Method and device for measuring pipeline pose

Abstract

The invention provides a measurement method and device for the position and posture of a pipe. The measurement method for the position and posture of the pipe comprises the steps that image information of the pipe is acquired; according to the image information, a first position and posture for expressing a space position and posture of the pipe is obtained, and the first position and posture is expressed through a center line of the pipe; according to the image information, an edge pixel point of the pipe is obtained; according to the first position and posture and the edge pixel point, a second position and posture for expressing the shape and structure of the pipe is fitted. According to the embodiment, by acquiring the image information of the pipe, the first position and posture expressed by the center line of the pipe and the edge pixel point of the pipe are obtained, the second position and posture for expressing the shape and structure of the pipe is obtained through fitting, and accordingly the position and posture of the pipe are automatically measured.

Description

technical field [0001] The invention relates to the technical field of pipeline measurement, in particular to a method and device for measuring pipeline pose. Background technique [0002] Pipelines are widely used in aviation, aerospace and automotive industries, and their assembly quality and efficiency directly affect product performance and production cycle. When the pipeline system is assembled, the numerically controlled formed conduits and connectors, as well as between pipelines, need to be welded, and there is a relatively complex spatial position relationship between each group of pipeline components. At present, most projects still rely on workers to place conduits or pipelines on the assembled fixtures, determine their positions and then weld them. There are problems such as cumbersome manual operations, error-prone and low efficiency. In recent years, the measurement method based on machine vision has been developed rapidly. This method has the advantages of hi...

AI Technical Summary

Problems solved by technology

This method uses a cylinder with a length of 4 mm as a geometric primitive, and uses multi-eye vision technology to match the projection of the primitive to each image and the contour of the catheter to determine the pose of the primitive to form a discrete model of the catheter. This method has achieved a good three-dimensional Reconstruction effect, but the hardware requirements are high, and it cannot meet the real-time requirements of pipeline automatic assembly; Hinterstoisser and Zhang proposed a template matching method based on gradient response graphs, first binary code the edge gradient direction of the object, and then Use the similarity measurement function to find the template that is most similar to the measured picture in the template set, and use the pose represented by the template as the measurement result, but the measurement accuracy of this method depends heavily on the size of the template library, and the calculation is large and efficient. Low, susceptible to noise interference

[0005] The surface of the pipeline is smooth, and its surface texture features cannot be obtained; in addition, the shape of the pipeline is uniform and lacks distinct geometric features, so the traditional feature-based pose measurement method cannot be applied to the pipeline, nor can it meet the requirements of pipeline pose measurement. Real-time requirements for automated assembly

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