适用于管道内形貌检测的3D全景视觉传感器

3D Omni-directional vision sensor for morphology defects detection in pipelines

管道内部缺陷种类繁多、检测困难且自动化程度低,针对这些问题,提出了一种适用于管道形貌检测的3D全景视觉检测方法。首先设计了一种获取管道内部全景颜色纹理信息的全景视觉传感器(ODVS),然后设计了一种能快速并高精度获得管道内壁深度信息的主动式全景视觉传感器(ASODVS),接着将这两种ODVS进行紧凑小型化设计,通过软件将全景3D测量数据与全景颜色纹理数据的快速融合,在对管道内功能性缺陷和结构性缺陷进行全方位自动分析和评估的同时实现管道内部三维建模。实验结果表明,所设计的ASODVS+ODVS能实时获取地下管道内部颜色纹理和几何信息的全景图像,配置在管道机器人上能在狭长管道内边行走、边检测、边识别和边重构。

There are many kinds of defects in pipelines,which are difficult to detect and of low automatic test capability. aiming at this issue,a new omni-directional vision inspection method for the morphology defect detection in pipelines is presented in this paper.Firstly,an Omni-directional Vision Sensor（ ODVS） is designed to obtain the omni-directional texture information of the pipeline interior. Then,an Active Stereo Omni-directional Vision Sensor（ ASODVS） is designed to obtain the depth information of the inner wall of the pipeline quickly with high precision. Finally,by combining these two kinds of ODVS and merging the omni-directional measured data with the omni-directional texture data by the software,the functional and structural defects of pipelines can be automatically analyzed and evaluated. Meanwhile the 3D reconstruction of the pipeline can be achieved. The experimental results show that the ASODVS ＋ ODVS designed in this paper can obtain images with texture information and geometry information inside the pipeline in real time. Tthe pipeline robot can be configured to inspect and distinguish the defects,simultaneously reconstruct the pipeline with the robot walking.