面向隧道视觉检测的多轴调焦机构设计

Design of Multi-axis Focusing Mechanism for Tunnel Visual Inspection

针对隧道断面尺寸、行车轨迹等外界环境变化引起的隧道检测用视觉传感器产生的离焦现象,导致图像采集质量下降的问题,从保障图像采集质量和多自由度调整的角度出发,详细介绍了引起隧道成像离焦的主要因素、解决方法和调焦方案,提出由多自由度机器手实现调焦功能的多轴调焦机构;在此基础上,分析了该机构的工作原理,并给出了其设计方法。研究结果表明,提出的多轴调焦机构可保证视觉检测系统高质量采集隧道图像。

In order to solve the problem that the tunnel section size,driving trajectory and other changes in the external environment will cause the defocus of vision sensor for tunnel inspection,which leads to a decline in the quality of image acquisition,the main factors that cause tunnel imaging defocus,the solution and the focusing scheme were introduced from the perspective of ensuring the quality of image acquisition and adjustment of multiple degrees of freedom.A multi-axis focusing mechanism that realizes the focusing function by a multi-DOF robotic arm was proposed,based on which the working principle of this mechanism was analyzed and the design method was given.Research results indicate that the proposed multi-axis focusing mechanism ensures high quality of tunnel images acquired by the visual inspection system.