Research On Internal Environmental Perception Technology Of Gas Pipeline Based On Machine Vision

City gas pipeline buried in the ground,due to aging,corrosion and other reasons will cause material leakage accidents,likely to cause serious casualties and economic losses.Therefore,the city underground gas pipeline needs regular inspection,the damaged area for maintenance.Urban underground gas pipeline has a large number of complex structure,the size of the pipe diameter and the outer space of the pipeline is small and so on,alone can not complete the underground gas pipeline fault detection.Using robots instead of people into the pipeline real-time online inspection pipeline failure and defects is the inevitable trend of pipeline detection technology development.During the detection process,the robot must detect the environmental parameters in the pipeline in real time in the pipeline,and provide reliable information for the robot movement navigation.In this paper,combined with the fund subject,the use of auxiliary laser plus monocular vision detection method for pipeline environment perception technology research methods.Based on the machine vision of the gas pipeline within the environment of the perception technology is the use of camera measurement principles,auxiliary laser plus monocular vision technology and image acquisition and image processing technology to achieve the physical parameters within the pipeline.Firstly,a new type of 3D visual measurement method based on auxiliary laser imaging is proposed,and a mathematical method of assistant laser plus monocular visual three-dimensional detection method is proposed in combination with the pipeline robot's working platform.principle.Secondly,the imaging principle of the camera and the optical triangle theory are combined to derive the imaging mathematical model of the 3D visual measurement system based on the auxiliary laser imaging to realize the conversion from the measured point image information to the spatial three-dimensional coordinates.The linear parameter and the aberration coefficient calibration method of the camera are analyzed,and the structural parameter calibration model of the 3D visual measurement system is established.Then,according to the theoretical model,the measurement system and the parameter calibration device are designed.The parameters calibration algorithm and the iterative operation are used to calculate the parameters of the camera parameters and the measurement system.Finally,the measurement system is used to collect the measured image of the space,calculate the three-dimensional coordinates of the measured points,and compare the measurement coordinates of the system with the measured real coordinates to verify the feasibility of the measurement method.After the verification experiment,an improved mathematical model is proposed for the structural error that still exists in the measurement system.