CN105865372A - Pipeline roundness value automatic detection system and detection method - Google Patents
Pipeline roundness value automatic detection system and detection method Download PDFInfo
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- CN105865372A CN105865372A CN201610422947.0A CN201610422947A CN105865372A CN 105865372 A CN105865372 A CN 105865372A CN 201610422947 A CN201610422947 A CN 201610422947A CN 105865372 A CN105865372 A CN 105865372A
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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
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
- G01B11/12—Measuring arrangements characterised by the use of optical techniques for measuring diameters internal diameters
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a pipeline roundness value automatic detection system and detection method. An image collecting device is used for performing image collection on two end surfaces by aiming at the circle center positions of the two end surfaces of a pipeline; collected images are sent to an image processing system; the image processing system performs image processing on the collected end surface images to extract the end surface edges to obtain the roundness value of each end surface. Compared with the prior art, the shot pictures are subjected to gray scale processing to extract the end surface edges; the horizontal diameter and the vertical diameter of the pipeline are calculated according to pixels. The system and the method are qualitatively different from the existing manual measurement; the pipeline circle center position is determined; the pipeline end surface images are shot in the pipeline circle center positions; the interference can be reduced; the accuracy is improved.
Description
Technical field
The present invention relates to a kind of pipeline circularities automatic checkout system and detection method, particularly relate to one and be applicable to pot
The automatic checkout system of stove pipe arrangement pipeline circularities detection and detection method.
Background technology
Before pipeline processing, the circularities of pipeline need to be detected, to determine whether pipeline meets processing request, at present
Way be: operator judges by ocular estimate, or measures and calculate the circle of pipeline with tape measure, steel ruler or slide calliper rule etc.
Angle value.Using ocular estimate obviously to have a biggest random and bigger error, when using manual measurement method, its certainty of measurement can be because of
The quality of operator and the difference of responsibility bring bigger incidental error, and the circularities of pipeline being required, higher occasion is
Inappropriate.It is not suitable for the automatic production procedure of industrialization simultaneously.
Summary of the invention
The technical problem to be solved in the present invention is to provide one it can be avoided that artificial random or incidental error factor, it is achieved
The fast automatic circularities to pipeline precisely detects pipeline circularities automatic checkout system and the detection method of measurement.
The technical solution used in the present invention is as follows: a kind of pipeline circularities automatic checkout system, it is characterised in that: include,
Image collecting device alignment system, determines that image collecting device carries out image collecting device during image acquisition to pipeline end face
Position, make the center of circle of the focus align with tube end face of image collecting device；
Image collecting device, is acquired pipeline end face image；
Image processing system, carries out image procossing to the pipeline end face image gathered, and extracts end face edge；
Circularities calculates system, according to the end face edge pixel extracted, calculates pipeline end face horizontal diameter and perpendicular diameter, according to
The ratio calculation of described horizontal diameter and perpendicular diameter obtains the circularities of this end face.
In the present invention, pipeline end face is carried out image acquisition, after the image gathered is carried out image procossing, extract end face
Edge, then calculates horizontal diameter and the perpendicular diameter of each end face according to pixel, and this horizontal diameter and perpendicular diameter are permissible
It is horizontal diameter and the perpendicular diameter of end face outer, it is also possible to be horizontal diameter and the perpendicular diameter on edge in end face, according to
The horizontal diameter of end face and perpendicular diameter, calculate the circularities of this end face.Before carrying out image acquisition, adjust image and adopt
The position of acquisition means, makes the center of circle of the focus align with tube end face of image acquisition, uses image collecting device (such as photographic head or phase
Machine) alignment home position carry out image acquisition.
Also include,
Circularities qualified threshold value setting module, sets the threshold range of qualified circularities；
The qualified judge module of circularities, compared with the circularities threshold value qualified with the circularities of setting that will calculate, it is judged that circularity
It is the most qualified to be worth.
If certain the end face circularities calculated is in the qualified threshold range of circularities set, then it is judged as that circularities is closed
Lattice, are otherwise that circularities is defective.
Described image collecting device alignment system includes that photoswitch reflects light beam locating module, for survey calculation pipeline
The center of circle of end face.By the photoswitch sensing to reflection light beam, the center of circle of survey calculation pipeline end face.
Described image collecting device alignment system also includes laser ranging module, detection image collecting device and pipeline end face
Horizontal range.By detection image collecting device and the horizontal range of pipeline end face, determine that image capturing apparatus image is adopted
The particular location of collection focus.
Also include that pipeline Double End deviation calculates system, according to horizontal diameter and the straight vertical of two end faces calculated
Footpath, draws the difference of the horizontal diameter of two end faces and the difference of perpendicular diameter, whether to determine the deviation of two end faces of pipeline
Meet the requirements.
Also include,
Double End deviation qualified threshold value setting module, sets the threshold range of qualified Double End deviation；
The qualified judge module of Double End deviation, by the Double End deviation that calculates compared with the qualified threshold value of Double End deviation of setting
Relatively, it is judged that Double End deviation is the most qualified.
If the deviation value calculated all in the threshold range in the qualified Double End deviation set, is then judged as both-end
Face deviation is qualified, is otherwise that Double End deviation is defective.
Also include audio prompt module, in the way of audio signal, whether point out circularities and/or pipeline Double End deviation
Qualified.
This audio signal can be voice audio signals, it is also possible to be non-speech audio signals.
A kind of pipeline circularities automatic testing method, method particularly includes:
Two end face home positions of image collecting device (such as photographic head or camera) align with tube are used to carry out the figure of two end faces
As gathering, and the image of collection is sent to image processing system；The end view drawing picture gathered is carried out by described image processing system
Image procossing extracts end face edge, obtains the circularities of each end face.
The image acquisition focus of image collecting device is directed at the home position of the end face of the pipeline of image acquisition to be carried out,
The most again the end face of pipeline is carried out image acquisition；The image collected is sent to image processing system, image processing system
The image gathered is carried out the edge (including inward flange and outward flange) of the end face that image procossing extraction is gathered according to extraction
The edge (inward flange or outward flange) of end face, is calculated the circularities of this end face.
Described circularities computational methods are: the end view drawing picture gathered carries out gradation of image and processes extraction end face edge, root
Calculate pipeline end face horizontal diameter and perpendicular diameter according to pixel, obtain according to the ratio calculation of described horizontal diameter and perpendicular diameter
The circularities of this end face.
Use horizontal diameter and the ratio calculation of perpendicular diameter of end face overall diameter, or the level of employing end face interior diameter is straight
The ratio calculation of footpath and perpendicular diameter obtains the circularities of this end face.
Described method also includes, the horizontal diameter of two end faces of pipeline is compared, determines the difference of two horizontal diameter
Value；The perpendicular diameter of two end faces of pipeline is compared, determines the difference of two perpendicular diameter；By two differences to determine
Whether the deviation of two end faces meets the requirements.
Whether meet the requirements according to two differences and judge whether two end faces of pipeline meet the requirements, thus judge pipeline
Quality.
The localization method of pipeline end face home position is: image collecting device alignment system is along pipeline end face perpendicular diameter side
To movement, reaction reflection light beam made by photoswitch, record end face diameter inner circle or the upper end edge of cylindrical and lower end
Edge, then the central point of upper end edge and lower end edge is the home position of this end face.
Just pipeline end face is launched light beam (such as laser beam), when receiving reflection light beam, launched light is described
Bundle is between interior edge and the outer getting to pipeline end face, when receiving reflection light beam, illustrates that launched light beam does not has
Have and get between interior edge and the outer of pipeline end face.Meanwhile, from the reflection receivable order of light beam, it is possible to judge for interior edge or outer
Edge.
Described method also includes, adjusts the horizontal range of image collecting device and pipeline end face, makes the pipeline end face of collection
The minimum range of diametric outer distance acquired image frame, less than or equal to the image limit being parallel to this range direction
The 5% of the frame length of side.
Described method also includes, uses the horizontal range of laser ranging module detection image collecting device and pipeline end face.
Compared with prior art, the invention has the beneficial effects as follows:
Determine pipeline home position, shoot pipeline end face image at pipeline home position, it is possible to reduce disturb and improve accuracy.
Use image border comparative approach to determine optimum photographing position, can accurately determine shooting head and pipe with laser ranging
Optimal shooting distance between road, and preserve these data as shooting distance setting value L3 during same type pipeline processing, rear
In continuous processing, it is only necessary to input channel type, then completed location, camera site together with controlling device by laser ranging.
Use the light beam of laser ranging system, determine the outer rim of pipeline vertical direction in conjunction with photoswitch, both can carry
High measurement accuracy, makes again the such a device of laser ranging system serve two effects.Improve labor productivity.
The picture of shooting is extracted end face edge by gray proces, calculates pipeline horizontal diameter and straight vertical according to pixel
, there is the difference of matter in footpath than existing manual measurement.
Horizontal diameter, the perpendicular diameter of two end faces are compared respectively, determines the horizontal diameter of two end faces, vertical
The difference of diameter.Can effectively determine whether pipeline has shrinkage phenomenon.
By the circularities of this end face of ratio in judgement of pipe level diameter and perpendicular diameter, by the level of two end faces
Diameter, perpendicular diameter difference to determine whether two end faces of pipeline meet the requirements, this evaluation method can be intuitive and accurate
Pass judgment on pipeline circularities quality.
According to pipe level diameter and the circularities of this end face of ratio in judgement of perpendicular diameter, can accurately pass judgment on.Through surveying
Examination, circularities judging nicety rate reaches 99%.All operations is all integrated in PC and controls in software, simple to operate.
Accompanying drawing explanation
Fig. 1 is the image capturing apparatus image gatherer process schematic diagram of a present invention wherein embodiment.
Fig. 2 is that the pipeline end face of a present invention wherein embodiment places schematic diagram.
Fig. 3 is the operation principle block diagram of a present invention wherein embodiment.
Fig. 4 is the location image acquisition flow chart of a present invention wherein embodiment.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, not
For limiting the present invention.
Any feature disclosed in this specification (including summary and accompanying drawing), unless specifically stated otherwise, all can be by other equivalences
Or the alternative features with similar purpose is replaced.I.e., unless specifically stated otherwise, each feature is a series of equivalence or class
Like an example in feature.
Specific embodiment 1
As shown in Figure 1, Figure 2 and Figure 3, pipeline circularities automatic checkout system, including,
Image collecting device alignment system, determines that image collecting device carries out image collecting device during image acquisition to pipeline end face
Position, make the center of circle of the focus align with tube end face of image collecting device；
Image collecting device, is acquired pipeline end face image；
Image processing system, carries out image procossing to the pipeline end face image gathered, and extracts end face edge；
Circularities calculates system, according to the end face edge pixel extracted, calculates pipeline end face horizontal diameter and perpendicular diameter, according to
The ratio calculation of described horizontal diameter and perpendicular diameter obtains the circularities of this end face.
In this specific embodiment, use photographic head or camera as image collecting device, the end face of pipeline is carried out figure
As gathering, after image acquisition completes, the end view drawing picture of collection being sent to image processing system, image processing system is to collection
After end view drawing picture carries out image procossing (in this specific embodiment, the end view drawing picture gathered being carried out gray proces), extract end face
Edge, then calculates horizontal diameter and the perpendicular diameter of each end face according to pixel, and this horizontal diameter and perpendicular diameter are permissible
It is horizontal diameter and the perpendicular diameter of end face outer, it is also possible to be horizontal diameter and the perpendicular diameter on edge in end face, according to
The horizontal diameter of end face and perpendicular diameter, calculate the circularities of this end face.In this specific embodiment, according to end face outer
Horizontal diameter and perpendicular diameter, calculate the circularities of end face.
Image collecting device (such as photographic head or camera) alignment home position is used to carry out image acquisition.Adopt carrying out image
Before collection, adjust the position of image collecting device, make the center of circle of the focus align with tube end face of image acquisition, Jiao of image acquisition
Put the line with the center of circle of pipeline end face and be perpendicular to the plane at pipeline end face place.
As it is shown in figure 1, image collecting device moves up in three sides of x-axis, y-axis and z-axis, x-axis side adjusts upward image
Harvester and the distance of pipeline end face, y-axis moves left and right on direction, and z-axis moves up and down on direction, adjusts image collecting device
Image acquisition focus be registered to the home position of end face.
As in figure 2 it is shown, in this specific embodiment, owing to pipeline is located on a U-shaped support, and U-shaped support is
It is fixed in an operating table surface, is fixing from the distance of the inner concave minimum point of U-shaped support to ground, is set as L1,
It is pipeline perpendicular diameter direction along L1 vertical direction.Along this perpendicular diameter direction, find internal diameter or external diameter peak and
Minimum point, then the intermediate point of highs and lows is the home position of this pipeline end face.
Specific embodiment 2
On the basis of specific embodiment 1, described pipeline circularities automatic checkout system also includes,
Circularities qualified threshold value setting module, sets the threshold range of qualified circularities；
The qualified judge module of circularities, compared with the circularities threshold value qualified with the circularities of setting that will calculate, it is judged that circularity
It is the most qualified to be worth.
After circularities calculates the circularities that service system calculates pipeline one side end face, by the conjunction of this circularities Yu setting
The threshold range of lattice circularities compares, if the face circularities calculated is in the threshold range of the qualified circularities set,
Then it is judged as that this end face circularities is qualified, is otherwise that this end face circularities is defective.
Specific embodiment 3
On the basis of specific embodiment 1 or 2, described image collecting device alignment system includes photoswitch reflection light beam location
Module, for the center of circle of survey calculation pipeline end face.By the photoswitch sensing to reflection light beam, survey calculation pipeline end face
The center of circle.
Photoswitch can be connected after being reflected back by the transmitting light beam of image collecting device alignment system.Work as transmitting
Light beam externally prolongs end face diameter direction to when moving in end face from end face, first passes through outside this diametric(al) side of end face
Edge, when having not moved into outer, owing to can not receive reflection light beam, photoswitch is off, during to this outer,
Photoelectricity switch receives reflection light beam, is switched on, and alignment system is able to record that this position, when from outer to interior edge, leave interior edge
Time, photoelectricity switch is disconnected, and alignment system is able to record that this is interior along position, and transmitting light beam continues to prolong this diametric(al) and moves, and reaches
In opposite side end face along time, photoswitch is turned back on, and alignment system is able to record that this position, continues to move to leave outer
Time, photoswitch is disconnected again, this position, outer of alignment system record.By record along these diametric two outers
The position on edge in position or two, it is possible to draw in two along or the intermediate point of two outers be the home position of this end face.
Then image collecting device can be directed at this home position this end face is carried out image acquisition.Described light beam be laser, infrared light or
Ultraviolet lights etc. can be by penstock reflection the light beam that acts on photoswitch under natural environment.
Specific embodiment 4
On the basis of one of specific embodiment 1 to 3, described image collecting device alignment system also includes laser ranging module,
Detection image collecting device and the horizontal range of pipeline end face.By the level of detection image collecting device and pipeline end face away from
From, determine that image capturing apparatus image gathers the particular location of focus.Described laser ranging module and photoswitch reflection light
Bundle locating module can be same beam emissions module, it is also possible to be not same beam emissions module, is launched use
Light beam can be same light beam can also be two kinds of different light beams.
Specific embodiment 5
On the basis of one of specific embodiment 1 to 4, also include that pipeline Double End deviation calculates system, according to two calculated
The horizontal diameter of individual end face and perpendicular diameter, draw the ratio of the horizontal diameter of two end faces and the ratio of perpendicular diameter, with really
Whether two, fixed tube road end face meets the requirements.When the horizontal diameter of said two end face and perpendicular diameter compare, or all adopt
Compare with external diameter, or be all to use internal diameter to compare.
Specific embodiment 6
On the basis of specific embodiment 5, also include,
Double End deviation qualified threshold value setting module, sets the threshold range of qualified Double End deviation；
The qualified judge module of Double End deviation, by the Double End deviation that calculates compared with the qualified threshold value of Double End deviation of setting
Relatively, it is judged that Double End deviation is the most qualified.
Two end face horizontal inside diameter or external diameter tolerance, perpendicular diameter or external diameter tolerance about pipeline are set；Meter
Calculate two end face horizontal inside diameter or the deviation of external diameter and vertical outer diameter or the deviation of internal diameter, if the deviation value calculated all
In the threshold range of the qualified Double End deviation set, then it is judged as that Double End deviation is qualified, does not otherwise conform to for Double End deviation
Lattice.
Specific embodiment 7
On the basis of specific embodiment 2 or 6, also include audio prompt module, point out in the way of audio signal circularities and/
Or pipeline Double End deviation is the most qualified.
This audio signal can be voice audio signals, it is also possible to be non-speech audio signals.
Specific embodiment 8
As shown in Figure 4, pipeline circularities automatic testing method, method particularly includes:
Two end face home positions of image collecting device (such as photographic head or camera) align with tube are used to carry out the figure of two end faces
As gathering, and the image of collection is sent to image processing system；The end view drawing picture gathered is carried out by described image processing system
Image procossing extracts end face edge, obtains the circularities of each end face.
The image acquisition focus of image collecting device is directed at the home position of the end face of the pipeline of image acquisition to be carried out,
The most again the end face of pipeline is carried out image acquisition；The image collected is sent to image processing system, image processing system
The image gathered is carried out the edge (including inward flange and outward flange) of the end face that image procossing extraction is gathered according to extraction
The edge (inward flange or outward flange) of end face, is calculated the circularities of this end face.
Specific embodiment 9
Described circularities computational methods are: the end view drawing picture gathered carries out gradation of image and processes extraction end face edge, according to picture
Element calculates pipeline end face horizontal diameter and perpendicular diameter, obtains this end according to the ratio calculation of described horizontal diameter and perpendicular diameter
The circularities in face.
Use horizontal diameter and the ratio calculation of perpendicular diameter of end face overall diameter, or the level of employing end face interior diameter is straight
The ratio calculation of footpath and perpendicular diameter obtains the circularities of this end face.
That described end face horizontal diameter and perpendicular diameter are pipeline end face external diameter or be pipeline end face internal diameter.At this
In specific embodiment, described end face horizontal diameter is pipeline end face external diameter.
Specific embodiment 10
On the basis of specific embodiment 8 or 9, described method also includes, the horizontal diameter of two end faces of pipeline is compared,
Determine the difference of two horizontal diameter；The perpendicular diameter of two end faces of pipeline is compared, determines the difference of two perpendicular diameter
Value；Whether met the requirements with the deviation determining two end faces by two differences.
Horizontal diameter, the perpendicular diameter of two end faces are compared respectively, determines the horizontal diameter of two end faces, vertical
The difference of diameter.By the circularities of this end face of ratio in judgement of pipe level diameter and perpendicular diameter, by two end faces
Horizontal diameter, perpendicular diameter difference to determine whether two end faces of pipeline meet the requirements.Can be according only to the water of two end faces
The difference in straight footpath determines whether two end faces meet the requirements, it is also possible to the difference according only to the perpendicular diameter of two end faces is come
Determine whether two end faces meet the requirements, it is also possible to both seen the difference of horizontal diameter, seen again the difference of perpendicular diameter, concrete at this
Embodiment is not only seen the difference of horizontal diameter but also is seen the difference of perpendicular diameter wherein have a difference undesirable, it is determined that
Two end faces of this pipeline are undesirable, and the difference of horizontal diameter and the difference of perpendicular diameter all meet the requirements, it is determined that should
Two end faces of pipeline meet the requirements.
Whether meet the requirements according to two differences and judge whether two end faces of pipeline meet the requirements, thus judge pipeline
Quality.
Specific embodiment 11
On the basis of one of specific embodiment 8 to 10, the localization method of pipeline end face home position is: image collecting device is fixed
Position system moves along pipeline end face perpendicular diameter direction, and the reaction made reflection light beam by photoswitch, record end face is straight
Footpath inner circle or the upper end edge of cylindrical and lower end edge, then the central point of upper end edge and lower end edge is the home position of this end face.
Just pipeline end face is launched light beam (such as laser beam), when receiving reflection light beam, launched light is described
Bundle is between interior edge and the outer getting to pipeline end face, when receiving reflection light beam, illustrates that launched light beam does not has
Have and get between interior edge and the outer of pipeline end face.Meanwhile, from the reflection receivable order of light beam, it is possible to judge for interior edge or outer
Edge.
Specific embodiment 12
On the basis of one of specific embodiment 8 to 11, described method also includes, adjusts image collecting device and pipeline end face
Horizontal range, makes the minimum range of the pipeline end face diametric outer distance acquired image frame of collection, is less than
In the framing mask length of side being parallel to this range direction 5%.If outer rim distance (arbitrary diameter direction) in pipe diameter direction
The minimum range of picture underframe, more than the 5% of the length of side being parallel to this range direction, then explanation shooting distance is too far.
Described method also includes, uses the horizontal range of laser ranging module detection image collecting device and pipeline end face.
Specific embodiment 13
On the basis of one of specific embodiment 8 to 12,
As it is shown on figure 3, controlled main frame and host computer (PC computer) group by filming apparatus (i.e. image collecting device), filming apparatus
Become.As it is shown in figure 1, image collecting device can move along the guide rail in three directions of x-axis, y-axis and z-axis, in x-axis direction
The distance of shooting head and pipeline end face is determined by laser ranging, can be according to being gathered by 10mm(in this specific embodiment
Image, make collection pipeline end face diametric outer distance acquired image frame minimum range, be less than or equal to
Be parallel to this range direction the framing mask length of side 5% requirement carry out calculate set this distance)；Laser is passed through in z-axis direction
Determine outer diameter tube position,；Y-axis direction determined by laser pipeline vertical on outer rim marginal position, when laser determines pipeline
During outer radial position, stop y-axis direction and move.
Image collecting device controls main frame and includes: with ARM as development platform, devise laser ranging, laser determines pipeline
Outer radial position, laser determine that pipeline vertically goes up outer rim edge and the mobile control program in three directions of x, y, z and hardware circuit.
Host computer (PC computer): complete that the picture of shooting is carried out gray proces and extract end face edge, according to pixel meter
Calculate pipe level diameter and perpendicular diameter, according to pipe level diameter and the circularities of this end face of ratio in judgement of perpendicular diameter,
It addition, horizontal diameter, the perpendicular diameter of two end faces are compared respectively, determine the horizontal diameter of two end faces, straight vertical
The difference in footpath.By the circularities of this end face of ratio in judgement of pipe level diameter and perpendicular diameter, by the water of two end faces
Straight footpath, perpendicular diameter difference to determine whether two end faces of pipeline meet the requirements, judgment criteria is defeated by quality inspection personnel in advance
Enter computer, and remind operator with voice mode.
After tested, pipeline circularities judging nicety rate reaches 99%.All operations is all integrated in PC and controls in software, operation
Simply.As shown in Figure 4, it is as follows that what pipeline circularities was detected by the method automatically realizes step:
1, on computers input channel end face circularities allowable error, two, left and right end face horizontal inside diameter tolerance, vertically in
Footpath tolerance.
2, automatic checkout system is started.
3, such as Fig. 1 with as in figure 2 it is shown, owing to pipeline is located on a U-shaped support, and U-shaped support is integrally fixed at one
In individual operating table surface, it is fixing from the distance of the inner concave minimum point of U-shaped support to ground, is set as L1, vertical along L1
Direction is pipeline perpendicular diameter direction.
After operating board is fixing, also determine that from the distance of the matrix minimum point of the initial point of filming apparatus to U-shaped support
, it is set as L2,
When starting circularities detection button, under the control of the controller, the distance of the L2 that advances along the y-axis direction, at L2 for filming apparatus
Place arranges a limit switch, halts when filming apparatus arrives L2 position.
4, filming apparatus is arranged on a support that can lift, and initial position can be adjusted as required away from ground 400mm(
Whole), after L2 position stops, initial position rise the height of L1-400=M1, the now laser ranging on filming apparatus fills
Putting the inner concave minimum point being just directed at U-shaped support, it may be assumed that pipeline lower edge external diameter point, operating board table top A1(is as shown in Figure 1) position
Put, record current distance ground location data D1.
5, after the horizontal level of shooting determines, filming apparatus moves up, and now, laser ranging module is started working,
The reflection light that laser ranging module is launched, when filming apparatus is moved upwardly into pipeline hollow position, light is received by photoswitch
Electric switch disconnects once, and when filming apparatus continues to move up between entrance inner and outer walls of pipeline, photoswitch is again switched on, so
When rear filming apparatus continues to move up beyond pipeline outer wall, photoswitch is again off, and when photoswitch is again off, stops
The most mobile, i.e. A2 position (as shown in Figure 1).
6, determine pipeline home position: when filming apparatus stops mobile, record distance D2 of this point and ground, by (D2-
D1)/2=D3, then filming apparatus moves down D3 value, to A3 position (as shown in Figure 1), referred to herein as the pipeline center of circle.
During because pipeline is placed on U-shaped support, the edge of the vertical join line of the inner concave minimum point of U-shaped support to ground is long
Line is pipeline perpendicular diameter direction.Therefore, it is not required to location, left and right again and looks for the center of circle.
7, after determining home position, when being placed on operating board table top due to pipeline, position is unfixed, so needing
Adjust the distance between filming apparatus and pipeline end face.
8, opening image picking-up apparatus, take the photograph a width picture by 1 width/second beats, incoming host computer carries out graphical analysis, is analyzing
In result, if the minimum range of outer rim distance (arbitrary diameter direction) the picture underframe in pipe diameter direction, more than being parallel to
This value of the 5%(of the length of side of this range direction can be set as x value, and concrete numerical value is true according to certainty of measurement and practical situation by user
Fixed), then explanation shooting distance is too far, image capturing device control host computer control filming apparatus and move left and right, until pipeline is straight
The minimum range of the outer rim distance picture underframe in direction, footpath, is less than the 5%(of the length of side being parallel to this range direction or x), stopping moves
Dynamic.
9, now, laser ranging module works on, and measures the distance of filming apparatus and pipeline end face, this distance is stored in
Data base, as shooting distance setting value L3 of this size pipeline, when processing the pipeline of identical caliber next time, directly by laser
Range finder module measures the distance between filming apparatus and pipeline end face, and compares with the setting value of last stored, determines shooting position
Put, the action of 8th step is not repeated.
10, after determining camera site, image capturing device shooting image, image input host computer.
11, after an end face has shot, device control host computer control filming apparatus and return initial point along the y-axis direction
After, then move right to another end face.
12, when moving right beginning, laser ranging system turns left 90 °, the light installed on laser ranging system
Electric switch (same with aforementioned Photon-Electron switch) is off when filming apparatus just turns right, when moving right and pipeline
When entity is parallel, photoswitch receives the reflection light that laser ranging system sends, and photoswitch is connected, when filming apparatus moves right
During dynamic disengaging pipe entity, photoswitch can not receive the reflection light that laser ranging system sends, and photoswitch disconnects, the most again
Move forward the distance of L3, then stop.
13, filming apparatus stop along x-axis (to the right) mobile after, then move along the y-axis direction, along the y-axis direction advance L2 away from
From, a limit switch is set at the L2 of right side, halts when filming apparatus arrives the L2 position of right side.
14, now, the most again look for home position, directly shoot picture, and picture is inputted host computer.
15, after the shooting completing another end face, auto-returned initial point, restPose, wait lower task.
16, quality assessment: 1) first end face and the shooting image of second end face, pass through gray proces on computers
Extract end face edge, calculate pipeline horizontal diameter and perpendicular diameter, foundation pipe level diameter and perpendicular diameter according to pixel
The circularities of this end face of ratio in judgement, judgment criteria is in first step executed；2) by horizontal diameter, the perpendicular diameter of two end faces
Compare respectively, determine the difference of the horizontal diameter of two end faces, perpendicular diameter, by the horizontal diameter of two end faces, hang down
The difference of straight diameter is to determine whether two end faces of pipeline meet the requirements, and judgment criteria is inputted computer by quality inspection personnel in advance.
And remind operator with voice mode.
Image processing method about gathering figure:
First being gray proces, in VB6, each pixel of a sub-picture is represented by 32 place values, and wherein RGB account for low three
Byte, highest byte is useless.It is converted into gray level image to be realized by below equation:
Gray=Red*0.3+Green*0.6+Blue*0.1
Wherein, Gray is gray value, and Red is red primary, and Green is green primary, and Blue is blue primary.
Next to that edge extracting, edge extracting uses Robets operator to realize, extracts steel pipe circular arc border, and at VB6
Middle realization.
Citing: for demonstrating effect, use the length 1.5 meters bought on building materials market, the pvc pipe of diameter 250 millimeters replaces
Boiler piping.Upper computer software controls USB camera and finds a view from pipe arrangement inwall, through gray proces, edge extracting scheduling algorithm etc.
Series of algorithms extracts characteristic circle.The circularities calculated is that 1.045455(is accurate to after arithmetic point 6).
About the calculating of pipeline end face circularities, quality assessment:
The image of foundation pipeline end face shooting, after edge treated, calculates horizontal inside diameter d1 and perpendicular diameter d2, d1/d2*%
=m, m value represents the circularities of this end face, compares with the permission circularities being previously set, and i.e. can determine whether that pipeline at this end face is
No qualified, the processing method of another end face is identical.
Compare about two end face horizontal inside diameter of pipeline, perpendicular diameter, quality assessment:
The horizontal inside diameter of definition left side is d1, and the horizontal inside diameter of right side is d3, and the perpendicular diameter of left side is d2, right side
Perpendicular diameter be d4.
When d1-d3≤allowable error, qualified, the most defective；
When D2-d4≤allowable error, qualified, the most defective.
Overall judge: have a defective i.e. judgement pipeline circularities defective in These parameters, on the contrary qualified.
Function about photoswitch:
Limit switch SB1 is set in the L2 position of left side, limit switch SB2 is set in the L2 position of right side；Work as SB1
Connecting, when filming apparatus rises to A1 position simultaneously, photoswitch circuit is connected.The now status signal input control of photoswitch
Device processed, and participate in the control of filming apparatus, work relationship is as follows:
Photoswitch state: 1(laser is between work platforms and pipeline inner circle) → 0(laser is in pipeline inner circle) → 1(laser
In pipeline between outer rim) → 0(laser leaves pipeline outer rim) → 1(filming apparatus is when moving down, laser is outer rim in pipeline
Between) → 0(laser is in pipeline inner circle) → 1(is when returning, laser is in pipeline between outer rim) → 0(laser departs from object) →
State resets (filming apparatus return initial point).0(move right beginning time, laser areflexia) → 1(is when moving right, laser with
Pipe entity is parallel) → 0(laser disengaging pipe entity).
From above-mentioned relation it is known that after the status signal input control device of photoswitch, receive second 0
The when of signal, stop moving up of vertical direction；The when of receiving second 0 signal after clearing, expression is shifted to the right to
The right side of pipeline, now, provides a control signal, by controlling the device side-play amount plus L3, then the L3 that moves right, stop
Move to right.
Parts form:
Main frame, host computer (PC computer), the shooting of image collecting device is controlled including image collecting device, image collecting device
Head unit, image transmitting unit, shooting control unit, processor, host computer, described video camera or camera unit, image biography
Defeated unit, shooting control unit, processor are sequentially connected with, and processor is connected with PC both-way communication.
Claims (10)
1. a pipeline circularities automatic checkout system, it is characterised in that: include,
Image collecting device alignment system, determines that image collecting device carries out image collecting device during image acquisition to pipeline end face
Position, make the center of circle of the focus align with tube end face of image collecting device；
Image collecting device, is acquired pipeline end face image；
Image processing system, carries out image procossing to the pipeline end face image gathered, and extracts end face edge；
Circularities calculates system, according to the end face edge pixel extracted, calculates pipeline end face horizontal diameter and perpendicular diameter, according to
The ratio calculation of described horizontal diameter and perpendicular diameter obtains the circularities of this end face.
Pipeline circularities automatic checkout system the most according to claim 1, it is characterised in that: also include,
Circularities qualified threshold value setting module, sets the threshold range of qualified circularities；
The qualified judge module of circularities, compared with the circularities threshold value qualified with the circularities of setting that will calculate, it is judged that circularity
It is the most qualified to be worth.
Pipeline circularities automatic checkout system the most according to claim 1, it is characterised in that: described image collecting device is fixed
Position system includes that photoswitch reflects light beam locating module, for the center of circle of survey calculation pipeline end face.
Pipeline circularities automatic checkout system the most according to claim 1, it is characterised in that: described image collecting device is fixed
Position system also includes laser ranging module, detection image collecting device and the horizontal range of pipeline end face.
5. according to the pipeline circularities automatic checkout system one of claim 1 to 4 Suo Shu, it is characterised in that: also include pipeline
Double End deviation calculates system, according to horizontal diameter and the perpendicular diameter of two end faces calculated, draws the water of two end faces
The difference in straight footpath and the difference of perpendicular diameter, to determine whether the deviation of two end faces of pipeline meets the requirements.
Pipeline circularities automatic checkout system the most according to claim 5, it is characterised in that: also include,
Double End deviation qualified threshold value setting module, sets the threshold range of qualified Double End deviation；
The qualified judge module of Double End deviation, by the Double End deviation that calculates compared with the qualified threshold value of Double End deviation of setting
Relatively, it is judged that Double End deviation is the most qualified.
7. a pipeline circularities automatic testing method, method particularly includes:
Two end face home positions of image collecting device align with tube are used to carry out the image acquisition of two end faces, and by collection
Image is sent to image processing system；Described image processing system carries out image procossing to the end view drawing picture gathered and extracts end surface side
Edge, obtains the circularities of each end face；The computational methods of described circularities are: the end view drawing picture gathered is carried out gradation of image process
Extract end face edge, calculate pipeline end face horizontal diameter and perpendicular diameter according to pixel, according to described horizontal diameter and straight vertical
The ratio calculation in footpath obtains the circularities of this end face.
Pipeline circularities automatic testing method the most according to claim 7, described method also includes, by two end faces of pipeline
Horizontal diameter compare, determine the difference of two horizontal diameter；The perpendicular diameter of two end faces of pipeline is compared, really
The difference of fixed two perpendicular diameter；Whether met the requirements with the deviation determining two end faces by two differences.
Pipeline circularities automatic testing method the most according to claim 7, the localization method of pipeline end face home position is:
Image collecting device alignment system moves along pipeline end face perpendicular diameter direction, by photoswitch to reflection light beam make anti-
Should, record end face diameter inner circle or the upper end edge of cylindrical and lower end edge, then the central point of upper end edge and lower end edge is this end face
Home position.
Pipeline circularities automatic testing method the most according to claim 7, described method also includes, adjusts image acquisition
Device and the horizontal range of pipeline end face, make the pipeline end face diametric outer distance acquired image frame of collection
Minimum range, less than or equal to the 5% of the framing mask length of side being parallel to this range direction.
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| CN110631491A (en) * | 2019-09-12 | 2019-12-31 | 广州海狮软件科技有限公司 | Pipe measuring and calibrating method |
| CN110920040A (en) * | 2019-12-11 | 2020-03-27 | 宜昌宜硕塑业有限公司 | Device and method for online digital detection and feedback automatic correction of out-of-roundness of PE (polyethylene) pipe |
| CN111504225A (en) * | 2020-04-30 | 2020-08-07 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN113029014A (en) * | 2019-12-25 | 2021-06-25 | 隆基绿能科技股份有限公司 | Method and device for detecting diameter of single crystal silicon rod |
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