起重机轨道测量激光光斑中心识别与定位算法  

Algorithm of laser spot center identification and location in crane track measurement

作　　者：许海翔[1] 任立新 吴峰崎[1] 刘华[1] Xu Haixiang;Ren Lixin;Wu Fengqi;Liu Hua

机构地区：[1]上海市特种设备监督检验技术研究院,上海200062

出　　处：《起重运输机械》2023年第24期13-20,共8页Hoisting and Conveying Machinery

基　　金：上海市市场监督管理局计划科研项目“起重机轨道偏差检测关键技术研究”(2022-35);“基于视觉与位姿融合的动态测量系统关键技术研究”(2022-31);“岸边集装箱起重机载荷谱的统计分布特性研究”(2022-34)资助。

摘　　要：在轨道测量装置中,激光光斑中心检测算法的精度和速度直接影响轨道测量效果,传统的中心算法如灰度质心法、Hough变换等在检测精度或速度上存在不足。文中提出了一种基于高斯积分曲线拟合的光斑中心定位算法,在光斑降噪、特征增强的图像预处理基础上,插值拟合光斑灰度曲面,进行边缘计算、追踪及细化,得到光斑的像素级边缘点,计算其法向等距线及高斯积分拟合点,并通过贝塞尔曲面拟合其对应灰度值,再采用高斯积分曲线拟合得到亚像素级边缘点,对亚像素边缘点进行圆拟合方法最终确定光斑中心点。与灰度质心法、Hough变换椭圆中心法相比,此算法的拟合精度较高,抗干扰性好,达到了实验室环境下轨道测量的精度要求。In the track measuring device,the accuracy and speed of laser spot center detection algorithm will directly affect the track measurement value.Traditional center algorithms such as gray centroid method and Hough transform have shortcomings in detection accuracy or speed.In this paper,an algorithm of spot center location based on Gaussian integral curve fitting is proposed.On the basis of image preprocessing of spot noise reduction and feature enhancement,the pixel-level edge points of the spot were obtained by interpolation fitting,edge calculation,tracking and thinning,and their normal equidistant lines and Gaussian integral fitting points were calculated,and their corresponding gray values were fitted by Bessel surface,and then sub-pixel edge points were obtained by Gaussian integral curve fitting,and the circular fitting method was adopted for these sub-pixel edge points final determination of the spot center.Compared with gray centroid method and Hough transform ellipse center method,this algorithm has higher fitting accuracy and better anti-interference,which can meet the accuracy requirements of track measurement in laboratory environment.

关 键 词：起重机 轨道测量 图像边缘追踪 光斑中心识别与定位 算法 

分 类 号：TH215[机械工程—机械制造及自动化]