基于ASODVS的火炮身管损伤检测系统

Detection system for gun barrel damage based on active stereo omni-directional vision sensor

针对火炮身管内膛疵病种类多、定性定量分析难和检测自动化程度低等问题,提出了一种基于ASODVS的火炮身管损伤视觉检测方法,既能视觉检测身管横截面几何尺寸又能获取和分析身管内壁表面缺陷,还能对身管内表面三维测量和重构。首先,通过高斯曲线法提取激光扫描全景图像中的激光中心点,并采用贝塞尔曲线对提取的激光中心点进行平滑处理;接着,根据ASODVS的标定结果解析出全景图像上身管内壁全景激光投射点的三维点云数据;进一步,根据定性分析中识别出来的疵病采用四连通域法标记损伤,进而求解该损伤部分的面积和深度,然后采用椭圆拟合法测量身管形变;最后用3D重构技术将定性定量分析结果进行融合,重构出火炮身管真实状态,实现身管窥膛"采集-识别-判定-重构"全过程的定性定量自动视觉检测。实验结果表明:基于ASODVS的火炮身管损伤检测系统能够快速检测出各种火炮疵病,并能精确解析出疵病所处的空间位置、大小及深度等重要信息,测量误差基本满足国标规定要求,为火炮身管修复及寿命预估等奠定了坚实的基础。

For the problem of multiple bore flaws types,difficulty in qualitative and quantitative analysis,and less-automated detection algorithms,we proposed a novel vision detection method based on active stereo omni-directional vision sensor （ASODVS）for gun barrel inner damage detection and analysis.In this work,damage recognition and classification,geometry size measurement and three dimensions model reconstruction were completed in real time.Firstly,Gauss curve fitting method is selected to extract the central points of laser light from panoramic images with laser projection,then the points are smoothed by Bezier curve;Secondly,three-dimensional point cloud data,which reflect the shape of the inner gun barrel,are calculated with the calibrated camera model;Thirdly,based on the qualitative analysis to identify the defects,damage is marked by four-connected region method for further calculation of their area and depth,then the ellipse fitting method is used to measure the deformation of the barrel.Finally,3D model,fusing results of qualitative and quantitative analysis,is reconstructed to recover 3D topography of gun barrel,which achieves the automatic vision detection process of “acquisition-recognition-judgment-reconstruction”for gun barrel detection.Experimental results show that the proposed system can detect various gun barrel flaws,and give accurate analysis of the important information of the flaw such as location,size and depth. Measurement error of the system achieves national standards for technical requirements.The proposed method lays a solid foundation for the renovation and longevity prediction of gun barrel.