管道内表面圆结构光视觉三维测量系统

为保证管道运输安全，需要对管道进行定期维护和检测。采用视觉检测原理，提出了一种基于圆结构光三维视觉检测的管道内表面测量系统。针对管道内表面测量空间受限的约束，基于圆结构光视觉检测原理，提出了视觉传感器的纵向排列结构模式，并搭建了管道内表面圆结构光视觉检测系统。针对圆结构光特点，设计了圆环形平面标定靶标，实现了圆结构光检测系统的标定，并基于该圆结构光视觉检测系统对工业管道内表面进行了三维测量。实验结果表明:该系统的标定不确定度为0.081 mm，针对管道内表面，具有较高的测量精度。

In-pipe surface circular structured light 3D vision inspection system

The in-pipe surface defect inspection is very important for pipe maintenance and repair. An pipe inner surface 3D vision inspection system was proposed based on the vision principle by using circular laser projector. Firstly, the principle of the circular laser light vision was given, and the in-pipe 3D vision inspection system based on the axial pattern was proposed aiming to the restricted space of the inner pipe. According to the characteristics of the inner pipe inspection system the planar target was designed with which the calibration of this system was completed. Finally, the industrial pipe's inner surfaces were inspected based on the proposed circular structured light system, and the 3D shapes of in- pipe surfaces were reconstructed. Experimental results indicate that the system's calibration precision is 0.081 mm and the measurement system proposed in the paper is suitable for the industrial pipe inner surface inspection.