Piping Vehicle Deviation Correction Method Based on Visual Sensor System
A visual sensor and sensor technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problem of lack of special pipelines for road information, and achieve the effects of saving operation time, low cost, and fast operation speed
Active Publication Date: 2018-12-14
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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However, the processing method of the current method is mainly to solve the situation where there are obvious pipeline road information and marking information. For special pipelines that lack road information and have serious reflections, the existing methods cannot solve the problem.
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[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0050] Using a visual measurement technology that combines a camera and two line structured lights, the internal parameters of the camera and the light plane parameters of the line structured light are calibrated, and then the camera is used to collect images of the inner wall of the pipeline in real time, and a series of threshold segmentation and morphological analysis are performed on the collected images. Image processing technology, according to the definition of deviation during vehicle driving, measures the posture (offset amount and offset angle) of the vehicle body, and then performs dynamic analysis on the vehicle body, and uses effective control algorithms to correct the vehicle to an accurate position in real time to avoid unnecessary contact between the car body and the inner wall of the pipe. The detection speed of the system is ...
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The invention relates to a pipeline vehicle error correcting method based on a visual sensor system. The method comprises the steps that a camera and structured light are calibrated to obtain internal parameters of the camera and parameters of a light plane; Gaussian smoothing is carried out on a collected image, and noise interference is removed; a foreground image is extracted from the image after Gaussian smoothing via threshold segmentation; noise points near light strips are removed by morphological analysis and contour dimension features; distortion is removed from the obtained light stripes, and 3D point coordinates of all points of two light stripes in a camera coordinate system are calculated; deviation information of a vehicle body is calculated according to the obtained 3D point coordinates; and online real-time error correction is carried out on the vehicle body according to the obtained deviation information, posture deviation is eliminated continuously, and the vehicle body is corrected to a central line of a pipeline. According to the method of the invention, the difficulty that a practical pipeline lacks road information and the vehicle body free of marking points cannot walk linearly is overcome, the detection speed is high, real-time navigation control can be realized, and the detection precision is higher.
Description
technical field [0001] The invention relates to the field of vehicle-type robot control, in particular to a method for correcting deviation of a pipeline vehicle based on a visual sensor system. Background technique [0002] As an important transmission medium, pipeline plays an increasingly important role in many aspects. Due to the narrowness of the pipeline, effective dedusting and cleaning of the pipeline in harsh environments is of great value in preventing safety accidents, reducing environmental pollution and avoiding economic losses. However, maintaining the straight running of the car body is the basic requirement for the car body to enter the pipeline, and it is also an important guarantee for effective dust removal and cleaning. [0003] For square pipes, the vehicle will inevitably have deviation problems when entering the pipe and walking. In order to avoid unnecessary collisions between the vehicle and the inner wall of the pipe, resulting in damage to the pip...
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IPC IPC(8): G05D1/02
Inventor 赵吉宾陈月玲齐智峰
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI