CN110470230A - A kind of ripple back-fire relief panel surface wave height dimension measurement method - Google Patents
A kind of ripple back-fire relief panel surface wave height dimension measurement method Download PDFInfo
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- 238000003708 edge detection Methods 0.000 claims abstract description 10
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- 238000012937 correction Methods 0.000 claims description 9
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present invention relates to a kind of ripple back-fire relief panel surface wave height dimension measurement methods.This method camera calibration and determining pixel distance and actual physics distance relationship first in camera calibration module；Secondly, the splicing realizing each linear array images using a kind of Feature Points Matching image split-joint method of threshold adaptive to image capture module；Processing is carried out in image pre-processing module to spliced back-fire relief disk image again and obtains ripple triangular-shaped profile, then pretreated ripple triangle is ajusted in module in image and is ajusted, and edge pixel information is accurately obtained in edge detection module with the sub-pixel edge detection method based on Zernike square, finally according to wave height definition and measuring principle, back-fire relief disk wave height actual size is calculated in dimensional measurement module.Back-fire relief disk wave height size is measured by using visible sensation method, measurement efficiency and accuracy rate is greatly improved, saves a large amount of human costs.
Description
Technical field
The present invention relates to a kind of surface size measurement methods, more particularly to one kind to be suitable for ripple back-fire relief panel surface wave height ruler
Very little measurement method.
Background technique
Fire arrester is a kind of safety device, and its main function is to prevent the propagation of flame of inflammable gas or liquid and send out
Raw explosion, and prevent tempering from causing the accidents such as fire.Crimped ribbon arrester is made of two parts of ripple fire-retardant core and shell
, wherein ripple fire-retardant core is its core having an effect, it is made of many ripple back-fire relief disks, and each back-fire relief disk is by two
The ultra-thin stainless steel band composition of layer, wherein one has been pressed into corrugated, in addition a flat strip is tight around the center of circle by it
Tight winding, is the straight-through runner of small triangle to constitute numerous ripple triangle.These channels or hole require to the greatest extent
That measures is small, in this way, many tiny flame flows can be separated into, to be off when flame passes through back-fire relief disk.
The size of manual measurement hole is traditional measurement method, but since the quantity of ripple back-fire relief disk triangle hole is non-
It is often huge, it be easy to cause time of measuring longer, worker's work fatigue leads to the various problems such as measurement result inaccuracy.In order to meet
Industrial intelligent production is closed, intelligent workshop, the main trend of machine substitute human labor designs one kind and is able to achieve ripple back-fire relief panel surface wave height size
Measurement, and measuring speed is fast, measurement accuracy is high, and the strong measurement method of economic benefit is particularly important.
Summary of the invention
The deficiency of demand and background technique for application field, it is an object of the invention to design a kind of utilization machine view
Feel the method that principle measures ripple back-fire relief panel surface wave height size.
In order to achieve the above object, the technical solution adopted by the present invention is that:
The present invention is mainly by camera calibration module, image capture module, image mosaic module, image pre-processing module, figure
As ajusting module, edge detection module, dimensional measurement module composition.
The camera calibration module combination Cross ration invariability principle and pixel distortion correction model realization line-scan digital camera are abnormal
Become correction and determines the function of pixel distance and actual physics distance relationship；
The image capture module mainly realizes ripple back-fire relief panel surface linear array images acquisition function；
The image mosaic module realizes each line using a kind of Feature Points Matching image split-joint method of threshold adaptive
Splicing between system of battle formations picture；
The image pre-processing module successively uses histogram equalization, Otsu binaryzation, closing operation of mathematical morphology, realizes
The acquisition of back-fire relief disk ripple triangular-shaped profile reduces data redundancy；
The image ajusts module and mainly realizes the ripple triangle progress angle adjustment put to any angle, easy
Subsequent calculating；
The edge detection module mainly uses Zernike square sub-pixel edge detection method, realizes ripple triangle
The accurate acquisition of edge pixel；
The dimensional measurement module realizes the actual size measurement of ripple triangle wave height.
Furtherly, the camera calibration module is obtaining Pixel Dimensions and during actual physical size relationship,
First using the principle of black and white strip combination Cross ration invariability at equal intervals and pixel distortion correction model solution camera amplification system
Number β, translational movement T, distortion factor k, recycle standard gauge block to determine the relationship between pixel distance and actual physics distance.
Furtherly, drive back-fire relief disk mobile by two-dimension moving platform in the image capture module, while linear array phase
Machine is acquired preservation to the back-fire relief panel surface image entered in the camera lens visual field, and guarantees to contain in each linear array images when each acquisition
Overlap region.
Furtherly, the image mosaic module mainly realizes the back-fire relief panel surface linear array to two containing overlapping region
Image mosaic function, with linear array images I1、I2For, specific steps are as follows: first using acceleration robust features extraction algorithm and FLANN
Algorithm obtains the Euclidean distance of all characteristic points, carries out further according to best entropy automatic threshold method to each group characteristic matching point preliminary
Screening, further screens each group characteristic matching point remaining after preliminary screening then in conjunction with Freeman chain code, last root
Realize that image mosaic, obtained splicing result are I according to each group characteristic matching point screened12。
Furtherly, the image pre-processing module mainly includes histogram equalization, binaryzation, closing operation of mathematical morphology
Four parts；The linear array images I that the module first obtains linear array CCD camera0It carries out histogram equalization processing and obtains result figure
As Ir0；Again to the image Ir after equalization0It is handled to obtain binary image Ib using adaptive Otsu binarization method0；
Finally to binary image Ib0Mathematical morphology closed operation is carried out, result images Ie is obtained0。
Furtherly, the image ajusts module and mainly realizes the function for ajusting each ripple triangular rim profile
Can, processing is ajusted to ripple triangle and respectively rotates and rotate clockwise two kinds of situations counterclockwise, specifically ajusts step are as follows:
Step1: ripple triangle Δ A is sought0A1A2Minimum circumscribed rectangle Rabcd, trunnion axis (x-axis) is revolved counterclockwise
Turn, x-axis for the first time with RabcdIn certain angle when being overlapped on one side as rotation angle θ；
Step2: minimum circumscribed rectangle R was calculatedabcdIn near x-axis vertex two side length l1、l2, compare l1、l2It is big
It is small, if l1>l2, then need to update rotation angle；If l1<l2, retain rotation angle；
Step3: in conjunction with updated rotation angle θ, by RabcdRotation is carried out around central point O to ajust.
For the linear array images after image mosaic in the dimensional measurement module, first according to the overlapping region being previously set
Width and camera calibration result obtain all horizontal seats of ripple triangle center being located in overlapping region in two stitching images
Mark, then the ripple triangle center abscissa in splicing result image is counted, and delete the ripple triangle repeated, finally
Identical dimension measurement method is used to remaining ripple triangle, that is, ripple triangular rim Pixel Information is combined, to ripple
Triangle wave height dimensional measurement specific steps are as follows:
Ripple triangle △ A is taken first0A1A2Bottom edge two-end-point A1、A2Seek parallel lines reference line L0；It remakes and is parallel to L0
Parallel lines L1, and hand over ripple triangle △ A0A1A2In point A；Then point A is crossed to make perpendicular to L0Vertical line L2, side fitting song of telling somebody what one's real intentions are
Line then calculates A distance d between B in point Bp, as striked Pixel-level maximum wave height, finally according to phase in claim 2
The Pixel Dimensions and actual physical size relationship that machine scaling method obtains, can be obtained the actual physical size between point A and point B
dpm。
Compared with the background art, the bright gain effect of we are as follows:
1. the present invention realizes ripple back-fire relief panel surface wave height dimensional measurement, using the technology of machine vision, with machine generation
For human eye, a large amount of manpower financial capacity is saved, measuring speed and measurement accuracy are improved.
2. the present invention combines the calibration of Cross ration invariability principle and distortion correction model realization to line-scan digital camera, effectively solve
The problem of camera distortion, and obtained pixel distance and actual physics distance accurate relationship between the two.
3. the present invention combines KSW entropy method and Freeman chain code principle, screens and match with improved FLANN characteristic point
Algorithm improves linear array images matching precision, enhances the robustness of Measurement Algorithm.
Detailed description of the invention
Fig. 1 is wave height dimension measurement method overall flow figure.
Fig. 2 is line-scan digital camera scan path schematic diagram.
Fig. 3 is the original linear array topography of back-fire relief disk.
Fig. 4 is back-fire relief disk linear array images I1。
Fig. 5 is back-fire relief disk linear array images I2。
Fig. 6 is two back-fire relief disk linear array images splicing result I12Partial schematic diagram.
Fig. 7 is image pre-processing module overall flow figure.
Fig. 8 is image after back-fire relief disk histogram equalization.
Fig. 9 is back-fire relief disk binary image.
Figure 10 is image after back-fire relief disk closing operation of mathematical morphology.
Figure 11 is that ripple triangle rotates image counterclockwise and ajusts schematic diagram.
Figure 12 is that ripple triangle rotates clockwise image and ajusts schematic diagram.
Figure 13 is that ripple triangle rotates image counterclockwise and ajusts result schematic diagram.
Figure 14 is that ripple triangle rotates clockwise image and ajusts result schematic diagram.
Figure 15 is ripple triangle Δ A0A1A2Wave height measuring principle figure.
Figure 16 is practical back-fire relief disk linear array images midpoint A and point B apart from schematic diagram.
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.
Embodiment please refers to Fig. 1 to Figure 16: Fig. 1 and schematically illustrates wave height dimensional measurement side disclosed in this invention
Method overall flow；Fig. 2 gives the line-scan digital camera scan path schematic diagram that the present invention designs；Fig. 3 gives what the present invention obtained
The original linear array topography of back-fire relief disk；Fig. 4 gives the back-fire relief disk linear array images I that the present invention obtains1；Fig. 5 gives the present invention
The back-fire relief disk linear array images I of acquisition2；Fig. 6 gives two back-fire relief disk linear array images splicing result I that the present invention obtains12Part
Schematic diagram；Fig. 7 shows schematically image pre-processing module overall flow；It is straight that Fig. 8 gives the back-fire relief disk that the present invention obtains
Image after side's figure equalization；Fig. 9 gives the back-fire relief disk binary image that the present invention obtains；Figure 10 gives what the present invention obtained
Image after back-fire relief disk closing operation of mathematical morphology；Figure 11, which gives ripple triangle of the present invention and rotates image counterclockwise, ajusts original
Reason figure；Figure 12, which gives ripple triangle of the present invention and rotates clockwise image, ajusts schematic diagram；Figure 13 gives this hair
The bright ripple triangle being related to rotates image counterclockwise and ajusts result schematic diagram；Figure 14 gives ripple triangle of the present invention
Shape rotates clockwise image and ajusts result schematic diagram；Figure 15 gives ripple triangle △ A of the present invention0A1A2Wave height is surveyed
Schematic diagram is measured, Figure 16 gives the practical back-fire relief disk linear array images midpoint A that the present invention obtains and point B apart from schematic diagram.
According to process shown in Fig. 1, back-fire relief panel surface wave height size is measured according to following steps:
(1) in order to solve the problems, such as that line-scan digital camera distorts, equally spaced black and white strip is first utilized in camera calibration module
Image combination Cross ration invariability and distortion correction model solution camera magnificationfactorβ, translational movement T, distortion factor k recycle mark
Quasi- gauge block determines the relationship between pixel distance and actual physics distance, specific steps are as follows:
Step1: two end pixel of groove being located at stripe pattern half-height position at equal intervals is extracted；
Step2: using the groove pixel convolution (1) close to center of distortion both ends, Simultaneous Equations solve amplification system
Number β and translational movement T:
(cu'-cx)sx=β (Xw+T) (1)
In formula, cxInitial value be set as center sensor pixel, cu’It is picture centre actual imaging point pixel coordinate value；
Step3: obtained magnificationfactorβ and translational movement T will be solved as initial value, be located at half-height position for all in figure
The groove both ends coordinate at place substitutes into formula (2) equationof structure group and is calculated, and it is accurate that camera can be obtained using non-linear regression method
Intrinsic parameter principal point coordinate position (cx, 0), distortion factor k, camera magnificationfactorβ, translational movement T；
In formula, u is ideal image pixel abscissa, and u ' is the image pixel abscissa in the presence of distortion, SxFor pixel center
Away from XwFor the coordinate under physical coordinates system；
Step4: according to distance and reality between the standard gauge block edge pixel after the corrected model correction of formula (3) calculating
Ratio m between physical distance, can be obtained the relationship of line-scan digital camera single pixel and actual range；
In formula, u1、u2Gauge block two edges pixel abscissa after respectively indicating correction, d are gauge block actual standard length.
(2) two-dimensional movement platform is cooperated to acquire back-fire relief panel surface linear array images by line-scan digital camera, camera scanning path is such as
Shown in Fig. 2, a indicates that two-dimension moving platform moving direction, b are camera scanning path in figure, and c is tested back-fire relief disk, is obtained original
Linear array topography I0, as shown in Figure 3.
(3) in order to which the ripple triangle for disconnecting each linear array images edge restores, in image mosaic module, such as Fig. 4,5
It is shown, with linear array images I1、I2For, the specific steps are first obtain institute using acceleration robust features extraction algorithm and FLANN algorithm
There is the Euclidean distance of characteristic point, preliminary screening is carried out to each group characteristic matching point further according to best entropy automatic threshold method, then
Each group characteristic matching point remaining after preliminary screening is further screened in conjunction with Freeman chain code, finally according to having screened
Each group characteristic matching point realize image mosaic, obtained splicing result be I12, as shown in Figure 6.
(4) in order to calculate wave height size in collected every back-fire relief disk linear array images or spliced result images, then
Image preprocessing must be first carried out, image pre-processing module overall flow is as shown in fig. 7, with original linear array topography I0For
Example, key step are as follows: first to linear array images I0It carries out histogram equalization processing and obtains result images Ir0, as shown in Figure 8；Again
To the image Ir after equalization0It is handled to obtain binary image Ib using adaptive Otsu binarization method0, such as Fig. 9 institute
Show；Finally to binary image Ib0Mathematical morphology closed operation is carried out, result images Ie is obtained0, as shown in Figure 10.
(5) due to ripple triangle along the circumferential direction arranged distribution in back-fire relief disk, each angle is inconsistent, transports for convenience
It calculates, before carrying out wave height measurement, needs to carry out each ripple triangle to ajust processing, processing point is ajusted to ripple triangle
To rotate and rotating clockwise two kinds of situations counterclockwise, step is specifically ajusted are as follows:
Step1: ripple triangle △ A is sought0A1A2Minimum circumscribed rectangle Rabcd, trunnion axis (x-axis) is revolved counterclockwise
Turn, x-axis for the first time with RabcdIn certain angle when being overlapped on one side as rotation angle θ；
Step2: minimum circumscribed rectangle R was calculatedabcdIn near x-axis vertex two side length l1、l2, compare l1、l2It is big
It is small, if l1>l2, as shown in figure 11, then need to update rotation angle by formula (4)；If l1<l2, as shown in figure 12, then retain rotation angle
θ；
+ 90 ° of θ=θ (4)
Step3: in conjunction with updated rotation angle, by RabcdAround central point O (xc,yc) rotated, rotation results such as Figure 13
Shown in 14, it is assumed that ripple △ A0A1A2On A0Point coordinate is (x0,y0), it can be calculated according to formula (5) with (6) postrotational
Coordinate (x ', y ') are as follows:
X'=(x0-xc)cosθ-(y0-yc)sinθ+xc (5)
Y'=(x0-xc)sinθ+(y0-yc)cosθ+yc (6)
(6) it after ajusting ripple triangle, needs accurately to obtain ripple triangular rim pixel, edge detection mould
Ripple triangular rim pixel is mainly obtained using Zernike square sub-pixel edge detection method in block.
(7) it is directed to splicing result image I12, first obtained according to the overlapping region width and camera calibration result that are previously set
Take all ripple triangle center abscissa p being located in overlapping region in two stitching images1、p2, then count splicing result figure
Ripple triangle center abscissa p as in12, and the ripple triangle repeated is deleted, finally to remaining ripple triangle
Shape uses identical dimension measurement method, that is, the accurate edge pixel information of ripple triangle is combined, in dimensional measurement module
Wave height size is measured, measuring principle is as shown in figure 15, specific steps are as follows:
Step1: it takes and ajusts rear ripple triangle △ A0A1A2Bottom edge two-end-point A1、A2Seek parallel lines reference line L0；
Step2: it is parallel to L0Parallel lines L1, and hand over ripple triangle △ A0A1A2In point A；
Step3: it crosses point A and makees perpendicular to L0Vertical line L2, in point B, the A coordinate that sets up an office is (x for side matched curve of telling somebody what one's real intentions area,ya),
The coordinate of point B is (xb,yb), then the Pixel-level size d between A and B is calculated according to formula (7)p, in practical back-fire relief disk linear array images
Point A and point B are as shown in figure 16 apart from schematic diagram；
Step4: the ratio m of Pixel Dimensions and actual physical size according to obtained in demarcating module, can be obtained point A with
Actual physics distance d between point Bpm。
Claims (7)
1. a kind of ripple back-fire relief panel surface wave height dimension measurement method, mainly by camera calibration module, image capture module, image
Splicing module, image pre-processing module, image ajust module, edge detection module, dimensional measurement module composition；Its feature exists
In:
The camera calibration module combination Cross ration invariability principle and pixel distortion correction model realization line-scan digital camera distortion school
Just with determine pixel distance and actual physics distance relationship function；
The image capture module mainly realizes ripple back-fire relief panel surface linear array images acquisition function；
The image mosaic module realizes each linear array figure according to a kind of Feature Points Matching image split-joint method of threshold adaptive
Splicing as between；
The image pre-processing module successively uses histogram equalization, Otsu binaryzation, closing operation of mathematical morphology, realizes back-fire relief
The acquisition of disk ripple triangular-shaped profile reduces data redundancy；
The image ajusts module and mainly realizes the ripple triangle progress angle adjustment put to any angle, easy to be subsequent
It calculates；
The edge detection module mainly uses Zernike square sub-pixel edge detection method, realizes ripple triangular rim
The accurate acquisition of pixel；
The dimensional measurement module realizes that stitching image repeats the reality of the rejecting of ripple triangle and ripple triangle wave height
Dimensional measurement.
2. a kind of ripple back-fire relief panel surface wave height dimension measurement method according to claim 1, it is characterised in that:
The camera calibration module is using the principle of black and white strip combination Cross ration invariability and pixel distortion correction at equal intervals
Model solution camera magnificationfactorβ, translational movement T, distortion factor k recycle standard gauge block to determine Pixel Dimensions and actual physics
Relationship between size.
3. a kind of ripple back-fire relief panel surface dimension measurement method according to claim 1, it is characterised in that:
Drive back-fire relief disk mobile by two-dimension moving platform in the image capture module, while line-scan digital camera is regarded to camera lens is entered
Back-fire relief panel surface image in open country is acquired preservation, and guarantees in each linear array images when each acquisition containing the area that overlaps
Domain.
4. a kind of ripple back-fire relief panel surface wave height dimension measurement method according to claim 1, it is characterised in that:
The image mosaic module mainly realizes the splicing of the back-fire relief panel surface linear array images to two containing repeat region, tool
Body step are as follows: the Euclidean distance that all characteristic points are first obtained using acceleration robust features extraction algorithm and FLANN algorithm, further according to
Best entropy automatic threshold method carries out preliminary screening to each group characteristic matching point, then in conjunction with Freeman chain code to preliminary screening
Remaining each group characteristic matching point is further screened afterwards, finally realizes that image is spelled according to each group characteristic matching point screened
It connects.
5. a kind of ripple back-fire relief panel surface wave height dimension measurement method according to claim 1, it is characterised in that:
The image pre-processing module mainly includes histogram equalization, binaryzation, four part of closing operation of mathematical morphology；The module
The linear array images I that linear array CCD camera is obtained first0It carries out histogram equalization processing and obtains result images Ir0；Again to equilibrium
Image Ir after change0It is handled to obtain binary image Ib using adaptive Otsu binarization method0；Finally to binary picture
As Ib0Mathematical morphology closed operation is carried out, result images Ie is obtained0。
6. a kind of ripple back-fire relief panel surface wave height dimension measurement method according to claim 1, it is characterised in that:
The image ajusts module and mainly realizes the function of ajusting each ripple triangular rim profile, to ripple triangle
Shape ajusts processing and respectively rotates and rotate clockwise two kinds of situations counterclockwise, specifically ajusts step are as follows:
Step1: ripple triangle △ A is sought0A1A2Minimum circumscribed rectangle Rabcd, trunnion axis (x-axis) is rotated counterclockwise, x
Axis for the first time with RabcdIn certain angle when being overlapped on one side as rotation angle θ；
Step2: minimum circumscribed rectangle R was calculatedabcdIn near x-axis vertex two side length l1、l2, compare l1、l2Size, if
l1>l2, then need to update rotation angle；If l1<l2, retain rotation angle；
Step3: in conjunction with updated rotation angle θ, by RabcdRotation is carried out around central point O to ajust.
7. a kind of ripple back-fire relief panel surface wave height dimension measurement method according to claim 1, it is characterised in that:
For the linear array images after image mosaic in the dimensional measurement module, first according to the overlapping region width being previously set
And camera calibration result obtains all ripple triangle center abscissas being located in overlapping region in two stitching images, then
The ripple triangle center abscissa in splicing result image is counted, and deletes the ripple triangle repeated, finally to surplus
Under ripple triangle use identical dimension measurement method, that is, combine ripple triangular rim Pixel Information, to ripple triangle
Shape wave height dimensional measurement specific steps are as follows:
Step1: ripple triangle △ A is taken0A1A2Bottom edge two-end-point A1、A2Seek parallel lines reference line L0；
Step2: it is parallel to L0Parallel lines L1, and hand over ripple triangle △ A0A1A2In point A；
Step3: it crosses point A and makees perpendicular to L0Vertical line L2, side matched curve of telling somebody what one's real intentions are then calculates A distance d between B in point Bp；
Step4: the ratio m of Pixel Dimensions and actual physical size according to obtained in demarcating module can be obtained point A and point B
Between actual physical size dpm。
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| CN111476844A (en) * | 2020-02-26 | 2020-07-31 | 武汉大学 | Calibration method for multiple linear array camera array systems |
| CN112862902A (en) * | 2021-02-24 | 2021-05-28 | 中国资源卫星应用中心 | Relative radiation correction method of space linear array camera |
| CN113781481A (en) * | 2021-11-11 | 2021-12-10 | 滨州学院 | Method and device for non-contact measurement of shape and size of object and electronic equipment |
| CN114234800A (en) * | 2021-12-01 | 2022-03-25 | 北京航天石化技术装备工程有限公司 | Corrugated plate geometric dimension detection device and detection method |
| CN114494140A (en) * | 2021-12-28 | 2022-05-13 | 江苏复森特种阀门有限公司 | Method and equipment for measuring wave height of gray-scale recognition corrugated fire-retardant disc |
| WO2023273646A1 (en) * | 2021-07-02 | 2023-01-05 | 中国石油化工股份有限公司 | Method and system for detecting structural performance of fire retardant disc |
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| CN118328917A (en) * | 2024-06-12 | 2024-07-12 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Automatic measurement method for geometric dimension of corrugated pipe part with coating |
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