基于机器视觉的钢拱架定位检测方法

Positioning and Detection Method of Steel Arches Based on Machine Vision

针对岩石隧道掘进机(TBM)钢拱架拼接施工过程中的定位问题,提出一种基于机器视觉的钢拱架铰接孔定位检测方法。根据钢拱架拼接的现场环境,设计图像采集系统;使用具有旋转不变性的归一化的互相关值(NCC)模板匹配算法,可快速匹配钢拱架铰接孔所在的感兴趣区域;基于一维像素序列上的灰度梯度确定铰接孔外轮廓边缘点,并使用基于随机抽样一致性(RANSAC)算法的椭圆拟合方法确定钢拱架铰接孔圆心,实现钢拱架定位,为钢拱架拼接提供位姿信息。结果表明:该方法可实现钢拱架铰接孔的高效率、高精度定位检测。

Aiming at the positioning problem in the stitching construction of tunnel boring machine(TBM) steel arches, a detection method for steel arches hinged hole location based on machine vision was proposed.According to the scene environment of steel arches splicing, the image acquisition system was designed;normalized cross-correlation(NCC) template matching algorithm with rotation invariance was used to quickly match the region of interest where the steel arch hinged hole was located;based on the gray gradient on the one-dimensional pixel sequence, the edge points of the outer contour of the hinged holes were determined, and the center of the hinge holes of the steel arch was determined by using the ellipse fitting method based on random sample consensus(RANSAC)algorithm, so the positioning of the steel arches was realized, which provided the position and pose information for the steel arches splicing.The results show that by using this method, the high efficiency and high precision positioning and detection of steel arch hinged holes are realized.