CN110889898A - Modeling method suitable for appearance of single aviation conduit - Google Patents
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Abstract
The invention discloses a modeling method suitable for the appearance of a single aviation conduit, which comprises the following steps: acquiring three-dimensional depth data of a single aviation conduit from any one fixed view angle by using a depth camera; processing the collected three-dimensional depth data, including converting the three-dimensional depth data into point cloud data, denoising and sampling the point cloud data, and calculating the normal vector of each point of the point cloud; extracting the central axis of the aviation conduit by adopting a cylinder subdivision method; fitting each segmented cylindrical surface of the aviation conduit by using a cylindrical fitting algorithm, and extracting the radius of each segmented cylindrical surface; and constructing a three-dimensional digital model of the whole aviation conduit by using the extracted central axis and the radius of each segmented cylindrical surface through three-dimensional modeling software. The modeling method solves the problem that the modeling of the appearance of the single aviation conduit is difficult to accurately and quickly realize in the prior art, improves the modeling efficiency of the aviation conduit, and realizes the high-quality, stable and high-efficiency modeling method of the single aviation conduit part.
Description
Technical Field
The invention relates to the technical field, in particular to a modeling method suitable for the appearance of a single aviation conduit.
Background
The hydraulic, fuel, environmental control, oxygen and other systems in the aircraft are complicatedly and complicatedly distributed with guide pipes of various specifications and sizes, the guide pipe is one of key components on the aircraft, and the guide pipe has the advantages of light weight, obdurability and low consumption, and can play a role in pressure transmission, fuel and gas transmission, cable protection and the like in the field of aerospace, wherein a single aviation guide pipe is increasingly widely used due to the performance characteristics of high strength and high toughness, and meanwhile, the single aviation guide pipe is also a basic component of other types of aviation guide pipes. Thus, the position of a single airline duct in an aircraft system holds at a premium. In the daily maintenance and repair process of the airplane, aged or damaged aviation conduits are often required to be replaced, the traditional maintenance mode is that the aviation conduits are manually sampled and transported from a warehouse, the workload is huge, and errors are prone to occurring; the method is characterized in that a mechanical arm linkage mode is adopted to grab a required aviation conduit, a digital three-dimensional model of the conduit is required, a theoretical design digital model directly using the conduit is influenced by actual manufacturing errors of the conduit or errors of the surrounding environment on the actual sample of the conduit, and the theoretical digital model cannot be provided externally because most conduits are in a confidentiality principle, so that the conduit digital model needs to be established based on actual parts. Therefore, the conventional technical means have not satisfied the requirement of rapid modeling of the catheter profile.
In order to overcome the limitations of the conventional process, some methods based on the reverse engineering technology are proposed, however, the modeling of the catheter shape based on the reverse engineering technology needs to utilize point cloud data of the overall shape of the aviation catheter, but because a single aviation catheter is complex and unfixed in structure, time and labor are wasted in obtaining the point cloud data of the overall structure, and therefore, the requirement of rapid modeling of the catheter shape cannot be met by using the reverse engineering technology.
Disclosure of Invention
The invention aims to provide a modeling method suitable for the appearance of a single aviation conduit, which is characterized in that a depth camera is utilized to acquire three-dimensional data of a partial incomplete model of the aviation conduit in a single-view angle state, the central axis of the conduit and the radius of each segmented cylindrical surface are sequentially acquired, and then an integral three-dimensional digital model of the aviation conduit is constructed.
To achieve the above object, with reference to fig. 1, the present invention provides a modeling method for a single aircraft conduit profile, the modeling method comprising the steps of:
s1: acquiring three-dimensional depth data of a single aviation conduit from any one fixed view angle by using a depth camera;
s2: processing the collected three-dimensional depth data, including converting the three-dimensional depth data into point cloud data, denoising and sampling the point cloud data, and calculating the normal vector of each point of the point cloud;
s3: extracting the central axis of the aviation conduit by adopting a cylinder subdivision method;
s4: fitting each segmented cylindrical surface of the aviation conduit by using a cylindrical fitting algorithm, and extracting the radius of each segmented cylindrical surface;
s5: and constructing a three-dimensional digital model of the whole aviation conduit by using the extracted central axis and the radius of each segmented cylindrical surface through three-dimensional modeling software.
In a further embodiment, in step S1, the collecting three-dimensional depth data of a single aviation conduit from any one fixed view angle by using a depth camera means,
the method comprises the steps of utilizing a depth camera to collect three-dimensional data of a partial incomplete model of the aviation conduit in a single-view state, wherein the collected three-dimensional data comprises an outline of the conduit at a certain angle.
In a further embodiment, in step S3, the process of extracting the central axis of the aviation conduit by using the method of subdividing the cylinder includes the following steps:
s31: based on the point cloud data model, dividing all parts of the aviation conduit, wherein the types of all parts of the aviation conduit comprise a cylindrical section and a bending section;
s32: calculating a central axis point of each segment based on a result after the segmentation;
s33: moving a central axis point at an upper end point of each segment to each segment intersection region based on a laplacian smoothing method;
s34: detecting central axis points of each subsection intersection, and smoothing and refining all the central axis points except the intersection by adopting a filter to obtain a new group of central axis points;
s35: optimizing the calculated central axis to be closer to a theoretical central axis, wherein the central axis point of each subsection intersection is optimized into a single point;
s36: and sub-sampling the optimized central axis point, and connecting the sampled central axis point through a short curve segment to obtain the final central axis of the aviation conduit.
In a further embodiment, the modeling method further comprises:
in step S31, the method includes segmenting each segment of the aviation conduit into a cylindrical segment and a bent segment based on a seed region segmentation algorithm, wherein the conduit point cloud data is divided into groups, each group only includes point clouds from a single segment, and the method includes the following steps:
selecting a plurality of seed points, and gradually forming a point cloud area by adding field points of seeds from the selected seed points, wherein the mode of selecting the plurality of seed points comprises the following steps: (1) identifying seed points based on the curvature of each point in the point cloud; (2) the seed points are produced according to predetermined criteria, which are defined in terms of similarity or otherwise of points.
In a further embodiment, in step S32, the process of calculating the central axis point of each segment includes the following steps:
s321: based on each segmented point cloud model after segmentation, passing through each sample point P in the point cloudiAs a cutting plane piiThe direction vector is viAnd at a distance of piiExtracting a narrow-band cylinder in the range less than delta to obtain PiIs related to the domain point Ni；
S322: performing iterative optimization on the cutting plane, and solving the variation problem of iterative update of the direction vector of the cutting plane;
s323: obtaining each sample point P according to the cutting plane obtained after optimizationiCorresponding center axis point.
In a further embodiment, in step S322, the process of solving the variation problem of iterative update of the cutting plane direction vector includes the following steps:
using the following formula to cut the plane direction vector
Carrying out iteration:
in the formula (I), the compound is shown in the specification,
for the domain point of the cutting plane at the t-th iteration, n (P)j) Is a sample point PjV is the normal vector of the cutting plane.
In a further embodiment, in step S323, each sample point P is obtained according to the optimized cutting planeiThe process of corresponding center axis points comprises the steps of:
reverse lengthening N based on optimal cutting planeiThe intersection point obtained by projecting the normal vector of each sample point to the cutting plane is the sample point PiCorresponding center axis point.
In a further embodiment, in step S34, the process of smoothing and refining all the central axis points except the intersection by using the filter includes the following steps:
s341: judging whether the central axis point belongs to a subsection intersection or not by adopting standard linearity measurement, if the central axis point is larger than a set threshold value, defining the central axis point as a non-intersection point, otherwise, defining the central axis point as the intersection;
s342: and filtering each central axis point by using a central axis point filter based on a self-adaptive iteration method until all points are processed.
In a further embodiment, in step S35, the process of optimizing the calculated central axis includes the following steps:
s351: based on all point cloud sample points on the cutting plane corresponding to the smoothed and refined new central axis point, obtaining an optimized central axis point by using the normal direction vector of the point cloud sample points;
s352: and (3) segmenting central axis points of the intersection of the point cloud model, and obtaining the only central axis points of the intersection by using a cutting plane corresponding to any point of the intersection and adopting the same optimization method.
In a further embodiment, in step S4, the fitting of the segmented cylindrical surfaces of the aviation conduit by using the cylinder fitting algorithm means,
and performing cylinder fitting on the segmented cylinder section data by adopting a random sampling consistency algorithm.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
the depth camera is used for acquiring the partial incomplete model three-dimensional data of the aviation conduit in the single-view state, the central axis of the conduit and the radius of each segmented cylindrical surface are sequentially acquired, then the integral three-dimensional digital model of the aviation conduit is constructed, the model construction speed is high, the precision is high, the complete data of the aviation conduit is not needed, and the problem that the appearance modeling of the single aviation conduit is difficult to accurately and quickly realize in the prior art is solved.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is an alternative flow chart of a modeling method for a single airborne conduit profile in accordance with an embodiment of the present invention.
FIG. 2 is a schematic diagram of a partial non-complete three-dimensional point cloud data for an aerial catheter in accordance with an embodiment of the invention.
FIG. 3 is a schematic diagram of the segmentation result of the point cloud data of the aerial catheter according to an embodiment of the invention.
Fig. 4 is an extraction schematic diagram of the central axis of the aviation conduit based on the idea of subdividing cylinders according to an embodiment of the present invention.
FIG. 5 is a graphical representation of the results of modeling the overall profile of an aircraft conduit in accordance with an embodiment of the invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In a preferred embodiment of the invention, a modeling method for a single airborne duct profile is provided, in particular, fig. 1 shows an alternative flow diagram of the method, as shown in fig. 1, comprising the following operating steps: acquiring data, namely acquiring three-dimensional depth data of the aviation conduit by using a depth camera; the method comprises the steps of data preprocessing, wherein the acquired data are processed, and the data preprocessing mainly comprises the steps of converting depth data into point cloud data, denoising and sampling the point cloud data, and calculating the normal vector of the point cloud data; extracting the central axis of the aviation conduit by adopting a subdivision cylinder idea; extracting the radius of each segmented cylindrical surface of the aviation conduit, fitting each segmented cylindrical surface of the conduit by using a cylinder fitting algorithm, and further extracting the radius of each segmented cylindrical surface; and constructing an integral model, namely constructing a three-dimensional digital model of the whole aviation conduit by using the extracted central axis and the radius of each segmented cylindrical surface through three-dimensional modeling software.
In step S1 (air duct data collection), three-dimensional depth data of a single air duct is collected from a certain fixed view angle by using a depth camera, and particularly, the collected three-dimensional data should be capable of better describing the outline of the whole air duct.
In step S2 (data preprocessing), the three-dimensional data of the air traffic guide collected by the three-dimensional depth camera is converted into point cloud data, and further, normal vector information of each point is calculated after sampling the point cloud data.
In step S3 (extraction of the central axis of the aircraft duct), there are mainly the following operation processes:
① partitioning each part of the aviation conduit based on the point cloud data model, mainly comprising a cylindrical section and a bending section, specifically, partitioning each segment of the aviation conduit into the cylindrical section and the bending section by adopting a region partitioning algorithm based on seeds, especially, partitioning the conduit point cloud sample points into groups, wherein each group comprises sample points from a single segment, further, the partitioning algorithm mainly partitions by selecting a plurality of seed points, and gradually forms a point cloud region by starting from the selected seed points in a field point mode of adding seeds, comprising the following steps:
(1) seed points are identified based on the curvature of each point in the point cloud.
(2) Producing seed points according to a predetermined criterion, which may be defined according to similarity of points or other ways;
② based on the results after the segmentation,calculating the central axis point (CP) of each segment, specifically, based on the point cloud model of each segment after segmentation, passing each sample point PiAs a cutting plane piiThe direction vector is viAnd at a distance of piiExtracting a narrow-band cylinder in the range less than delta to obtain PiIs related to the domain point Ni。
Iterative optimization of the cutting plane, in particular, solving a variational problem of iterative update of a cutting plane direction vector, specifically, the following formula:
in the formula (I), the compound is shown in the specification,
for the domain point of the cutting plane at the t-th iteration, n (P)j) Is a sample point PjV is the normal vector of the cutting plane.
Obtaining each sample point P according to the cutting plane obtained after optimizationiCorresponding center axis point (CP), in particular, based on the above-obtained optimal cutting plane, reverse extension NiAnd the intersection point obtained by projecting the normal vector of each sample point to the cutting plane is the central axis point (CP) corresponding to the sample point.
③ are based on the Laplace smoothing method to try to move the central axis point (CP) at the upper end of each segment to the segment intersection region.
④ detecting the central axis point (CP) of each segment intersection, smoothing and refining the CP by using a filter for all central axis points except the intersection to obtain a new set of CP, specifically, judging whether the obtained CP belongs to the segment intersection by using a standard linearity measurement method, wherein the formula is as follows:
in the formula (I), the compound is shown in the specification,
is the central axis point ciThe corresponding jth feature root is sorted from big to small. If the value is greater than the set threshold, the center axis point is defined as a non-intersection point; otherwise, the central axis point of the junction is the central axis point of the junction.
After obtaining the attribution information of each central axis point, filtering each central axis point (CP) by using an adaptive iteration method until all points are processed, specifically, the following formula:
in the formula, cjTo c is provided withiOther central axis points (CP) in the sphere with a radius h, the sphere center, the kernel equation σj＝sin(πd)/πd，d＝||ci-cjL. For each central axis point, the central axis point refinement algorithm is input as a point set C of CP, and the initialized spherical radius h0Radius increment step size εhThreshold deltahAnd the output is the central axis point (CP) after the thinning.
⑤, optimizing the calculated central axis (CP) to make it more close to the theoretical central axis, especially, optimizing the central axis point of each segment intersection into a single point, specifically, obtaining the optimized central axis point by using the normal direction vector of all the sample points on the cutting plane corresponding to the new smooth and refined central axis point, and obtaining the unique central axis point (CP) of the intersection by using the cutting plane corresponding to any point of the intersection.
⑥, sub-sampling the optimized central axis points, and connecting the sampled central axis points through short curve segments to obtain the final central axis of the aviation conduit.
In step S4 (radius extraction of cylindrical segment of aviation conduit), performing cylindrical fitting on the segmented cylindrical segment data by using a random sampling consistency algorithm to obtain diameter parameters of aviation conduit.
In step S5 (integral model construction), the extracted information on the central axis and the pipe diameter of the aviation catheter is input into three-dimensional modeling software, and the overall shape of the catheter is constructed by directly sweeping.
Specifically, the modeling method for the shape of the single aviation conduit has the following advantages:
the modeling method suitable for the shape of the single aviation conduit does not need to acquire a complete three-dimensional data model of the conduit, and can construct the model of the whole shape of the conduit only by partially or incompletely describing the three-dimensional data of the whole shape outline of the conduit roughly, thereby greatly improving the efficiency of modeling the shape of the single aviation conduit.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. A modeling method for a single airborne conduit profile, said modeling method comprising the steps of:
s1: acquiring three-dimensional depth data of a single aviation conduit from any one fixed view angle by using a depth camera;
s2: processing the collected three-dimensional depth data, including converting the three-dimensional depth data into point cloud data, denoising and sampling the point cloud data, and calculating the normal vector of each point of the point cloud;
s3: extracting the central axis of the aviation conduit by adopting a cylinder subdivision method;
s4: fitting each segmented cylindrical surface of the aviation conduit by using a cylindrical fitting algorithm, and extracting the radius of each segmented cylindrical surface;
s5: and constructing a three-dimensional digital model of the whole aviation conduit by using the extracted central axis and the radius of each segmented cylindrical surface through three-dimensional modeling software.
2. The modeling method for the external shape of a single aviation conduit according to claim 1, wherein in step S1, the step of collecting the three-dimensional depth data of the single aviation conduit from any one fixed view angle by using the depth camera means that,
the method comprises the steps of utilizing a depth camera to collect three-dimensional data of a partial incomplete model of the aviation conduit in a single-view state, wherein the collected three-dimensional data comprises an outline of the conduit at a certain angle.
3. The modeling method for the external shape of the single aircraft conduit according to claim 1, wherein in step S3, said process of extracting the central axis of the aircraft conduit by using the method of subdividing the cylinder comprises the following steps:
s31: based on the point cloud data model, dividing all parts of the aviation conduit, wherein the types of all parts of the aviation conduit comprise a cylindrical section and a bending section;
s32: calculating a central axis point of each segment based on a result after the segmentation;
s33: moving a central axis point at an upper end point of each segment to each segment intersection region based on a laplacian smoothing method;
s34: detecting central axis points of each subsection intersection, and smoothing and refining all the central axis points except the intersection by adopting a filter to obtain a new group of central axis points;
s35: optimizing the calculated central axis to be closer to a theoretical central axis, wherein the central axis point of each subsection intersection is optimized into a single point;
s36: and sub-sampling the optimized central axis point, and connecting the sampled central axis point through a short curve segment to obtain the final central axis of the aviation conduit.
4. A modeling method for a single airborne conduit profile according to claim 3, characterized in that said modeling method further comprises:
in step S31, the method includes segmenting each segment of the aviation conduit into a cylindrical segment and a bent segment based on a seed region segmentation algorithm, wherein the conduit point cloud data is divided into groups, each group only includes point clouds from a single segment, and the method includes the following steps:
selecting a plurality of seed points, and gradually forming a point cloud area by adding field points of seeds from the selected seed points, wherein the mode of selecting the plurality of seed points comprises the following steps: (1) identifying seed points based on the curvature of each point in the point cloud; (2) the seed points are produced according to predetermined criteria, which are defined in terms of similarity or otherwise of points.
5. A modeling method for a single airborne conduit shape according to claim 3, wherein in step S32, said process of calculating the central axis point of each segment includes the steps of:
s321: based on each segmented point cloud model after segmentation, passing through each sample point P in the point cloudiAs a cutting plane piiThe direction vector is viAnd at a distance of piiExtracting a narrow-band cylinder in the range less than delta to obtain PiIs related to the domain point Ni；
S322: performing iterative optimization on the cutting plane, and solving the variation problem of iterative update of the direction vector of the cutting plane;
s323: obtaining each sample point P according to the cutting plane obtained after optimizationiCorresponding center axis point.
6. The modeling method for a single airborne conduit shape according to claim 5, wherein in step S322, said process of solving a variation problem of iterative update of cutting plane direction vectors comprises the steps of:
using the following formula to cut the plane direction vector
Carrying out iteration:
in the formula (I), the compound is shown in the specification,
for the neighborhood point of the cutting plane at the t-th iteration, n (P)j) Is a sample point PjV is the normal vector of the cutting plane.
7. A modeling method suitable for a single airborne conduit profile according to claim 6, characterized in that in step S323, each sample point P is obtained according to the optimized cutting planeiThe process of corresponding center axis points comprises the steps of:
reverse lengthening N based on optimal cutting planeiThe intersection point obtained by projecting the normal vector of each sample point to the cutting plane is the sample point PiCorresponding center axis point.
8. A modeling method for a single airborne conduit shape according to claim 3, characterized in that in step S34, said process of smoothing and refining all central axis points except the intersection with a filter includes the following steps:
s341: judging whether the central axis point belongs to a subsection intersection or not by adopting standard linearity measurement, if the central axis point is larger than a set threshold value, defining the central axis point as a non-intersection point, otherwise, defining the central axis point as the intersection;
s342: and filtering each central axis point by using a central axis point filter based on a self-adaptive iteration method until all points are processed.
9. A modeling method for a single aircraft conduit profile according to claim 3, wherein said step of optimizing the calculated central axis in step S35 comprises the steps of:
s351: based on all point cloud sample points on the cutting plane corresponding to the smoothed and refined new central axis point, obtaining an optimized central axis point by using the normal direction vector of the point cloud sample points;
s352: and (3) segmenting central axis points of the intersection of the point cloud model, and obtaining the only central axis points of the intersection by using a cutting plane corresponding to any point of the intersection and adopting the same optimization method.
10. The modeling method for a single aircraft duct shape according to claim 1, wherein said fitting each segmented cylinder surface of the aircraft duct using a cylinder fitting algorithm in step S4 is performed by,
and performing cylinder fitting on the segmented cylinder section data by adopting a random sampling consistency algorithm.
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