High-precision binocular vision measurement system for targets and closed tubes containing targets

Abstract

The present invention discloses a target for a high-precision binocular vision measurement system for a closed pipe, comprising a body, a measuring head being arranged at the end of the body, at least two target plates being arranged on the body, three or four circular holes being arranged on the target plates, adjacent target plates being at the same distance, the surface of the target plates being square, and a communication module and a switch being installed on the body. The present invention can measure the detailed spatial position of a flange to be measured, including the rotation angle and deflection angle of the flange, and the software automatically reads the measurement data and performs automatic calculation, thereby realizing high-precision measurement of the closed pipe, and at the same time has the advantages of being digital, light, and highly accessible.

Description

Technical Field

[0001] The invention relates to a target and a closed tube high-precision binocular vision measurement system comprising the target, belonging to the closed tube field. Background Art

[0002] Ships are built in sections. Due to the accumulated errors in the manufacturing process, many closed pipes are produced in the shipbuilding process. The production of closed pipes usually adopts the molding method and on-site welding method. These two methods have the following disadvantages: (1) The precision is not high, and there will be 5% defective products. (2) The operation time is long, and accidents often occur during the handling operation, which poses a safety hazard. (3) Auxiliary tools such as flanges and angle irons are required, resulting in material waste. (4) There is a fire hazard in the welding and cutting operations inside the ship. (5) It requires skilled and experienced professional technicians to complete the production. The most difficult part in pipeline production is to "ensure the good precision of the finished product." However, the above two methods often result in the incorrect position of the bolt holes of the flange of the closed pipe, which makes it impossible to install.

[0003] Patent ZL 2011 1 0309478.9 provides a system for measuring and reproducing a closed pipe and a method for measuring and reproducing the closed pipe. The method can solve the measurement and reproduction of the closed pipe. However, during use, the closed pipe with obstacles in the middle or the pipe diameter less than 76 cannot be measured, which will cause the closed pipes of the whole ship to not be 100% measured, causing great trouble to the on-site construction. The high-precision binocular imaging measurement method for the closed pipe of the present invention can measure the spatial position of the two flanges on site through binocular measurement plus a dedicated target and a measuring head. The measurable pipe diameter range is larger, and the closed pipe with obstacles in the middle can also be measured. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a target and a high-precision binocular vision measurement system for a closed pipe comprising the target. This method can measure the detailed spatial position of the flange to be measured, including the positional relationship between the flange and the flange hole. The software automatically reads the measurement data and performs automatic calculations to achieve high-precision measurement of the closed pipe. It also has the advantages of digitization, portability, and high accessibility.

[0005] Technical solution: To solve the above technical problems, the present invention provides a target for a high-precision binocular vision measurement system for a closed pipe, comprising a body, a measuring head disposed at the end of the body, at least two target plates disposed on the body, three or four circular holes disposed on the target plates, adjacent target plates having the same distance, and a square surface of the target plates, and a communication module and a switch mounted on the body. The target structure is used to realize the conversion between the coordinate system on the body and the camera coordinate system, thereby determining the position of the measuring head in the camera coordinate system.

[0006] Preferably, there are three target plates, which are distributed on both sides of the main body. Three circular holes are provided on the two target plates on one side, and the centers of the three circular holes are distributed in an equilateral triangle. Four circular holes are provided on a target plate on the other side, and the centers of the four circular holes are distributed in a square.

[0007] Preferably, the measuring head is spherical.

[0008] A high-precision binocular vision measurement system for a closed pipe comprises a target, a coaxial device and a binocular high-precision three-dimensional measurement system, wherein the coaxial device is installed in a flange hole of a flange, and the target is inserted into the coaxial device; the coaxial device comprises a mounting plate, a countersunk screw and a frustum, wherein the countersunk screw and the frustum are respectively mounted on both sides of the mounting plate, a coaxial conical hole is arranged on the frustum, the frustum and the countersunk screw are coaxially arranged, and an industrial strong magnet is installed on the surface of the mounting plate located on one side of the countersunk screw.

[0009] A method for measuring a closed tube high-precision binocular vision measurement system, comprising the following steps:

[0010] (1) Fix the binocular high-precision 3D measurement system on a tripod or with screws;

[0011] (2) Model the target and measure the relative position of the circular hole on the target plate and the relative position of the center of the measuring head;

[0012] (2) Install the coaxial device for measuring the closed pipe target on any flange hole of the flange;

[0013] (3) Turn on the binocular measurement handheld terminal;

[0014] (4) Place the measuring head of the target into the conical hole of the measuring head for measuring the closed pipe target, adjust the target angle, and all target points can be seen in the handheld terminal. Click to measure and collect data;

[0015] (5) Move the measuring head for the closed pipe target measurement to another flange hole of the flange, repeat the measurement steps (2) to (4), and measure three points;

[0016] (6) Move the measuring head for the closed pipe target measurement to another flange hole and repeat the measurement steps (2) to (4) to measure three points;

[0017] (7) By importing the above image and two sets of measurement points into a computer, the relative position relationship of the two flanges and the position of the flange holes can be calculated.

[0018] In the present invention, the binocular high-precision three-dimensional measurement system is composed of two high-precision industrial cameras, two high-precision lenses, a central processing unit, a battery module, etc., and is the basis of the entire method. The above-mentioned target is mainly imaged in the binocular high-precision three-dimensional measurement system through the calibrated reflection points on the target, and the coordinates of the measurement points relative to the camera are calculated. It is mainly composed of a special measuring head, a reflection target, a battery module and a communication module. The above-mentioned measuring head for measuring the closed pipe target: mainly composed of a measuring head plate, an industrial strong magnet, a mounting screw and a high-precision positioning conical hole, etc. It is used to locate the center position of the flange screw eye. The above-mentioned binocular measurement handheld terminal is mainly composed of a handheld terminal body and measurement software. It is used to complete human-computer dialogue and measurement data collection.

[0019] Beneficial effects: The high-precision binocular vision measurement system for closed pipes of the present invention can measure the detailed spatial position of the flange to be measured, including the rotation angle and deflection angle of the flange. The software automatically reads the measurement data and performs automatic calculations to achieve high-precision measurement of closed pipes. It also has the advantages of digitization, portability, and high accessibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a system schematic diagram of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of the measuring head.

[0022] Figure 3 Schematic diagram of the target structure. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] like Figures 1 to 3 As shown, the high-precision binocular vision measurement system for a closed pipe of the present invention comprises a binocular high-precision three-dimensional measurement system 1, a coaxial device 2 and a target 3, wherein the coaxial device 2 is installed in a flange hole of a flange 4, and the target 3 is inserted into the coaxial device 2; the coaxial device 2 comprises a mounting plate, a countersunk screw 22 and a truncated cone 21, wherein the countersunk screw 22 and the truncated cone 21 are respectively installed on both sides of the mounting plate, a coaxial conical hole is provided on the truncated cone 21, the truncated cone 21 is coaxially arranged with the countersunk screw 22, and an industrial strong magnet 23 is installed on the surface of the mounting plate located on one side of the countersunk screw 22; the target 3 comprises a body 34, a measuring head 31 is provided at the end of the body 34, the measuring head 31 is spherical, at least two target plates 32 and a switch 33 are provided on the body 34, and three or four circular holes are provided on the target plate 32.

[0025] In the present invention, there are three target plates 32, which are distributed on both sides of the body 34. Three circular holes are provided on the two target plates 32 on one side, and the centers of the three circular holes are distributed in an equilateral triangle. Four circular holes are provided on the target plate 32 on the other side, and the centers of the four circular holes are distributed in a square.

[0026] A measurement method of the above-mentioned high-precision binocular vision measurement system for a closed tube comprises the following steps:

[0027] (1) Fix the binocular high-precision three-dimensional measurement system 1 on a tripod or with screws;

[0028] (2) Modeling the target 3, measuring the relative position of the circular hole on the target plate 32 and the relative position of the center of the measuring head 31;

[0029] (2) Install the coaxial device 2 for measuring the closed pipe target 3 on any flange hole of the flange 4;

[0030] (3) Turn on the binocular measurement handheld terminal 6;

[0031] (4) Place the measuring head 31 of the target 3 into the conical hole of the measuring head 31 for measuring the closed pipe target 3, adjust the angle of the target 3, and all target points can be seen in the handheld terminal 6. Click to measure and collect data;

[0032] (5) Move the measuring head 31 of the closed pipe target 3 to another flange hole of the flange 4, repeat the measuring steps (2) to (4), and measure three points;

[0033] (6) Move the measuring head 31 of the closed pipe target 3 to another flange hole, repeat the measuring steps (2) to (4), and measure three points;

[0034] (7) By importing the above-mentioned image and two sets of measurement points into a computer, the relative position relationship between the two flanges 4 and the position of the flange holes can be calculated.

[0035] The principle of the present invention is as follows: by setting a marking point on the target plate 32, the relative position relationship between the marking point and the measuring head 31 is obtained through modeling, and the size of the marking point in the camera coordinate system is measured on the binocular high-precision three-dimensional measurement system 1. Through the relative position relationship between the marking point and the measuring head 31, the size of the center of the measuring head 31 in the camera coordinate system, that is, the coordinates of a point on the axis of the flange hole, can be obtained; the coordinate equation of the flange 4 surface can be obtained through the binocular high-precision three-dimensional measurement system 1. Since the axis of the flange hole is perpendicular to the flange 4 surface, and the coordinates of a certain point on the axis of the flange hole are known, the coordinates of the intersection of the surface of the flange 4 and the axis of the flange hole can be calculated. Through the coordinates of the three measuring points, the size of the diameter of the circle of the center of the flange hole on the flange 4 surface can be calculated. After determining the position and distribution of the flange holes, the relative position relationship between the two flanges 4 can be obtained, and the size of the closed tube can be calculated through modeling.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A measurement method of a high-precision binocular vision measurement system for a closed pipe, the measurement system comprising a target, a coaxial device and a binocular high-precision three-dimensional measurement system, the coaxial device being installed in a flange hole of a flange, the target being inserted into the coaxial device; the coaxial device comprising a mounting plate, a countersunk screw and a truncated cone, the countersunk screw and the truncated cone being respectively installed on both sides of the mounting plate, a coaxial conical hole being arranged on the truncated cone, the truncated cone being coaxially arranged with the countersunk screw, an industrial strong magnet being installed on the surface of the mounting plate located on one side of the countersunk screw; the target comprising the present invention; The body is provided with a measuring head at the end of the body, at least two target plates are provided on the body, three or four circular holes are provided on the target plates, the distances between adjacent target plates are the same, the surface of the target plates is square, and a communication module and a switch are installed on the body; there are three target plates, which are distributed on both sides of the body, three circular holes are provided on two target plates on one side, the centers of the three circular holes are distributed in an equilateral triangle, and four circular holes are provided on a target plate on the other side, the centers of the four circular holes are distributed in a square; the measuring head is spherical, characterized in that, The following steps are involved: (1) Fix the binocular high-precision 3D measurement system on a tripod or with screws; (2) Model the target, measure the relative position of the circular hole on the target plate relative to the body and the relative position of the spherical center of the measuring head relative to the body, and install the coaxial device for measuring the closed tube target on any flange hole of the flange; (3) Turn on the binocular measurement handheld terminal; (4) Place the measuring head of the target into the conical hole of the measuring head for measuring the closed tube target, adjust the target angle, see all target points in the handheld terminal, and click on measurement to collect data; (5) Move the measuring head for the closed pipe target measurement to another flange hole of the flange, repeat the measurement steps (2) to (4), and measure three points on the flange hole; (6) Move the measuring head for the closed pipe target measurement to another flange hole, repeat the measurement steps (2) to (4), and measure three points on the other flange hole; (7) By importing the image of the binocular high-precision 3D measurement system and the two sets of measurement points in steps (5) and (6) into the computer, the relative position relationship of the two flanges and the position of the flange holes can be calculated.

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