CN110189401B - Reverse modeling method for curve tubular enclosure structure - Google Patents
Reverse modeling method for curve tubular enclosure structure Download PDFInfo
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- CN110189401B CN110189401B CN201910421461.9A CN201910421461A CN110189401B CN 110189401 B CN110189401 B CN 110189401B CN 201910421461 A CN201910421461 A CN 201910421461A CN 110189401 B CN110189401 B CN 110189401B
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention provides a reverse modeling method of a curve tubular enclosure structure, which comprises the steps of obtaining point clouds of a curve circular tube; clockwise rotating the curved circular tube around the Z axis by a first included angle to enable the curved circular tube to be parallel to the X-Z plane; dividing the curved circular tube into a plurality of tube sections along an X axis; for each pipe section, determining a second included angle between the pipe section and the positive direction of the Z axis, and rotating the pipe section counterclockwise around the Y axis by the second included angle until the pipe section is parallel to the Z axis; projecting the point cloud to an X-Y plane, and determining the circle centers of the upper end face and the lower end face according to the projected point cloud, wherein the midpoint of the connecting line of the circle centers of the upper end face and the lower end face is the control point of the pipe section; respectively rotating the control point of each pipe section clockwise around the Y axis by a corresponding second included angle to obtain the gesture of the control point; connecting the control point postures of all the pipe sections into a circular pipe center line, and rotating the circular pipe center line anticlockwise around a Z axis by a first included angle to obtain a circular pipe center line space posture of the curved circular pipe; and carrying out three-dimensional modeling on the curved circular tube based on the spatial posture of the central line of the circular tube. The modeling method is simple and high in precision.
Description
Technical Field
The invention belongs to the field of reverse modeling of tubular building enclosures, and particularly relates to a reverse modeling method of a curve tubular building enclosure.
Background
Currently, steel structure building enclosures have: the space work is simple in force transmission way, and the large-span structure is suitable; the structure is light in weight and the economic index is good; the space rigidity is high, the self weight of the structure is small, and the earthquake resistance is good; simple construction and installation, flexible planar arrangement and the like. In the building industry, most of the situations are to use a traditional total station to collect data of limited characteristic points of space structures such as round tubes, and the specific method is as follows: firstly, popping up a line segment on the central line of the lower edge of a curved circular tube by using a spring wire, and then attaching a reflector with equal distance (generally 1-2 m intervals in consideration of comprehensive conditions), wherein the center of the reflector is exactly on the line segment; and then, the total station is used for collecting data of the reflection sheet under the condition that the coordinate system is guaranteed to be the same as the construction coordinate system. However, the conventional method for performing two-dimensional reverse generation on the spatial structures such as round tubes by using the total station has the following defects: the line segment popped up from the lower part of the curve round tube by the elastic line has higher operation difficulty and cannot be well ensured to be a line segment with higher accuracy; in addition, it is difficult to ensure accuracy of a curve fitted by points acquired by reflection sheets at intervals of 1m to 2m in the total station.
Disclosure of Invention
The invention provides a reverse modeling method of a curve tubular enclosure structure, which aims to solve the problems of complex modeling mode and lower precision of the current curve circular tube.
According to a first aspect of an embodiment of the present invention, there is provided a reverse modeling method for a curved tubular enclosure, including:
obtaining point clouds of a curve circular tube in a curve tubular enclosure structure, wherein the point clouds of the curve circular tube comprise a plurality of groups of scanning points positioned on different circular rings, and each scanning point is used for representing three-dimensional coordinates of a corresponding position on a corresponding circular ring which is matched with the surface of the curve circular tube;
projecting the curved circular tube onto an X-Y plane in a three-dimensional coordinate system, fitting to form a line segment, and determining a first included angle between the line segment and the positive direction of an X axis; clockwise rotating the curved circular tube around the Z axis by the first included angle to enable the curved circular tube to be parallel to the X-Z plane;
dividing a curved circular tube parallel to an X-Z plane into a plurality of tube sections by utilizing a cutting surface perpendicular to the X-Y plane at intervals of preset distances along the X-axis direction;
determining a second included angle between each pipe section and the positive direction of the Z axis, and rotating the pipe section anticlockwise around the Y axis by the second included angle; projecting the point cloud on the pipe section onto an X-Y plane, determining the projection points of the centers of the circles of the upper end face and the lower end face of the pipe section on the X-Y plane according to the point cloud projected onto the X-Y plane, respectively taking the determined two projection points as the origins of vertical lines perpendicular to the X-Y plane, determining the intersection point of the corresponding vertical line and the upper end face as the center of the upper end face, and determining the intersection point of the corresponding vertical line and the lower end face as the center of the lower end face; taking the midpoint of the connecting line of the circle centers of the upper end face and the lower end face as a control point of the pipe section, and rotating the control point of the pipe section clockwise around the Y axis by the second included angle to obtain the control point posture of the pipe section;
connecting the control point postures of all the pipe sections to form a circular pipe center line, and rotating the circular pipe center line anticlockwise around a Z axis by the first included angle so as to obtain a circular pipe center line space posture of the curved circular pipe;
and carrying out three-dimensional modeling on the curved circular tube based on the spatial posture of the central line of the circular tube.
In an alternative implementation, before dividing the curved circular tube parallel to the X-Z plane into a plurality of tube segments by using a cutting plane perpendicular to the X-Y plane at predetermined intervals along the X-axis direction, the method further includes:
the curved circular tube is rotated clockwise around the Y axis by a third included angle until the connecting line of the left end and the right end is parallel to the X-Y plane.
In another alternative implementation, after connecting the control point poses of the respective pipe segments to form the pipe centerline, the method further comprises:
and rotating the central line of the circular tube counterclockwise around the Y axis by the third included angle.
In another alternative implementation manner, dividing the curved circular tube parallel to the X-Z plane into a plurality of tube segments at intervals of a preset distance along the X-axis direction by using a cutting plane perpendicular to the X-Y plane includes:
dividing the curve round tube into a plurality of sub-curve round tubes in advance;
for each sub-curve circular tube, clockwise rotating the sub-curve circular tube around the Y axis by a corresponding fourth included angle until the connecting line of the left end and the right end of the sub-curve circular tube is parallel to the X-Y plane; dividing the sub-curve circular tube parallel to the X-Z plane into a plurality of tube sections by utilizing a cutting surface perpendicular to the X-Y plane at intervals of preset distance along the X-axis direction.
In another alternative implementation, connecting the control point poses of the pipe segments to form a pipe centerline connection includes:
aiming at each sub-curve circular tube, connecting the control point postures of each tube section of the sub-curve circular tube to form the tube section central line of the sub-curve circular tube; rotating the central line of the pipe section anticlockwise around the Y axis by a corresponding fourth included angle to obtain a circular pipe sub-central line of the sub-curve circular pipe; and connecting the sub-center lines of the sub-curve circular tubes to form a circular tube center line.
In another alternative implementation, the method further includes:
for each pipe section, after the point cloud on the pipe section is projected onto an X-Y plane, the radius of the upper end face and the radius of the lower end face of the pipe section are determined according to the point cloud projected onto the X-Y plane;
the three-dimensional modeling of the curved circular tube based on the circular tube center line space posture comprises the following steps:
calculating the average value of the radiuses of the upper end face and the lower end face of each determined pipe section;
and carrying out three-dimensional modeling on the curve circular tube based on the spatial gesture of the central line of the circular tube and the average value of the radius.
In another alternative implementation, determining the projection points of the centers of the circles of the upper end surface and the lower end surface of the pipe section on the X-Y plane according to the point cloud projected on the X-Y plane includes:
judging whether the second included angle is larger than 90 degrees, if so, projecting the second included angle to the circle center corresponding to the circle formed by fitting the left arc section on the X-Y plane, taking the second included angle as a projection point of the circle center of the upper end surface of the pipe section on the X-Y plane, and projecting the second included angle to the circle center corresponding to the circle formed by fitting the right arc section on the X-Y plane, and taking the second included angle as a projection point of the circle center of the lower end surface of the pipe section on the X-Y plane;
otherwise, the circle center corresponding to the circle formed by fitting the right arc segment projected to the X-Y plane is used as a projection point of the circle center of the upper end surface of the pipe section on the X-Y plane, and the circle center corresponding to the circle formed by fitting the left arc segment projected to the X-Y plane is used as a projection point of the circle center of the lower end surface of the pipe section on the X-Y plane.
In another alternative implementation, obtaining a point cloud of a curved circular tube in a curved tubular enclosure includes:
collecting point clouds of a curve tubular enclosure structure;
and processing the acquired point cloud to obtain the point cloud of the curve circular tube in the curve tubular enclosure structure.
In another alternative implementation, processing the collected point cloud includes:
deleting other point clouds outside the curve circular tube in the curve tubular enclosure structure;
and carrying out noise reduction treatment on the point cloud of the curve round tube.
In another alternative implementation, collecting a point cloud of a curvilinear tubular enclosure includes:
inputting the coordinates of the site datum points into a total station scanner so as to unify a three-dimensional coordinate system of the point cloud acquired by the total station scanner with a three-dimensional coordinate system of a constructor;
and acquiring the point cloud of the curve tubular enclosure structure by using the total station scanner.
The beneficial effects of the invention are as follows:
1. according to the invention, the modeling is performed based on the point cloud of the curve circular tube by collecting the point cloud of the curve circular tube, and a spring line and a reflector are not needed, so that the operation is simpler and the efficiency is higher; the plane coordinate transformation is carried out on the point cloud of the curve circular tube, so that the circular tube center line space gesture of the curve circular tube can be obtained, modeling is carried out based on the circular tube center line space gesture, the modeling method is simple and high in precision, and the three-dimensional modeling of the curve circular tube can be realized.
2. The invention aims at the curve round tube with the connection line of the left end and the right end not parallel to the X-Y plane, levels the curve round tube, rotates the curve round tube clockwise around the Y axis by a third included angle, enables the connection line of the left end and the right end to be parallel to the X-Y plane, can reduce the length of a tube section obtained by cutting, correspondingly connects the control point postures of all the tube sections, and then rotates the central line of the connected round tube anticlockwise around the Y axis by the third included angle, thereby ensuring modeling precision.
3. According to the invention, aiming at the curve round tube with larger curvature, the curve round tube is divided into a plurality of sub-curve round tubes in advance, each sub-curve round tube is leveled, and the curve round tube is rotated until the connecting lines of the left end and the right end are parallel to the X-Y plane, so that the length of a tube section obtained by cutting each sub-curve round tube can be reduced, and the modeling precision is further ensured.
4. According to the invention, the radiuses of the upper end face and the lower end face of each pipe section are determined, the average value of each radius is calculated, and the three-dimensional modeling is carried out on the circular pipeline based on the spatial attitude of the central line of the circular pipe and the average value of the radius, so that the modeling precision can be further ensured.
5. According to the invention, after the point cloud of the enclosure structure comprising the curve circular tube is acquired, other point clouds except the curve circular tube are deleted, so that the point cloud of the curve circular tube is obtained, and then the point cloud of the curve circular tube is subjected to noise reduction treatment, so that the accuracy of modeling basic data can be ensured.
6. According to the invention, the collected point cloud is replaced into the three-dimensional coordinate system of the construction party, so that modeling processing is facilitated, and a line segment can be formed by fitting when the curve circular tube is projected onto an X-Y plane.
Drawings
FIG. 1 is a flow chart of one embodiment of a method of reverse modeling a curvilinear tubular enclosure of the present invention;
FIG. 2 is a graph of two different states of a curved circular tube of the present invention when parallel to the X-Z plane;
FIG. 3 is a partial point cloud of a single curved round tube in the curved tubular steel enclosure of the present invention;
fig. 4 is a three-dimensional solid view of a single curved round tube generated at Rhino in the curved tubular steel enclosure of the present invention.
Detailed Description
In order to better understand the technical solution in the embodiments of the present invention and make the above objects, features and advantages of the embodiments of the present invention more comprehensible, the technical solution in the embodiments of the present invention is described in further detail below with reference to the accompanying drawings.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the term "connected" should be interpreted broadly, and for example, it may be a mechanical connection or an electrical connection, or may be a connection between two elements, or may be a direct connection or may be an indirect connection through an intermediary, and it will be understood to those skilled in the art that the specific meaning of the term may be interpreted according to the specific circumstances.
Referring to FIG. 1, a flow chart of one embodiment of a method for reverse modeling a curvilinear tubular enclosure of the present invention is shown. The reverse modeling method of the curved tubular enclosure can be implemented on a processing device (such as a computer) by using an application program, and can comprise the following steps:
s101, obtaining point clouds of a curve circular tube in the curve tubular enclosure structure, wherein the point clouds of the curve circular tube comprise a plurality of groups of scanning points positioned on different circular rings, and each scanning point is used for representing three-dimensional coordinates of corresponding positions on corresponding circular rings which are matched with the surface of the curve circular tube.
In this embodiment, in order to obtain the point cloud of the curved circular tube, the point cloud of the curved tubular enclosure structure may be collected first; and then processing the acquired point cloud to obtain the point cloud of the curve circular tube in the curve tubular enclosure structure. Because the curve circular tube is likely to be shielded by other shielding objects after the building of the enclosure structure, the curve circular tube is directly scanned by the total station scanner, and the complete point cloud of the curve circular tube is difficult to obtain, namely, a plurality of groups of scanning points included in the point cloud of the curve circular tube scanned by the total station scanner are possibly missing, the group of scanning points on the corresponding circular ring are insufficient to form a complete circular ring, but only one arc section (the point cloud projected onto an X-Y plane in the step S104 only forms the arc section and does not form the complete circular ring), therefore, the invention adopts the method from the step S102 to the step S106 to carry out plane transformation on the point cloud of the curve circular tube based on the acquired point cloud of the curve circular tube, and thus the curve circular tube is reversely modeled. When the point cloud of the curve tubular enclosure is acquired, in order to acquire the complete point cloud as much as possible, the total station scanner is arranged outside the area aiming at the area with the shielding object in the enclosure, and is arranged inside the area aiming at the area without the shielding object in the enclosure. In addition, in order to further ensure that the complete point cloud is acquired, the point cloud can be acquired by adopting multiple visual angles, for example, 2-3 stations can be arranged, and the total station scanner is adopted to acquire data of the enclosure structure.
When the point cloud of the curve tubular enclosure structure is collected, firstly inputting the coordinates of the site datum point into a total station scanner so as to unify a three-dimensional coordinate system of the point cloud collected by the total station scanner with a three-dimensional coordinate system of a constructor; and then acquiring the point cloud of the curve tubular enclosure structure by using the total station scanner. At present, after the coordinates of the site datum points are input into the total station scanner, the total station scanner matches the acquired point cloud with the site datum points, and then the two site datum points are utilized for rear intersection, so that the acquired point cloud is converted into a three-dimensional coordinate system of a constructor. Since this process is prior art, it is not described in detail herein. Because the collected point cloud is unified with the three-dimensional coordinate system of the constructor, the collected point cloud is the complete point cloud of the building envelope which is already spliced automatically when being imported into the geomic Control, and the collected point cloud is placed under the three-dimensional coordinate system of the constructor, so that the step S102 can be ensured to form a line segment by fitting when the curve round tube is projected onto the X-Y plane. In addition, when the collected point clouds are processed, other point clouds (including deleting the point clouds which are not light of the site and the enclosure structure and deleting diagonal braces which are connected with the curve circular pipe) outside the curve circular pipe in the curve tubular enclosure structure can be deleted; and carrying out noise reduction treatment on the point cloud of the curve round tube.
Step S102, projecting the curved circular tube onto an X-Y plane in a three-dimensional coordinate system, fitting to form a line segment, and determining a first included angle between the line segment and the positive direction of an X axis; the curved circular tube is rotated clockwise about the Z axis by the first angle so that it is parallel to (or on) the X-Z plane. In this embodiment, the positive Z-axis direction in the three-dimensional coordinate system may be vertically upward, the positive X-axis direction may be laterally rightward, and the positive Y-axis direction may be forward perpendicular to the X-Z plane.
Step S103, dividing the curved circular tube parallel to the X-Z plane into a plurality of tube sections by utilizing a cutting surface perpendicular to the X-Y plane at intervals of a preset distance along the X-axis direction. In this embodiment, the curved circular tube parallel to the X-Z plane may be divided into a plurality of tube segments by a cutting plane perpendicular to the X-Y plane at intervals of a predetermined distance along the X-axis direction from the corresponding position of the left end of the curved circular tube on the corresponding X-axis.
Step S104, determining a second included angle between each pipe section (such as a connecting line of the left end and the right end of the pipe section or a line section fitted according to the point cloud of the pipe section) and the positive direction of the Z axis, and rotating the pipe section anticlockwise around the Y axis by the second included angle; projecting the point cloud on the pipe section onto an X-Y plane, determining the projection points of the centers of the circles of the upper end face and the lower end face of the pipe section on the X-Y plane according to the point cloud projected onto the X-Y plane, respectively taking the determined two projection points as the origins of vertical lines perpendicular to the X-Y plane, determining the intersection point of the corresponding vertical line and the upper end face as the center of the upper end face, and determining the intersection point of the corresponding vertical line and the lower end face as the center of the lower end face; taking the midpoint of the connecting line of the circle centers of the upper end face and the lower end face as the control point of the pipe section, and rotating the control point of the pipe section clockwise around the Y axis by the second included angle to obtain the control point posture of the pipe section.
In this embodiment, determining the projection points of the centers of the upper end surface and the lower end surface of the pipe section on the X-Y plane according to the point cloud projected on the X-Y plane includes: judging whether the second included angle is larger than 90 degrees, if so, indicating that the pipe section is inclined leftwards, wherein an arc section of the point cloud of the upper end surface projected onto the X-Y plane is positioned on the left side, and an arc section of the point cloud of the lower end surface projected onto the X-Y plane is positioned on the right side, so that a circle center corresponding to a circle formed by fitting the left arc section projected onto the X-Y plane is used as a projection point of the circle center of the upper end surface of the pipe section on the X-Y plane, and a circle center corresponding to a circle formed by fitting the right arc section projected onto the X-Y plane is used as a projection point of the circle center of the lower end surface of the pipe section on the X-Y plane; otherwise, the pipe section is inclined rightwards, the arc section of the point cloud of the upper end surface projected onto the X-Y plane is positioned on the right side, the arc section of the point cloud of the lower end surface projected onto the X-Y plane is positioned on the left side, the circle center corresponding to the circle formed by fitting the right arc section projected onto the X-Y plane is used as the projection point of the circle center of the upper end surface of the pipe section on the X-Y plane, and the circle center corresponding to the circle formed by fitting the left arc section projected onto the X-Y plane is used as the projection point of the circle center of the lower end surface of the pipe section on the X-Y plane.
And step 105, connecting the control point postures of all the pipe sections to form a circular pipe center line, and rotating the circular pipe center line anticlockwise around the Z axis by the first included angle, so as to obtain the circular pipe center line space posture of the curved circular pipe.
In this embodiment, when the curved circular tube rotates to be parallel to the X-Z plane, the connection lines of the left and right ends of the curved circular tube in the three-dimensional coordinate system may not be parallel to the X-Y plane, as shown in the left curve of fig. 2, when the curved circular tube is cut at equal distances along the X axis direction in combination with the connection lines of the left and right ends of the curved circular tube on the right side of fig. 2, it is obvious that the pipe section obtained after the left curve is cut is longer, the longer the pipe section is, and the lower the corresponding modeling precision is. For this purpose, the method further comprises, before dividing the curved circular tube parallel to the X-Z plane into a plurality of tube segments by using a cutting plane perpendicular to the X-Y plane at predetermined intervals along the X-axis direction in step S103: the curved circular tube is rotated clockwise around the Y axis by a third included angle until the connecting line of the left end and the right end is parallel to the X-Y plane. After rotating the curved tubular by the third included angle, correspondingly, in step S105, after connecting the control point poses of the respective tubular segments to form the tubular centerline, the method further includes: and rotating the central line of the circular tube anticlockwise around the Y axis by the third included angle. The invention aims at the curve round tube with the connection line of the left end and the right end not parallel to the X-Y plane, levels the curve round tube, rotates the curve round tube clockwise around the Y axis by a third included angle, enables the connection line of the left end and the right end to be parallel to the X-Y plane, can reduce the length of a tube section obtained by cutting, correspondingly, after the gesture of the control point of each tube section is connected, rotates the center line of the connected round tube anticlockwise around the Y axis by the third included angle, and can ensure modeling precision.
Of course, even if the left and right ends of the curved circular tube are connected with a line parallel to the X-Y plane, the curvature of the curved circular tube may be larger, and at this time, the curved circular tube is cut at fixed intervals, so that the curvature of the curved circular tube may still be too large, and the length of the tube section obtained by cutting is larger, so that the modeling precision is still affected. For this reason, for a curved circular tube with a larger curvature, step S103 of the present invention may specifically include: dividing the curve round tube into a plurality of sub-curve round tubes in advance, for example, dividing the curve round tube into a left part and a right part by using a symmetrical line; for each sub-curve circular tube, clockwise rotating the sub-curve circular tube around the Y axis by a corresponding fourth included angle until the connecting line of the left end and the right end of the sub-curve circular tube is parallel to the X-Y plane; dividing the sub-curve circular tube parallel to the X-Z plane into a plurality of tube sections by utilizing a cutting surface perpendicular to the X-Y plane at intervals of preset distance along the X-axis direction. Correspondingly, the step S105 of connecting the control point attitudes of the pipe sections to form the connection of the center lines of the circular pipes includes: aiming at each sub-curve circular tube, connecting the control point postures of each tube section of the sub-curve circular tube to form the tube section central line of the sub-curve circular tube; rotating the central line of the pipe section anticlockwise around the Y axis by a corresponding fourth included angle to obtain a circular pipe sub-central line of the sub-curve circular pipe; and connecting the sub-center lines of the sub-curve circular tubes to form a circular tube center line. According to the invention, aiming at the curve round tube with larger curvature, the curve round tube is divided into a plurality of sub-curve round tubes in advance, each sub-curve round tube is leveled, and the curve round tube is rotated until the connecting lines of the left end and the right end are parallel to the X-Y plane, so that the length of a tube section obtained by cutting each sub-curve round tube can be reduced, and the modeling precision is further ensured.
And S106, carrying out three-dimensional modeling on the curved circular tube based on the spatial posture of the central line of the circular tube.
In this embodiment, the method further includes: in step S104, for each pipe section, after the point cloud on the pipe section is projected onto the X-Y plane, the radii of the upper end face and the lower end face of the pipe section are also determined according to the point cloud projected onto the X-Y plane; the three-dimensional modeling of the curved circular tube based on the circular tube centerline spatial pose in step S106 includes: calculating the average value of the radiuses of the upper end face and the lower end face of each determined pipe section; and carrying out three-dimensional modeling on the curve round tube based on the average value of the space attitude and the radius of the center line of the round tube. According to the invention, the radiuses of the upper end face and the lower end face of each pipe section are determined, the average value of each radius is calculated, and the three-dimensional modeling is carried out on the circular pipeline based on the central line of the circular pipe and the average value of the radius, so that the modeling precision can be further ensured. In the process of three-dimensional modeling, as shown in fig. 3 to 4, data can be firstly imported into a CAD to generate a space curve and converted into a DXF format, and finally three-dimensional circular tube modeling is performed in three-dimensional software Rhino, wherein the radius of the circular tube is the average value of all the calculated radii.
According to the embodiment, the point cloud of the curve circular tube is collected, modeling is carried out based on the point cloud of the curve circular tube, and a spring line and a reflector are not needed, so that the operation is simpler and the efficiency is higher; the plane coordinate transformation is carried out on the point cloud of the curve circular tube, so that the circular tube center line space gesture of the curve circular tube can be obtained, modeling is carried out based on the circular tube center line space gesture, the modeling method is simple and high in precision, and the three-dimensional modeling of the curve circular tube can be realized.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. A method for reverse modeling of a curved tubular enclosure, comprising:
obtaining point clouds of a curve circular tube in a curve tubular enclosure structure, wherein the point clouds of the curve circular tube comprise a plurality of groups of scanning points positioned on different circular rings, and each scanning point is used for representing three-dimensional coordinates of a corresponding position on a corresponding circular ring which is matched with the surface of the curve circular tube;
projecting the curved circular tube onto an X-Y plane in a three-dimensional coordinate system, fitting to form a line segment, and determining a first included angle between the line segment and the positive direction of an X axis; clockwise rotating the curved circular tube around the Z axis by the first included angle to enable the curved circular tube to be parallel to the X-Z plane;
dividing a curved circular tube parallel to an X-Z plane into a plurality of tube sections by utilizing a cutting surface perpendicular to the X-Y plane at intervals of preset distances along the X-axis direction;
determining a second included angle between each pipe section and the positive direction of the Z axis, and rotating the pipe section anticlockwise around the Y axis by the second included angle; projecting the point cloud on the pipe section onto an X-Y plane, determining the projection points of the centers of the circles of the upper end face and the lower end face of the pipe section on the X-Y plane according to the point cloud projected onto the X-Y plane, respectively taking the determined two projection points as the origins of vertical lines perpendicular to the X-Y plane, determining the intersection point of the corresponding vertical line and the upper end face as the center of the upper end face, and determining the intersection point of the corresponding vertical line and the lower end face as the center of the lower end face; taking the midpoint of the connecting line of the circle centers of the upper end face and the lower end face as a control point of the pipe section, and rotating the control point of the pipe section clockwise around the Y axis by the second included angle to obtain the control point posture of the pipe section;
connecting the control point postures of all the pipe sections to form a circular pipe center line, and rotating the circular pipe center line anticlockwise around a Z axis by the first included angle so as to obtain a circular pipe center line space posture of the curved circular pipe;
three-dimensional modeling is carried out on the curved circular tube based on the central line space posture of the circular tube;
the dividing the curved circular tube parallel to the X-Z plane into a plurality of tube sections by using a cutting surface perpendicular to the X-Y plane at intervals of a preset distance along the X-axis direction comprises:
dividing the curve round tube into a plurality of sub-curve round tubes in advance;
for each sub-curve circular tube, clockwise rotating the sub-curve circular tube around the Y axis by a corresponding fourth included angle until the connecting line of the left end and the right end of the sub-curve circular tube is parallel to the X-Y plane; dividing a sub-curve circular tube parallel to an X-Z plane into a plurality of tube sections by utilizing a cutting surface perpendicular to the X-Y plane at intervals of preset distance along the X-axis direction;
connecting the control point poses of each pipe section to form a circular pipe center line connection comprises:
aiming at each sub-curve circular tube, connecting the control point postures of each tube section of the sub-curve circular tube to form the tube section central line of the sub-curve circular tube; rotating the central line of the pipe section anticlockwise around the Y axis by a corresponding fourth included angle to obtain a circular pipe sub-central line of the sub-curve circular pipe; and connecting the sub-center lines of the sub-curve circular tubes to form a circular tube center line.
2. The method of reverse modeling a curvilinear tubular enclosure of claim 1, wherein prior to dividing a curvilinear tubular duct parallel to the X-Z plane into a plurality of tubular segments with a cut plane perpendicular to the X-Y plane at predetermined intervals along the X-axis, the method further comprises:
the curved circular tube is rotated clockwise around the Y axis by a third included angle until the connecting line of the left end and the right end is parallel to the X-Y plane.
3. The method of reverse modeling a curvilinear tubular enclosure of claim 2, wherein after connecting the control point poses of each tube segment to form a tube centerline, the method further comprises:
and rotating the central line of the circular tube counterclockwise around the Y axis by the third included angle.
4. The method of reverse modeling a curvilinear tubular enclosure of claim 1, further comprising:
for each pipe section, after the point cloud on the pipe section is projected onto an X-Y plane, the radius of the upper end face and the radius of the lower end face of the pipe section are determined according to the point cloud projected onto the X-Y plane;
the three-dimensional modeling of the curved circular tube based on the circular tube center line space posture comprises the following steps:
calculating the average value of the radiuses of the upper end face and the lower end face of each determined pipe section;
and carrying out three-dimensional modeling on the curve circular tube based on the spatial gesture of the central line of the circular tube and the average value of the radius.
5. The method of reverse modeling a curved tubular enclosure of claim 1, wherein determining the projected points of the centers of the upper and lower end surfaces of the pipe section on the X-Y plane based on the point cloud projected on the X-Y plane comprises:
judging whether the second included angle is larger than 90 degrees, if so, projecting the second included angle to the circle center corresponding to the circle formed by fitting the left arc section on the X-Y plane, taking the second included angle as a projection point of the circle center of the upper end surface of the pipe section on the X-Y plane, and projecting the second included angle to the circle center corresponding to the circle formed by fitting the right arc section on the X-Y plane, and taking the second included angle as a projection point of the circle center of the lower end surface of the pipe section on the X-Y plane;
otherwise, the circle center corresponding to the circle formed by fitting the right arc segment projected to the X-Y plane is used as a projection point of the circle center of the upper end surface of the pipe section on the X-Y plane, and the circle center corresponding to the circle formed by fitting the left arc segment projected to the X-Y plane is used as a projection point of the circle center of the lower end surface of the pipe section on the X-Y plane.
6. The method of reverse modeling a curved tubular enclosure of claim 1, wherein obtaining a point cloud for a curved circular tube in the curved tubular enclosure comprises:
collecting point clouds of a curve tubular enclosure structure;
and processing the acquired point cloud to obtain the point cloud of the curve circular tube in the curve tubular enclosure structure.
7. The method of reverse modeling a curvilinear tubular enclosure of claim 6, wherein processing the collected point cloud comprises:
deleting other point clouds outside the curve circular tube in the curve tubular enclosure structure;
and carrying out noise reduction treatment on the point cloud of the curve round tube.
8. The method of reverse modeling a curvilinear tubular enclosure of claim 6, wherein collecting a point cloud of the curvilinear tubular enclosure comprises:
inputting the coordinates of the site datum points into a total station scanner so as to unify a three-dimensional coordinate system of the point cloud acquired by the total station scanner with a three-dimensional coordinate system of a constructor;
and acquiring the point cloud of the curve tubular enclosure structure by using the total station scanner.
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