融合多组双目视觉系统的管道尺寸测量技术研究

针对工业管道尺寸偏差的在线测量问题，本文提出一种融合多组双目视觉系统的管径测量方法。该方法通过使用多组双目摄像机对管道测量截面上投影的多个激光标记进行图像采集、三维重建和坐标融合，通过椭圆拟合得到外管径、椭圆度等尺寸参数。该方法通过仿射距离变换算法实现特征点的自动匹配，并采用具有法向量约束的优化点云配准算法保证坐标融合的准确性性。为了验证该方法的可行性，搭建多组双目视觉实验系统，对3种公称外径分别为285、299和325 mm的管道进行了外尺寸测量实验。实验结果表明，系统测量的相对误差在±0.570%范围内，最大重复性标准差为0.551 mm,最长测量耗时为1.5 s。该方法和系统基本符合工业管道在线检测需求，具有良好的应用前景。

Research on the external size measurement for industrial pipes using multi-group binocular vision system

For the online measurement of size deviation in industrial pipelines, this paper proposes a pipe diameter measurement method integrated with multigroup biocular visual system. This method uses image acquisition, 3 D reconstruction and coordinate fusion through multiple laser markers projected on the pipeline measurement section, obtaining dimensional parameters such as outer tube diameter and ellipticity by ellipse fitting. This method realizes the automatic matching of feature points through the affine distance transformation algorithm, and adopts the optimized point cloud registration algorithm with normal vector constraints to ensure the accuracy of coordinate fusion. To verify the feasibility of this method, a multi-group binocular visual experiment system was constructed on three pipelines with nominal external diameter of 285, 299 and 325 mm. The experimental results show that the relative error of the systematic measurement is in the ±0.570% range, with the maximum standard deviation of repeatability of 0.551 mm and the longest measurement time consumption of 1.5 s. The method and system basically meet the needs of industrial pipeline online detection, and have good application prospects.