CN110260813A - Bend pipe amount of deflection laser detecting method based on ccd image processing - Google Patents
Bend pipe amount of deflection laser detecting method based on ccd image processing Download PDFInfo
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- CN110260813A CN110260813A CN201910428701.8A CN201910428701A CN110260813A CN 110260813 A CN110260813 A CN 110260813A CN 201910428701 A CN201910428701 A CN 201910428701A CN 110260813 A CN110260813 A CN 110260813A
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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
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0025—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of elongated objects, e.g. pipes, masts, towers or railways
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Quality & Reliability (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of bend pipe amount of deflection laser detecting methods based on ccd image processing, laser is mounted on positioning mechanism first and is placed in pipe fitting side, and positioning mechanism and pipe fitting external cylindrical surface cooperate, it is ensured that the collimated light beam that laser issues is perpendicular to bend pipe end face；The reception device that cross drone, CCD camera form is mounted in packaging system, wherein, cross drone is kept and CCD camera is coaxial, and it is located in the focal range of CCD camera, its outer wall and packaging system internal wall transitions cooperate, and complete the connection of laser, CCD camera, image pick-up card, computer, cable between controller；Then after radiating laser beams are stablized, by the target center and laser beam of computer control CCD camera acquisition cross drone in the imaging facula of cross drone, computer carries out image procossing after acquiring image；Finally calculate bending deflection and direction.The present invention solves the problems, such as that pipe fitting straight line degree measurement process existing in the prior art is complicated, poor accuracy.
Description
Technical field
The invention belongs to pipe fitting Linearity surveying technical fields, and in particular to it is a kind of based on ccd image processing bend pipe scratch
Spend laser detecting method.
Background technique
Since pipe structure has, intensity, rigidity are high, and the characteristics of saving material, good appearance, while having preferably
Forming performance.It is widely used in aerospace, ship, vehicle, petrochemical industry, building, medical instrument and pressure and holds
The fields such as device to meet the High-strength light-weights of industrial components, high-performance complicates development trend and requirement.Pipe fitting straightness is made
It not only will affect its properties of product, also direct relation if straightness is not able to satisfy requirement for the important geometric parameter of pipe fitting
To industrial equipment using safe.The measurement of pipe fitting straightness has two aspects to require: first is that accuracy requirement, i.e. measurement result must
Certain credibility must be reached；Second is that cost-effectiveness requirement should be such that measurement ties that is, under the premise of guaranteeing measurement result accuracy
Fruit is simple, economical.
Straight line degree measurement has lever method, piston method, method of laser alignment etc. using more method both at home and abroad at present.They
It is all a kind of offline contact or non-cpntact measurement, and measurement process is complicated.In recent years, due to the development of machine vision technique
And utilization, in automatic chemical conversion produces, it is just becoming one and is improving production efficiency and ensure the important technology of product quality, industry hair
Up to country by this Technology application in production detection and machining control field.Machine vision detection method refers to and uses CCD camera
For imaging sensor, the contactless two dimension formed in conjunction with technologies such as image procossing, artificial intelligence and accurate measurements or three-dimensional
Measurement.
Summary of the invention
The object of the present invention is to provide a kind of bend pipe amount of deflection laser detecting methods based on ccd image processing, solve existing
There is the problem of complicated pipe fitting straight line degree measurement process present in technology, poor accuracy.
The technical scheme adopted by the invention is that a kind of bend pipe amount of deflection laser detecting method based on ccd image processing, tool
Body follows the steps below to implement:
Step 1, first laser is mounted on positioning mechanism are placed in pipe fitting side, and positioning mechanism and pipe fitting external cylindrical surface
Cooperation, it is ensured that the collimated light beam that laser issues is perpendicular to bend pipe end face；
The reception device that cross drone, CCD camera form is mounted in packaging system by step 2, wherein cross drone
It keeps and CCD camera is coaxial, and be located in the focal range of CCD camera, outer wall and packaging system internal wall transitions cooperate.
Step 3, the connection for completing laser, CCD camera, image pick-up card, computer, cable between controller；
After step 4, radiating laser beams are stablized, by the target center and laser beam of computer control CCD camera acquisition cross drone
In the imaging facula of cross drone, computer carries out image procossing after acquiring image；
Step 5 calculates bending deflection and direction.
The features of the present invention also characterized in that
Cross drone collects in the focal range of CCD camera, and through the focusing process to CCD camera in step 2
Clear and accurate image.
Image procossing is specifically implemented according to the following steps in step 4:
Step 4.1, target center search, the pixel coordinate (u, v) of cross drone target center is obtained using searching algorithm；
Step 4.2, sizing calibration read the distance between practical two graduation marks of cross drone d and corresponding acquisition figure
The pixel distance d between two scales of cross drone as in0, d and d0Ratio, that is, image in unit pixel actual physics space length
Degree；
Step 4.3, offset calculate, pixel-shift amount (Δ u, Δ v) acquisition according to the point of hot spot on the image away from target center
Spatially (Δ x, Δ y) show that actual facula point deviates the linear of cross target center to offset of the hot spot point away from target center to actual physics
Distance BP, i.e., are as follows:
Step 5 is specifically implemented according to the following steps:
Step 5.1, the lateral coordinates offset Δ x that spot center point is obtained by the step 4, longitudinal coordinate offset Δ
Y and pipe range 2l, pipe fitting amount of deflection δ0Relational expression:
Step 5.2 substitutes into formula (1) in formula (2), acquires bend pipe amount of deflection δ0；
Step 5.3, the actual physics obtained according to step 4 spatially offset (Δ x, Δ y) meter of the hot spot point away from target center
Calculate pipe fitting bending direction angle a:
A=atan2 (Δ y, Δ x) (3).
The invention has the advantages that a kind of bend pipe amount of deflection laser detecting method based on ccd image processing, using measurement
With laser, the angle of divergence is small, the service life is long, output power and wavelength are stably controlled；Reception device takes visible sensation method, has knot
The features such as structure is simple, non-contact.Laser round spot image is received by CCD camera, is converted into digital signal through image capturing system
Automatically analyzing for high-effect high-quality can be carried out into computer, and low to the requirement of measurand size, be suitable for factory and use.
Detailed description of the invention
Fig. 1 is the bend pipe amount of deflection laser detection system working principle diagram handled based on ccd image；
Fig. 2 is single radian iso-curvature bend pipe deflection metrology schematic diagram；
Fig. 3 is cross drone image.
In figure: 1.e-Ne laser, 2. positioning devices, 3. cross targets, 4.CCD camera, 5. packaging systems.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of bend pipe amount of deflection laser detecting method based on ccd image processing of the present invention, is specifically implemented according to the following steps:
Step 1, first laser 1 is mounted on positioning mechanism 2 are placed in pipe fitting side, and positioning mechanism 2 and pipe fitting outer circle
Cylinder cooperation, it is ensured that the collimated light beam that laser 1 issues is perpendicular to bend pipe end face；
The reception device that cross drone 3, CCD camera 4 form is mounted in packaging system 5 by step 2, wherein cross target
Mark 3 is kept and CCD camera 4 is coaxial, and is located in the focal range of CCD camera 4, and outer wall is matched with 5 internal wall transitions of packaging system
It closes, wherein for cross drone 3 in the focal range of CCD camera 4, and through the focusing process to CCD camera 4, it is clear to collect
Accurate image；
Step 3, the company for completing laser 1, CCD camera 4, image pick-up card, computer, cable between controller
It connects；
After step 4, radiating laser beams are stablized, the target center and laser of cross drone 3 are acquired by computer control CCD camera 4
Beam is in the imaging facula of cross drone 3, and computer carries out image procossing after acquiring image, and image procossing is specifically according to the following steps
Implement:
Step 4.1, target center search, the pixel coordinate (u, v) of 3 target center of cross drone is obtained using searching algorithm；
Step 4.2, sizing calibration read the distance between practical two graduation marks of cross drone 3 d and corresponding acquisition
Pixel distance d between two scales of cross drone 3 in image0, d and d0Ratio, that is, image in unit pixel in actual physics space
Length；
Step 4.3, offset calculate, pixel-shift amount (Δ u, Δ v) acquisition according to the point of hot spot on the image away from target center
Spatially (Δ x, Δ y) show that actual facula point deviates the linear of cross target center to offset of the hot spot point away from target center to actual physics
Distance BP, i.e., are as follows:
Step 5 calculates bending deflection and direction, is specifically implemented according to the following steps:
Step 5.1, the lateral coordinates offset Δ x that spot center point is obtained by the step 4, longitudinal coordinate offset Δ
Y and pipe range 2l, pipe fitting amount of deflection δ0Relational expression:
Step 5.2 substitutes into formula (1) in formula (2), acquires bend pipe amount of deflection δ0；
Step 5.3, the actual physics obtained according to step 4 spatially offset (Δ x, Δ y) meter of the hot spot point away from target center
Calculate pipe fitting bending direction anglea:
A=atan2 (Δ y, Δ x) (3).
A kind of bend pipe amount of deflection laser detecting method based on ccd image processing of the present invention is caused for due to pipe fitting self weight
Iso-curvature small deflection deformation detection, have many advantages, such as intuitive it is strong, convenient for control, high-efficient, automatic nondestructive detection.
As shown in FIG. 1 to 3, a kind of bend pipe amount of deflection laser detecting method based on ccd image processing of the present invention, work are former
It manages as follows:
When measuring bend pipe amount of deflection, in the fixed He-Ne laser 1 in pipe fitting side, and what cross drone 3 and CCD camera 4 were constituted
Reception device is placed in the other side of pipe fitting.After laser beam is stablized, CCD camera 4 obtains the facula position state diagram that laser 1 emits
The image that CCD camera 4 is shot is switched to numerical imaging after over-sampling, quantization by image pick-up card and is transferred to computer by picture
In, and then by image procossing.Using the coordinate for searching plain algorithm acquisition cross target center, as reference value；By extracting hot spot
Image calculates target area centre coordinate, in contrast.
When pipe fitting is without bending, spot center pixel coordinate is overlapped with target center pixel coordinate, it may be assumed that in physical space
BP=0, δ0=0；A=0 degree.When pipe fitting bends, as shown in Fig. 2, spot center is with respect to target in actual physics space
Mark center shifts, and there are corresponding geometrical relationships for the deviation post of hot spot and pipe fitting initial deflection and bending direction.Therefore,
It is according to sizing calibration that pixel is inclined by obtaining the pixel coordinate of spot center pixel coordinate and cross target center in acquisition image
Shifting amount is scaled the offset BP in actual physics space, and brings formula (1), formula (2) and formula (3) into, can calculate the curved of pipe fitting
Degree of deflecting δ0And bending direction angle.
It is curved can to obtain the single radian of generation for a kind of bend pipe amount of deflection laser detecting method based on ccd image processing of the present invention
Bent and equal bending curvature pipe fitting bending direction and amount of deflection, can be used as quick, the non-destructive testing of pipeline straightness.
Claims (4)
1. a kind of bend pipe amount of deflection laser detecting method based on ccd image processing, which is characterized in that specifically real according to the following steps
It applies:
Step 1, first laser (1) is mounted on positioning mechanism (2) are placed in pipe fitting side, and outside positioning mechanism (2) and pipe fitting
Cylindrical surface cooperation, it is ensured that the collimated light beam that laser (1) issues is perpendicular to bend pipe end face；
The reception device that cross drone (3), CCD camera (4) form is mounted in packaging system (5) by step 2, wherein cross
Target (3) is kept with CCD camera (4) coaxially, and is located in the focal range of CCD camera (4), outer wall and packaging system (5)
Internal wall transitions cooperation.
Step 3, complete laser (1), CCD camera (4), image pick-up card, computer, cable between controller company
It connects；
After step 4, radiating laser beams are stablized, by the target center and laser of computer control CCD camera (4) acquisition cross drone (3)
Beam is in the imaging facula of cross drone (3), and computer carries out image procossing after acquiring image；
Step 5 calculates bending deflection and direction.
2. a kind of bend pipe amount of deflection laser detecting method based on ccd image processing according to claim 1, feature exist
In, in the step 2 cross drone (3) in the focal range of CCD camera (4), and by the focusing to CCD camera (4) at
Reason, collects clear and accurate image.
3. a kind of bend pipe amount of deflection laser detecting method based on ccd image processing according to claim 1, feature exist
In image procossing is specifically implemented according to the following steps in the step 4:
Step 4.1, target center search, the pixel coordinate (u, v) of cross drone (3) target center is obtained using searching algorithm；
Step 4.2, sizing calibration read the distance between practical two graduation marks of cross drone 3 d and corresponding acquisition image
Pixel distance d between two scales of middle cross drone (3)0, d and d0Ratio, that is, image in unit pixel in actual physics space
Length；
Step 4.3, offset calculate, and (Δ u, Δ v) obtain practical the pixel-shift amount according to the point of hot spot on the image away from target center
(Δ x, Δ y) show that actual facula point deviates the linear range of cross target center to offset of the physical space glazing spot away from target center
BP, i.e., are as follows:
4. a kind of bend pipe amount of deflection laser detecting method based on ccd image processing according to claim 3, feature exist
In the step 5 is specifically implemented according to the following steps:
Step 5.1, lateral coordinates offset Δ x, the longitudinal coordinate offset Δ y that spot center point is obtained by the step 4 with
Pipe range 2l, pipe fitting amount of deflection δ0Relational expression:
Step 5.2 substitutes into formula (1) in formula (2), acquires bend pipe amount of deflection δ0；
Step 5.3, the actual physics obtained according to step 4 spatially offset (Δ x, Δ y) computer tube of the hot spot point away from target center
Part bending direction angle a:
A=atan2 (Δ y, Δ x) (3).
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| CN201910428701.8A CN110260813B (en) | 2019-05-22 | 2019-05-22 | Bend pipe deflection laser detection method based on CCD image processing |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111758018A (en) * | 2020-05-28 | 2020-10-09 | 郑州机械研究所有限公司 | Controller, flux-cored wire filling rate detection method and device |
| CN112556955A (en) * | 2020-09-16 | 2021-03-26 | 江西飞尚科技有限公司 | Automatic correction method in bridge deflection measurement |
| CN113706489A (en) * | 2021-08-18 | 2021-11-26 | 珠海格力智能装备有限公司 | Elbow plugging processing method and device, storage medium and elbow plugging equipment |
| CN116189938A (en) * | 2022-12-23 | 2023-05-30 | 中国核动力研究设计院 | Image method measuring system and method for measuring bending and twisting of nuclear fuel assembly |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111758018A (en) * | 2020-05-28 | 2020-10-09 | 郑州机械研究所有限公司 | Controller, flux-cored wire filling rate detection method and device |
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| CN113706489A (en) * | 2021-08-18 | 2021-11-26 | 珠海格力智能装备有限公司 | Elbow plugging processing method and device, storage medium and elbow plugging equipment |
| CN113706489B (en) * | 2021-08-18 | 2024-05-28 | 珠海格力智能装备有限公司 | Elbow splicing processing method and device, storage medium and elbow splicing equipment |
| CN116189938A (en) * | 2022-12-23 | 2023-05-30 | 中国核动力研究设计院 | Image method measuring system and method for measuring bending and twisting of nuclear fuel assembly |
| CN116189938B (en) * | 2022-12-23 | 2024-02-27 | 中国核动力研究设计院 | Image method measuring system and method for measuring bending and twisting of nuclear fuel assembly |
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