Design Of Visual Inspection Inspection System For Internal Surface Structure Light Light Of Pipeline

As a long-distance material transportation method,the pipeline plays an important role in the national economy and social development.However,pipeline leaks caused by aging and corrosion of pipelines often occur,which will cause a large amount of resource consumption,serious consumption of a lot of funds,and more likely to cause casualties,so timely detection of internal defects in the pipeline,and then take corresponding remedies Measures,which have important practical significance for the safe operation of the pipeline system.In this paper,for the actual needs of the inspection of the internal surface defects of industrial pipelines,a circular structure optical visual inspection system for internal surface defects of the pipeline is designed.The industrial pipeline with an inner diameter of about 160 mm is used as the inspection object,combined with the design,calibration and implementation of the visual measurement system of the internal wall of the pipeline The problems that will arise have been thoroughly researched in theory,algorithm and experiment,and verified by experiments.According to the structural characteristics of the inner surface of the pipeline and the requirements of the inspection system,two types of pipeline inner surface inspection systems are designed,one of which uses a one-dimensional guide rail as a driving device for detecting short pipelines in the laboratory,and the other uses a pipeline robot as The drive device can be used to detect long pipelines on industrial sites.A planar target suitable for the detection system is designed.The camera calibration is implemented using the Zhang Zhengyou calibration method.A circular structure cursor is fixed-point constructed based on the homography matrix and the planar target.The method in this paper can realize the simultaneous calibration of both the camera and the circular structure light.The thesis focuses on image processing,which mainly includes the research on the extraction algorithm of image feature information on the inner surface of the pipeline and the identification algorithm of the concave and convex defects on the inner surface of the pipeline.The method based on the region of interest extraction and the light strip skeleton variable direction template method eliminates the noise in the image,realizes the extraction of the center of the sub-pixel-level circular structured light stripes,and compares the normal vector between adjacent points on the same circumference of the inner wall of the pipe The corner mutation realizes the identification of the concave and convex defects of the inner wall of the pipeline.In this paper,the pipeline internal surface defect visual inspection system was built to detect industrial pipelines,and MATLAB programming was used to detect the three-dimensional shape of the pipeline inner wall to achieve the expected goal.