摘要
基于位置传感器PSD和光学三角原理,开发了一种适于空间曲线型微细管孔内表面三维重构的检测系统。该系统主要由管道机器人、形貌检测器和曲率检测器等部分组成。形貌检测器可以采集管道内壁截面信息,并计算出截面环上的点在局部坐标系中的位置。曲率检测器负责测量管孔中心轴线在检测器采样位置处的局部几何性质,并完成管道中轴线的重构。在管道机器人的驱动下,根据上述两方面提供的数据以及其前进步距,可以实现管道内表面的三维重建。实验结果表明,利用该技术检测的管道时,管道曲率半径的相对检测精度可以达到±2%,内表面缺陷及内径的测量精度可以达到±0.1mm。
A detection and three-dimensional reconstruction system for the interior surface of small-diameter pipes was presented based on Position Sensitive Detector （PSD） and optical triangulation principle. The system consisted of an in-pipe micro-robot, a profile detection sensor, a curvature sensor and so on, The profile inspection sensor caught the point position of the inner surface section in the local coordinates when it moved in pipe driven by the robot. At the same time, the curvature sensor got the local geometric information of the central axis of pipe in the sampling position and reconstructed the central axis. Finally, the inner surface of the pipe was reconstructed according to the data of the two sensors and the step of the robot. Experimental results show that the relative measurement accuracy of the pipe curvature is ± 2%, and the measurement accuracy of inner surface defect and inner diameter arc both± 0.1 mm.
出处
《光电工程》
EI
CAS
CSCD
北大核心
2007年第1期59-64,共6页
Opto-Electronic Engineering
关键词
三维重构
管道机器人
微细管孔
内表面检测
曲率
3D reconstruction
In-pipe robot
Small-diameter pipe
Inner surface meaSurement
Curvature
