基于双目视觉的冷凝器管口识别与重建研究  

Research on Recognition and Reconstruction of Condenser Nozzle Based on Binocular Vision

作　　者：王成军[1] 李璐璐 朱小松 WANG Chengjun;LI Lulu;ZHU Xiaosong(School of Artificial Intelligence,Anhui University of Science&Technology,Huainan Anhui 232001,China;School of Mechanical Engineering,Anhui University of Science&Technology,Huainan Anhui 232001,China)

机构地区：[1]安徽理工大学人工智能学院,安徽淮南232001 [2]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《机床与液压》2022年第20期54-58,共5页Machine Tool & Hydraulics

基　　金：国家创新方法工作专项项目(2018IM010500);第六批安徽特支计划项目(AHTZ202006-04)。

摘　　要：为改善现有大型冷凝器清洗装置对冷凝器管口三维定位的不足,便于操作人员远程监控清洗效果,设计冷凝器清洗机器人视觉系统。采用平行双目视觉结构模型,通过冷凝器管口轮廓识别和基于全多重网格算法的立体匹配,实现管口三维定位和表面重建。实验结果表明:该系统能够有效计算冷凝器各管口三维坐标;与传统方法相比,管板表面三维重建效果良好,能够满足冷凝器可视化要求。In order to improve the lack of three-dimensional positioning of the condenser nozzle in the existing large-scale condenser cleaning device,and facilitate the operator to remotely monitor the cleaning effect,a condenser cleaning robot vision system was designed.Using parallel binocular vision structure model,through the condenser nozzle contour recognition and stereo matching based on the full multi-grid algorithm,the nozzle three-dimensional positioning and surface reconstruction were realized.The experimental results show that by using the system,the three-dimensional coordinates of each condenser nozzle can be effectively calculated;compared with the traditional method,the three-dimensional reconstruction effect of the tube sheet surface is good,which can meet the visualization requirements of the condenser.

关 键 词：冷凝器 管口识别 双目视觉 多重网格算法 三维重建 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]