Pipeline coarse positioning method and system based on vision and laser ranging

Abstract

The invention discloses a pipeline coarse positioning method based on vision and laser ranging, which comprises the following steps: S1, collecting sampling points in a straight pipe fitting of a pipeline, and reading pixel coordinates of the sampling points; s2, determining the direction of each sampling point in a camera coordinate system; s3, moving the coordinate origin of the laser distance measuring sensor to the coordinate origin of the camera, enabling the laser distance measuring sensor to sequentially point to the direction of each sampling point in the camera coordinate system, and reading the distance measuring value of the laser distance measuring sensor, namely the distance from each sampling point to the origin of the camera coordinate system; s4, determining the coordinate of each sampling point in a camera coordinate system based on the distance measurement value of each acquisition point; and S5, calculating the coordinates of the intersection point of the straight pipe fittings in the pipeline in the camera coordinate system, determining the position and posture of the pipeline in the camera coordinate system, and converting the position and posture of the pipeline in the camera coordinate system to a specified coordinate system to realize coarse positioning of the pipeline. Coarse positioning of the pipe fitting is achieved, and support is provided for quantitative parameter measurement of the pipe fitting.

Description

technical field [0001] The invention belongs to the technical field of pipeline positioning, and more specifically, the invention relates to a rough pipeline positioning method and system based on vision and laser ranging. Background technique [0002] Pipe fittings are an important part of mechanical and electrical products in industries such as automobiles, aerospace, and ships. Quantitative parameter measurement of pipe fittings during pipe fitting processing is an important part of pipe fitting quality inspection. At present, the quantitative parameter measurement of pipe fittings mainly relies on manual selection of measurement positions. Not only is the operation complicated and time-consuming, but also if the measurement range of the pipe fittings is too large, it will be difficult to select the measurement position or the selected measurement position cannot accurately measure the quantitative parameters of the pipe fittings. [0003] Existing binocular vision can re...

AI Technical Summary

Problems solved by technology

At present, the quantitative parameter measurement of pipe fittings mainly relies on manual selection of measurement positions. Not only is the operation complex and time-consuming, but also if the measurement range of the pipe fittings is too large, it will be difficult to select the measurement position or the selected measurement position cannot accurately measure the quantitative parameters of the pipe fittings.

[0003] Existing binocular vision can realize automatic grabbing of pipe fittings. To accurately measure the 3D coordinate position of the image center point based on binocular vision technology, sufficient matching feature points are needed. Because the general material and color characteristics of the pipe fitting surface are consistent, it is difficult to Extract enough matching feature points. Therefore, it is difficult to locate the pipeline based on the dual vision technology. In addition, the measurement of the three-dimensional coordinates of the image based on the binocular vision requires an additional structured light source or infrared light source.

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