论文部分内容阅读
管道在工业和生活中得到广泛应用,在役管道的在线检测对维护管道系统安全畅通运营有重要意义。基于视觉的管道机器人能够实现管道的在线无损检测,在此系统中成像系统承担了很重要的角色。本文建立了基于折反射传感器的圆柱空间分辨率检测系统,系统使用了一个激光环作为照明光源,检测系统包括一个曲面镜和一个摄像机作为折射反射传感器,管道瑕疵通过曲面镜在摄像机的CCD上成像,从而实现管道在线无损检测。为了在保证视场宽度的前提下得到最高的检测分辨率,文中针对针孔摄像机焦距的选择以及曲面镜形状的选择给出建议。
Pipelines are widely used in industry and life. The on-line inspection of in-service pipelines is of great significance to the safe and smooth operation of pipelines. Vision-based pipeline robots enable on-line, non-destructive inspection of pipelines where the imaging system plays an important role. In this paper, a cylindrical space resolution detection system based on catadioptric sensor is set up. The system uses a laser ring as the illumination source. The detection system includes a curved mirror and a camera as refraction sensors. The pipe defects are imaged on the CCD of the camera through the curved mirror , In order to achieve pipeline non-destructive testing online. In order to obtain the highest detection resolution under the premise of ensuring the width of field of view, this paper gives suggestions on the selection of the focal length of pinhole camera and the choice of the shape of the curved mirror.