基于机器视觉的隔水管法兰端面位姿检测
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摘要
为提高隔水管抗压检验效率,引导完成待测隔水管在隔水管检验检测装置上的在线自动对接,提出基于机器视觉的隔水管法兰端面位姿检测方法。首先通过基于形状的模板匹配算法定位出待测隔水管法兰端面的定位坐标和定位角度,同时使用图像金字塔对算法进行加速。然后使用单目三维重建技术将像素坐标系下的模板坐标及定位坐标转换到世界坐标系中,并计算出引导待测隔水管精确对接到隔水管检验检测装置上所需的位移量和旋转量。针对隔水管与注水端进行了仿真试验检测和现场试验检测,试验结果表明,该方法实现了快速精确的隔水管法兰端面位姿检测,在工程实践中具有很强的实用性。
In this paper, the method for riser flange flat pose detection based on the machine vision is proposed, with a view to the efficient test of the riser's compressive strength and the online automatic docking the riser with the detection and testing devices, Firstly, thanks to the algorithm of shape-based template matching, the positioning coordinates and angle of riser flange flat are located, and the image pyramid is applied to accelerate the algorithm. Secondly, with the aid of monocular three-dimensional reconstruction, the template and positioning coordinates in the pixel coordinate system are converted into the world coordinate system, and the displacement and rotation values required for the docking tasks are calculated. Both the simulation test and field test are carried out for the riser and the water-injection end. The results show that this method realizes the riser flange flat pose detection, which is rapid and accurate, and has a potentially wide application in those engineering undertakings.
In this paper, the method for riser flange flat pose detection based on the machine vision is proposed, with a view to the efficient test of the riser's compressive strength and the online automatic docking the riser with the detection and testing devices, Firstly, thanks to the algorithm of shape-based template matching, the positioning coordinates and angle of riser flange flat are located, and the image pyramid is applied to accelerate the algorithm. Secondly, with the aid of monocular three-dimensional reconstruction, the template and positioning coordinates in the pixel coordinate system are converted into the world coordinate system, and the displacement and rotation values required for the docking tasks are calculated. Both the simulation test and field test are carried out for the riser and the water-injection end. The results show that this method realizes the riser flange flat pose detection, which is rapid and accurate, and has a potentially wide application in those engineering undertakings.
引文
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[7]陈琦,阮鸿雁.基于机器视觉的滑动轴承缺陷检测系统设计[J].组合机床与自动化加工技术,2017(5):92-95.
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[10]李志军,刘松林,牛照东,等.基于梯度相位和显著性约束的Hausdorff距离模板匹配方法[J].红外与激光工程,2015,44(2):775-780.
[11]Zou Y.Research on automatic visual inspection method for character on cartridge fuse based on template matching[C]//Information Science and Control Engineering(ICISCE),IEEE,2016:527-531.
[12]Heikkila J.Geometric camera calibration using circular control points[J].IEEE Transactions on Pattern Analysis and Machine,1997,19(6):659-666.
[13]Zhang Z Y.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2000,22(11):1330-1334.
[2]刘红兵,陈国明,刘康,等.深水测试管柱-隔水管耦合涡激疲劳分析[J].中国石油大学学报:自然科学版,2017,41(1):138-143.
[3]莫丽,王晓兵,王军.基于CFD的压裂泵泵阀结构特性分析[J],机械设计,2015,32(6):75-78.
[4]杨俊红,张强,周兵.视频序列中的运动目标检测[J].微计算机信息,2007,23(19):226-227.
[5]周玲玲,董海波,杜雨馨.基于双激光标靶图像识别的掘进机位姿检测方法[J].激光与光电子学进展,2017(4):180-186.
[6]任秉银,柴立仁,魏坤,等.正交双目视觉长轴类零件装配端位姿检测方法[J].哈尔滨工业大学学报,2017,49(1):60-65.
[7]陈琦,阮鸿雁.基于机器视觉的滑动轴承缺陷检测系统设计[J].组合机床与自动化加工技术,2017(5):92-95.
[8]Nikkam P S,Hegde N P,Reddy B E.Decomposition-based shape template matching for CBIR system[C]//Computational Intelligence and Computing Research(ICCIC),IEEE,2015:1-5.
[9]Sridevi M,Sanyam C M S.Optimised template matching techniques in parallel environment with exhaustive search and swarm intelligence[J].International Journal of Parallel Emergent&Distributed Systems,2015,30(2):118-134..
[10]李志军,刘松林,牛照东,等.基于梯度相位和显著性约束的Hausdorff距离模板匹配方法[J].红外与激光工程,2015,44(2):775-780.
[11]Zou Y.Research on automatic visual inspection method for character on cartridge fuse based on template matching[C]//Information Science and Control Engineering(ICISCE),IEEE,2016:527-531.
[12]Heikkila J.Geometric camera calibration using circular control points[J].IEEE Transactions on Pattern Analysis and Machine,1997,19(6):659-666.
[13]Zhang Z Y.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2000,22(11):1330-1334.