laser range finder measures are the laser facula that is irradiated on tube wall to the distance of laser range finder, Laser Measuring
It is A that distance meter, which is radiated at the laser light spot on tube wall,1、B1, laser range finder display distance is respectively l1、l2；Second of shooting
When, picture pick-up device rotates in a circumferential direction 90 ° on the basis of initial position and shoots, and laser range finder position becomes A ', B ', at this time laser
It is A that rangefinder, which is radiated at the laser light spot on tube wall,2、B2, laser range finder display distance difference l '1、l′2；
Step 2, according to the clipping room between two laser range finders away from and the distance that measures of laser range finder, calculate
The practical spacing of laser facula on to shooting image, wherein the spacing of shooting laser facula is for the first time,
The spacing of second shooting laser facula is,
Step 3, extract respectively two tension fissure images, 2 hot spot spacing the directions x pixel distance nx, picture in the directions y
Element distance ny, and extract the pixel distance N that defect crack is detected on any one tension fissure image in the directions xx, in the directions y
Ny；
Step 4, the spacing d according to the laser facula being calculated in the direction x, yx、dyAnd it laser facula spacing and splits
Stitch the pixel distance n in target direction x, y on shooting imagex、ny、Nx, Ny, obtain the length of crack target, realization method is such as
Under,
Length of the crack in the directions x is,
Length of the crack in the directions y is,
Finally, the length for calculating crack is,
Further, the pixel distance n in the directions x of two images, 2 hot spot spacing is extracted in step 3 respectivelyx, in y
The pixel distance n in directionyRealization method it is as follows,
Step 311, the crack image shot twice is subjected to binary conversion treatment respectively, only retains laser facula；
Step 312, spot center extraction is carried out to the image of above-mentioned steps, laser is solved using extraction connected region barycenter
The laser facula barycenter pixel point coordinates A of image twice is extracted in spot center position respectively1(x1,y1)、B1(x2,y2) and A2(x3,
y3)、B2(x4,y4), calculate the pixel distance n between laser faculax、ny,
nx=| x1-x2|
ny=| y3-y4|。
Further, the pixel distance that defect crack is detected on any one tension fissure image in the directions x is extracted in step 3
Nx, N in the directions yyRealization method it is as follows,
Step 321, it sets entire crack image to ROI region, and uses gaussian pyramid decomposition fracture figures
As carry out upwards, to down-sampling, Gaussian convolution then is carried out to enhance edge with the filter specified to obtained image；
Step 322, Canny edge detections are carried out to above-mentioned steps treated image, cvFindContours letters is used in combination
Number retrieves profile from Canny treated bianry images；
Step 323, polygonal segments profile, and outlining are carried out to above-mentioned steps treated image, passed through
CvPoint exports four vertex pixel coordinate values, is denoted as upper left, upper right, lower-left, 4 points of bottom right according to position, takes upper left and the right side
Upper 2 points of midpoint is denoted as the upper vertex in target crack, and the midpoint of 2 points of lower-left and bottom right is taken to be denoted as the lower vertex in target crack,
The pixel coordinate on the upper and lower vertex in target crack is (x5,y5)、(x6,y6), calculate the pixel distance N in target crackx, Ny,
Nx=| x5-x6|
Ny=| y5-y6|。
Further, the picture pick-up device is assemblied on the included holder of robot, on picture pick-up device is realized on holder
Lower pitch rotation and 360 ° rotate in a circumferential direction.
Compared with prior art, the present invention has advantageous effect：
(1) present invention proposes a kind of underground piping crack detection method using laser ranging, by measuring filming apparatus
The spacing that given laser facula is corrected to the distance of tube wall improves the accuracy of laser facula spacing on defect image；
(2) method that the method for using image procossing replaces manual measurement Size of Crack in engineering, improves pipe crack
Detection speed and precision.
(3) pipeline crack detection method of the present invention efficiently solves the error problem of underground piping Crack Detection.
Description of the drawings
Fig. 1 is flow chart of the embodiment of the present invention；
Fig. 2 is that space coordinates schematic diagram is established in the embodiment of the present invention；
Fig. 3 is to shoot defect of pipeline crack camera in the embodiment of the present invention to rotate 2 schematic diagrames；
Fig. 4 be in the embodiment of the present invention Laser Measuring stadia surveying apart from schematic diagram；
Fig. 5 is 2 shooting figures of detected object in the embodiment of the present invention, the crack image of (a) shooting for the first time, (b)
The crack image of second of shooting；
Fig. 6 is extraction laser facula pixel distance processing result image figure, (a) first time shooting figure in the embodiment of the present invention
As processing figure, (b) second of shooting image procossing figure；
Fig. 7 is extraction target defect pixel distance result figure in the embodiment of the present invention, and (a) shoots image procossing for the first time
Figure, (b) the crack image procossing figure of second of shooting；
Fig. 8 is experimental result picture in the embodiment of the present invention.
Specific implementation mode
Technical scheme of the present invention is described further with reference to the accompanying drawings and examples.
Present embodiment is in the long 90mm of defect target, and the clipping room of laser range finder calibration is away from for d=39.5mm
Experiment condition under carry out experiment test.
Fig. 1 be the present invention using laser ranging mode to the flow chart that is detected to pipe crack：
Step 1：Pipe crack is shot twice, obtains corresponding crack image (as shown in Figure 5), and recording laser
The data of stadia surveying.
The acquisition of underground piping crack image is based primarily upon the robot of assembly picture pick-up device, and robot can be in pipeline
Realize and advance, retreat, turn left and turn right, picture pick-up device is assemblied on the included holder of robot, holder can oscilaltion, take the photograph
As equipment may be implemented up and down that pitch rotation and 360 ° rotate in a circumferential direction on holder.
As shown in Fig. 2, there are two laser range finder, two laser range finders and camera shootings for dress at left and right sides of the picture pick-up device
Machine movement center is in a center of symmetry, and two beam laser range finder clipping rooms are away from for d, laser range finder direction of illumination and camera shooting side
It to identical, when fixed point shoots pipe crack every time, shoots at twice, is photographic device for the first time without the movement that rotates in a circumferential direction
When (i.e. photographic device is in original state), laser range finder position is respectively A, B at this time, with two laser range finders it is symmetrical in
The heart is that O (i.e. AB lines midpoint) points establish rectangular coordinate system in space, and it is x-y plane, laser ranging to be parallel to filming apparatus plane
Instrument beam direction is the directions z.X-axis is laser range finder installation site AB lines direction, and y-axis is to pass through O points in camera plane
The distance measured perpendicular to AB lines direction laser range finder be the laser facula that is irradiated on tube wall to laser range finder away from
From.It is A that laser range finder, which is radiated at the laser light spot on tube wall, at this time1、B1, laser range finder display distance is respectively l1、
l2, second of camera rotate in a circumferential direction 90 ° on the basis of initial position and shoot, and laser range finder position becomes A ', B ', swashs at this time
It is A that optar, which is radiated at the laser light spot on tube wall,2、B2, measure distance difference l '1、l′2, as shown in Figure 3 and Figure 4.
Fig. 5 is the measured target image of experiment shooting, and left figure is first time shooting figure, and right figure is camera by being rotated by 90 °
Second of shooting figure later, the shooting twice are that photographic device rotates by a certain angle, and rift defect is in camera shooting dress twice
Set in acquired image be laser point position change, the position shape of rift defect does not change.
Step 2：Obtained distance is measured according to each shooting, obtains the spacing d of laser faculax、dy。
Filming apparatus can not possibly differ when obtaining crack image perpendicular to tube wall, the distance that two laser range finders measure, root
According to two laser range finder clipping rooms away from laser ranging obtain distance l1、l2, can be calculated between the reality of laser facula
Away from.The spacing of shooting laser facula is for the first time：
The spacing of shooting laser facula is for the second time：
Step 3：The image procossing of crack image is mainly the extraction to object pixel distance, is divided into laser facula and defect
The pixel distance of target extracts the pixel distance n of two images, 2 hot spots respectivelyx(obtain at 2 points by first time shooting image
Distance of the hot spot in the directions x), ny(distance by second of shooting image 2 hot spot of acquisition in the directions y), and extract any one
Open the pixel distance N that defect crack is detected on imagex(length of crack in the x direction), Ny(the length of crack in y-direction
Degree).In the step 3), handling result is as shown in Figure 6 to be as follows to the image procossing of laser facula：
Step 311：Crack image is subjected to binary conversion treatment, only retains laser facula；
Step 312：Spot center extraction is carried out to the image of above-mentioned steps, laser is asked using extraction connected region barycenter
Spot center position.The laser facula barycenter pixel point coordinates A of image twice is extracted respectively1(x1,y1)、B1(x2,y2) and A2(x3,
y3)、B2(x4,y4) calculate pixel distance n between laser faculax、ny；
nx=| x1-x2|
ny=| y3-y4|
The image procossing in target crack is as follows that handling result is as shown in Figure 7：
Step 321：It sets entire crack image to ROI region, uses gaussian pyramid decomposition fracture images
Carry out upwards, to down-sampling, Gaussian convolution then is carried out to enhance edge with the filter specified to obtained image；
Step 322：Canny edge detections are carried out to above-mentioned steps treated image, cvFindContours letters are used in combination
Number retrieves profile from Canny treated bianry images；
Step 323：Polygonal segments profile (cvApproxPoly) is carried out to above-mentioned steps treated image, and is described
Profile passes through cvPoint, that is, exportable four vertex (being denoted as upper left, upper right, lower-left, 4 points of bottom right according to position) pixel coordinate
Value, takes upper left and the midpoint of 2 points of upper right to be denoted as the upper vertex of target defect, lower-left and the midpoint of 2 points of bottom right is taken to be denoted as target
The pixel coordinate on the lower vertex of defect, the upper and lower vertex in target crack is (x5,y5)、(x6,y6), calculate the pixel in target crack away from
From Nx、Ny；
Nx=| x5-x6|
Ny=| y5-y6|
Step 4：Spacing d according to the laser facula being calculated in the direction x, yx、dyAnd laser facula spacing and crack
The pixel distance n in the target direction x, y on the imagex、ny、Nx、Ny, find out the length scale of crack target.
In the step 4), length of the practical crack in the directions x (two hot spot line directions when shooting for the first time)：
Length of the crack in the directions y (two hot spot line directions when second of shooting)：
Finally, the length for calculating crack is：
The fracture length measured using the method for the present invention and the target fracture length phase detected without laser ranging
Compare, Fig. 8 is experimental result data figure, and wherein D1 indicates the target defect length detected without laser ranging (with bat
The shooting direction for taking the photograph device is related), D2 indicates that the target defect length detected by the method for the present invention, Δ are indicated using this
The reduction amount (Δ=| D2-D1 |) of error after inventive method.θ is the folder of the camera plane and target defect plane of filming apparatus
Angle, θ indicate filming apparatus shooting direction perpendicular to target defect plane for 0, and θ is bigger, and expression filming apparatus shooting direction is more inclined
Tiltedly.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (4)
1. a kind of underground piping crack detection method using laser ranging, which is characterized in that include the following steps：
Step 1, pipe crack is shot twice using picture pick-up device, obtains the crack image shot twice, picture pick-up device
Both sides laser range finder is installed respectively, spacing d, the data of recording laser stadia surveying, realization method is as follows,
When note is shot for the first time, picture pick-up device is in initial position, and laser range finder position is respectively A, B at this time, with two laser
The symmetrical centre of rangefinder is that O points establish rectangular coordinate system in space, and it is x-y plane, laser ranging to be parallel to picture pick-up device plane
Instrument beam direction is the directions z, and x-axis is laser range finder installation site AB lines direction, and y-axis is by O points perpendicular to AB lines
Direction, the distance that laser range finder measures are the laser facula that is irradiated on tube wall to the distance of laser range finder, laser ranging
It is A that instrument, which is radiated at the laser light spot on tube wall,1、B1, laser range finder display distance is respectively l1、l2；When second of shooting,
Picture pick-up device rotates in a circumferential direction 90 ° on the basis of initial position and shoots, and laser range finder position becomes A ', B ', at this time Laser Measuring
It is A that distance meter, which is radiated at the laser light spot on tube wall,2、B2, laser range finder display distance difference l '1、l′2；
Step 2, according to the clipping room between two laser range finders away from and the distance that measures of laser range finder, bat is calculated
The practical spacing of laser facula on image is taken the photograph, wherein the spacing of shooting laser facula is for the first time,
The spacing of second shooting laser facula is,
Step 3, extract respectively two tension fissure images, 2 hot spot spacing the directions x pixel distance nx, the directions y pixel away from
From ny, and extract the pixel distance N that defect crack is detected on any one tension fissure image in the directions xx, N in the directions yy；
Step 4, the spacing d according to the laser facula being calculated in the direction x, yx、dyAnd laser facula spacing and crack mesh
It is marked on the pixel distance n in the direction x, y on shooting imagex、ny、Nx、Ny, the length of crack target is obtained, realization method is as follows,
Length of the crack in the directions x is,
Length of the crack in the directions y is,
Finally, the length for calculating crack is,
2. a kind of underground piping crack detection method using laser ranging as described in claim 1, it is characterised in that：Step
The pixel distance n in the directions x of two images, 2 hot spot spacing is extracted in 3 respectivelyx, pixel distance n in the directions yyRealization
Mode is as follows,
Step 311, the crack image shot twice is subjected to binary conversion treatment respectively, only retains laser facula；
Step 312, spot center extraction is carried out to the image of above-mentioned steps, laser facula is solved using extraction connected region barycenter
The laser facula barycenter pixel point coordinates A of image twice is extracted in center respectively1(x1, y1)、B1(x2, y2) and A2(x3, y3)、
B2(x4, y4), calculate the pixel distance n between laser faculax、ny,
nx=| x1-x2|
ny=| y3-y4|。
3. a kind of underground piping crack detection method using laser ranging as claimed in claim 2, it is characterised in that：Step
The pixel distance N that defect crack is detected on any one tension fissure image in the directions x is extracted in 3x, N in the directions yyRealization side
Formula is as follows,
Step 321, set entire crack image to ROI region, and using gaussian pyramid decomposition fracture images into
Row upwards, to down-sampling, Gaussian convolution then is carried out to enhance edge with the filter specified to obtained image；
Step 322, Canny edge detections are carried out to above-mentioned steps treated image, be used in combination cvFindContours functions from
Profile is retrieved in Canny treated bianry images；
Step 323, polygonal segments profile, and outlining are carried out to above-mentioned steps treated image, it is defeated by cvPoint
Go out four vertex pixel coordinate values, upper left, upper right, lower-left, 4 points of bottom right are denoted as according to position, taken in 2 points of upper left and upper right
Point is denoted as the upper vertex in target crack, and the midpoint of 2 points of lower-left and bottom right is taken to be denoted as the lower vertex in target crack, on target crack,
The pixel coordinate on lower vertex is (x5, y5)、(x6, y6), calculate the pixel distance N in target crackx、Ny,
Nx=| x5-x6|
Ny=| y5-y6|。
4. a kind of underground piping crack detection method using laser ranging as described in claim 1, it is characterised in that：It is described
Picture pick-up device is assemblied on the included holder of robot, and picture pick-up device realizes pitch rotation up and down and 360 ° of circumferential rotations on holder
Turn.
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| CN108931195A (en) * | 2018-07-25 | 2018-12-04 | 广州徕创工程勘测有限公司 | A kind of pipe crack detection device and method |
| CN109186487A (en) * | 2018-08-17 | 2019-01-11 | 芜湖安普机器人产业技术研究院有限公司 | A kind of pipeline ovality automatic checkout equipment and its detection method |
| CN109506133A (en) * | 2018-11-09 | 2019-03-22 | 深圳市施罗德工业测控设备有限公司 | A kind of pipeline positioning device, system and method |
| CN110738646A (en) * | 2019-10-12 | 2020-01-31 | 北京城市排水集团有限责任公司 | automatic identification method for pipeline breakage |
| CN110794389B (en) * | 2019-11-18 | 2023-02-28 | 淮阴工学院 | Image processing-based non-contact distance measurement method |
| CN111856496A (en) * | 2020-07-07 | 2020-10-30 | 武汉中仪物联技术股份有限公司 | Pipeline detection method and pipeline detection device |
| CN113581080B (en) * | 2021-08-18 | 2022-07-15 | 苏州双福智能科技有限公司 | Reversing blind area auxiliary display device for new energy automobile |
| CN113884011A (en) * | 2021-09-16 | 2022-01-04 | 刘逸 | Non-contact concrete surface crack measuring equipment and method |
| CN117646828B (en) * | 2024-01-29 | 2024-04-05 | 中国市政工程西南设计研究总院有限公司 | Device and method for detecting relative displacement and water leakage of pipe jacking interface |
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| TW201418662A (en) * | 2012-11-15 | 2014-05-16 | Nat Applied Res Laboratories | Remote crack measurement method and device thereof |
| CN203479260U (en) * | 2013-08-30 | 2014-03-12 | 中国科学院西安光学精密机械研究所 | Railway tunnel crack width measuring instrument |
| CN106018411A (en) * | 2016-05-09 | 2016-10-12 | 广州市九州旗建筑科技有限公司 | Crack width measuring and computing method and measuring device |
| CN106053475B (en) * | 2016-05-24 | 2018-10-23 | 浙江工业大学 | Tunnel defect tunneling boring dynamic device for fast detecting based on active panoramic vision |
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