Accurate measurement of end position of inclined pipe with optimal projection plane of space

SHANG Guowei; LIANG Jin; LI Leigang; PAI Wenyan; ZHAO Guizhong

doi:10.37188/OPE.20243201.0095

您当前的位置：

首页 >

文章列表页 >

Accurate measurement of end position of inclined pipe with optimal projection plane of space

Micro/Nano Technology and Fine Mechanics | 更新时间：2024-01-13

- Accurate measurement of end position of inclined pipe with optimal projection plane of space
- Optics and Precision Engineering Vol. 32, Issue 1, Pages: 95-110(2024)
- 作者机构：
  
  1.西安交通大学机械工程学院机械制造系统工程国家重点实验室，陕西西安 710049
  2.新拓三维技术（深圳）有限公司创新实验室，广东深圳 518060
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20243201.0095
  CLC： TP394.1;TH691.9
- Published：10 January 2024，
  
  Received：24 May 2023，
  
  Revised：15 June 2023，
- 稿件说明：
移动端阅览
尚国威,梁晋,李磊刚等.空间最优投影平面的斜口圆截面管路端头位姿测量[J].光学精密工程,2024,32(01):95-110.

SHANG Guowei,LIANG Jin,LI Leigang,et al.Accurate measurement of end position of inclined pipe with optimal projection plane of space[J].Optics and Precision Engineering,2024,32(01):95-110.
尚国威,梁晋,李磊刚等.空间最优投影平面的斜口圆截面管路端头位姿测量[J].光学精密工程,2024,32(01):95-110. DOI： 10.37188/OPE.20243201.0095.

SHANG Guowei,LIANG Jin,LI Leigang,et al.Accurate measurement of end position of inclined pipe with optimal projection plane of space[J].Optics and Precision Engineering,2024,32(01):95-110. DOI： 10.37188/OPE.20243201.0095.

摘要

船舶、飞机等发动机为减小体积，采用斜口管路焊接代替弯头连接，管路系统中端头位姿是焊接对齐的前提。针对斜口管路端头位姿的高效高精度测量难题，提出了一种通过重建管路轴线以及管路端面进行端头位姿精确测量的方法。通过获取种子圆柱并设计非线性寻优算法提高圆柱拟合精度，通过高精度种子圆柱扩散重建得到管路轴线。通过双曲率阈值搜索方法对管路边缘进行搜索，得到管路端面边缘点整像素坐标。通过对端面提取得到的整像素坐标进行椭圆拟合结合射线求交方法求解端面边缘亚像素坐标，从而避免插值方法计算亚像素坐标受环境光源影响大的问题。最后，使用逐点最小二乘法重建空间投影平面并在平面上得到残差最小空间椭圆，空间椭圆中心即为管路端点，该投影平面即为端面所在平面，实现了对端头位姿的精确测量。实验结果表明，该方法的测量精度达到0.05 mm，角度测量误差小于0.1°，基本满足斜口管路端头的位姿测量精度要求，对管路的装配具有良好的指导意义。

Abstract

To reduce the volume of ships， aircraft， and other engines， oblique pipe welding is used instead of elbow connection， and the end position in the pipeline system plays an important role in the welding alignment. First， the pipe axis was obtained by determining the seed cylinder and designing a nonlinear optimization algorithm. Then， the pipeline axis was obtained through diffusion reconstruction of the high-precision seed cylinder. Following this， the pipe edge was searched using the double curvature threshold search method， and the whole pixel coordinates of the end-face edge point of the pipe were obtained. Next， the subpixel coordinates of the end-face edge were obtained via elliptic fitting of the whole pixel coordinates extracted from the end face combined with the ray intersection method， avoiding the effect of the ambient light source on the subpixel coordinates calculated using the interpolation method. Finally， the spatial projection plane was reconstructed using the point-by-point least squares method and the minimal residual spatial ellipse was realized on the plane. The center of the elliptical circle of the space was the end of the pipe， and the projection plane was the plane where the end face was located， enabling accurate measurement of the head position. The experimental results show that the measurement accuracy of this method reaches 0.05 mm， and the angle measurement error is less than 0.1°， basically meeting the accuracy requirements of the head position measurement of an inclined pipeline， and presenting good guiding significance for the assembly of such pipelines.

关键词

空间投影平面管路端头位姿测量端面重建

Keywords

spatial projection planepipelineendpoint pose measurementend face reconstruction

references

ZHOU L， WANG P， ZHANG CH J， et al. Multi-mode fusion BP neural network model with vibration and acoustic emission signals for process pipeline crack location［J］. Ocean Engineering， 2022， 264： 112384. doi: 10.1016/j.oceaneng.2022.112384http://dx.doi.org/10.1016/j.oceaneng.2022.112384

KIM W S， LEE D H， KIM Y J， et al. Stereo-vision-based crop height estimation for agricultural robots［J］. Computers and Electronics in Agriculture， 2021， 181： 105937. doi: 10.1016/j.compag.2020.105937http://dx.doi.org/10.1016/j.compag.2020.105937

赵玉芹，张丽艳. 基于摄影测量的管路参数确定［J］. 机械制造与自动化， 2008， 37（6）：114-117. doi: 10.3969/j.issn.1671-5276.2008.06.039http://dx.doi.org/10.3969/j.issn.1671-5276.2008.06.039

ZHAO Y Q， ZHANG L Y. Pipe parameter estimation in photogrammetry［J］. Machine Building & Automation， 2008， 37（6）：114-117. （in Chinese）. doi: 10.3969/j.issn.1671-5276.2008.06.039http://dx.doi.org/10.3969/j.issn.1671-5276.2008.06.039

李铁. 基于图像测量的汽车管件尺寸检测系统［D］. 长春：吉林大学， 2005.

LI T. Size Detection System of Automobile Pipe Fittings Based on Image Measurement［D］. Changchun： Jilin University， 2005. （in Chinese）

BÖSEMANN W. The optical tube measurement system OLM photogrammetric methods used for industrial automation and process control［J］. International Archives of Photogrammetry and Remote Sensing， 1996， 31： 55-58.

VELDHUIS H， VOSSELMAN G. The 3D reconstruction of straight and curved pipes using digital line photogrammetry［J］. ISPRS Journal of Photogrammetry and Remote Sensing， 1998， 53（1）： 6-16. doi: 10.1016/s0924-2716(97)00031-2http://dx.doi.org/10.1016/s0924-2716(97)00031-2

TANGELDER J W H， ERMES P， VOSSELMAN G， et al. CAD-based photogrammetry for reverse engineering of industrial installations［J］. Computer-Aided Civil and Infrastructure Engineering， 2003， 18（4）： 264-274. doi: 10.1111/1467-8667.00316http://dx.doi.org/10.1111/1467-8667.00316

张天. 基于多目视觉的管路数字化测量方法研究［D］. 北京：北京理工大学， 2014.

ZHANG T. Research on Digital Measurement Method of Pipeline Based on Multi-Vision［D］. Beijing： Beijing Institute of Technology， 2014. （in Chinese）

娄群，吕钧澔，文立华，等. 基于亚像素边缘检测的高精度相机标定方法［J］. 光学学报， 2022， 42（20）： 2012002. doi: 10.3788/aos202242.2012002http://dx.doi.org/10.3788/aos202242.2012002

LOU Q， LÜ J H， WEN L H， et al. High-precision camera calibration method based on sub-pixel edge detection［J］. Acta Optica Sinica， 2022， 42（20）： 2012002.（in Chinese）. doi: 10.3788/aos202242.2012002http://dx.doi.org/10.3788/aos202242.2012002

TAO L M，XIA R B，ZHAO J B. A high-accuracy circular hole measurement method based on multi-camera system［J］. Measurement， 2023， 207： 112361. doi: 10.1016/j.measurement.2022.112361http://dx.doi.org/10.1016/j.measurement.2022.112361

贾棋，梁景朝，王祎，等. 基于区域检测和弧筛选的椭圆检测方法［J］. 计算机辅助设计与图形学学报， 2022， 34（11）：1784-1794. doi: 10.3724/sp.j.1089.2022.19197http://dx.doi.org/10.3724/sp.j.1089.2022.19197

JIA Q， LIANG J CH， WANG Y， et al. Ellipse detection combining region detection and arc filtering［J］. Journal of Computer-Aided Design & Computer Graphics， 2022， 34（11）：1784-1794.（in Chinese）. doi: 10.3724/sp.j.1089.2022.19197http://dx.doi.org/10.3724/sp.j.1089.2022.19197

HOU X Y， LI M Z， LV Q， et al. Three-dimensional Measurement Method for Tube's Endpoints Based on Multi-view Stereovision［M］. Lecture Notes in Electrical Engineering. Singapore： Springer Nature Singapore， 2022： 283-290. doi: 10.1007/978-981-19-0386-1_35http://dx.doi.org/10.1007/978-981-19-0386-1_35

LIU S L， JIN P， LIU J H， et al. Accurate measurement method for tube’s endpoints based on machine vision［J］. Chinese Journal of Mechanical Engineering， 2017， 30（1）： 152-163. doi: 10.3901/cjme.2016.0516.066http://dx.doi.org/10.3901/cjme.2016.0516.066

金鹏，刘检华，刘少丽，等. 基于二维靶标的管路端点位置测量方法［J］. 计算机集成制造系统， 2014， 20（11）： 2758-2766. doi: 10.13196/j.cims201411014http://dx.doi.org/10.13196/j.cims201411014

JIN P， LIU J H， LIU SH L， et al. Measuring method of pipeline endpoints based on two-dimensional point-target［J］. Computer Integrated Manufacturing Systems， 2014， 20（11）： 2758-2766.（in Chinese）. doi: 10.13196/j.cims201411014http://dx.doi.org/10.13196/j.cims201411014

张继耀. 采用边缘轮廓约束的航天发动机弯管几何参数多目视觉测量技术研究［D］.西安：西安交通大学，2022. doi: 10.33737/gpps21-tc-240http://dx.doi.org/10.33737/gpps21-tc-240

ZHANG J Y. Study on Multi-Target Visual Measurement Technology for The Geometric Parameters of Space Engine Bend Pipes Constrained By Edge Contours ［D］. Xi'an： Xi'an Jiaotong University， 2022.（in Chinese）. doi: 10.33737/gpps21-tc-240http://dx.doi.org/10.33737/gpps21-tc-240

苗泽华. 工业弯管点云数据的YBC参数提取与检测方法研究［D］.西安：西安交通大学，2021.

MIAO Z H. Research on YBC Parameter Extraction and Detection Method of Industrial Bent Pipe point Cloud Data ［D］. Xi'an： Xi'an Jiaotong University， 2021.（in Chinese）

龚聪，徐杜. 光源强度变化对图像检测精度的影响及其解决方法［J］.科学技术与工程， 2014， 14（13）： 236-239. doi: 10.3969/j.issn.1671-1815.2014.13.047http://dx.doi.org/10.3969/j.issn.1671-1815.2014.13.047

GONG C， XU D. Influence of light source intensity change on image detection accuracy and its solution［J］. Science Technology and Engineering， 2014， 14（13）： 236-239.（in Chinese）. doi: 10.3969/j.issn.1671-1815.2014.13.047http://dx.doi.org/10.3969/j.issn.1671-1815.2014.13.047

任同群，江海川，张建昆，等. 微小磁性零件装配设备自动标定及误差补偿［J］. 光学精密工程， 2023， 31（2）： 214-225. doi: 10.37188/ope.20233102.0214http://dx.doi.org/10.37188/ope.20233102.0214

REN T Q， JIANG H CH， ZHANG J K， et al. Automatic calibration and error compensation for micro magnetic parts assembly equipment［J］. Opt. Precision Eng.， 2023， 31（2）： 214-225.（in Chinese）. doi: 10.37188/ope.20233102.0214http://dx.doi.org/10.37188/ope.20233102.0214

石吉豪，钟羽中，郑秀娟，等. 基于光线散射衰减模型的低照度图像增强［J］. 光学精密工程， 2023， 31（8）： 1244-1255. doi: 10.37188/ope.20233108.1244http://dx.doi.org/10.37188/ope.20233108.1244

SHI J H， ZHONG Y ZH， ZHENG X J， et al. Low-light image enhancement algorithm based on light scattering attenuation model［J］. Opt. Precision Eng.， 2023， 31（8）： 1244-1255.（in Chinese）. doi: 10.37188/ope.20233108.1244http://dx.doi.org/10.37188/ope.20233108.1244

XIA Z Y， ZHAO J B， XIA R B. An improved method for correcting the eccentricity error of circular projection in the binocular visual system［C］. 2021 3rd International Symposium on Robotics & Intelligent Manufacturing Technology （ISRIMT）. September 24-26， 2021. Changzhou， China. IEEE， 2021： 194-197.

Views

296

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰