CN112699573B - Reverse modeling method and system of virtual pipeline model and electronic equipment - Google Patents
Reverse modeling method and system of virtual pipeline model and electronic equipment Download PDFInfo
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Abstract
The invention discloses a reverse modeling method, a system and electronic equipment of a virtual pipeline model, wherein a calibration tool is used for calibrating binocular measurement equipment and a plurality of pre-selected adapters; according to the type of each calibrated adapter, arranging each calibrated adapter at a virtual limit position of a virtual pipeline to be built; determining the three-dimensional coordinates of each mark point and performing characteristic conversion on the three-dimensional coordinates to obtain characteristic parameters of the adapter; according to the characteristic parameters of the adapter, determining the parameters of a plurality of straight line section axes of the virtual pipeline to be built and the three-dimensional coordinates of a bending point between two adjacent straight line section axes; and establishing a virtual pipeline model according to preset input parameters, straight line segment axis parameters and three-dimensional coordinates of bending points. The method can eliminate the interference of artificial factors on sampling reverse modeling, does not depend on the real existing pipeline, has the advantage of high precision, and can achieve the aim of accurately and efficiently reversing the data model of the pipeline to be measured.
Description
Technical Field
The invention relates to the technical field of pipeline design methods, in particular to a reverse modeling method and system of a virtual pipeline model and electronic equipment.
Background
Pipelines are important components of industrial equipment in the fields of aviation, aerospace, automobiles, ships and the like, and have important functions of conveying liquid, gas, cables and the like. Therefore, accurate assembly of the piping is critical to proper operation of the equipment manufacturing process. At present, the pipeline detection industry has developed relatively mature, and various technical means for pipeline detection and reverse modeling appear.
However, limited by the limited machining precision of each module of the equipment and the individual difference in the actual production process, the situation that a large number of pipeline parts need to be prepared in a real sample or on-site preparation is still existed in the aspect of pipeline manufacturing, and the manual skill is seriously relied on. Therefore, the pipeline manufacturing needs an accurate pipeline model capable of replacing manual sampling, so that the subsequent numerical control processing is facilitated, the production efficiency is improved, and the economic cost of materials, labor and the like is reduced.
Aiming at the actual working conditions of sample preparation and field pipeline preparation in the existing pipeline manufacturing, the existing contact or non-contact visual pipeline measurement mode can complete the function from sample preparation to a reverse pipeline data model. The contact measurement mode mainly comprises the following steps: a bent pipe angle detection ruler (CN 206095072U) is provided with the bent pipe angle detection ruler, is complex to operate and is difficult to avoid manual errors. And a common three-coordinate measuring machine acquires the key point information of the pipeline surface, so as to manually fit a pipeline parameter model, and finally, the optimization post-processing of a data model is required. The non-contact visual measurement method mainly includes the steps of obtaining point cloud on the surface of the pipeline through a three-dimensional scanner (CN 111238386A), manually fitting a pipeline parameter model, and performing optimization post-processing on a data model. And efficiently acquiring a reverse data model of the pipeline through multi-view vision equipment (CN 104036513B), and performing optimization post-processing on the data model.
In the prior art, the reverse modeling can be inevitably carried out only by relying on a real pipeline, and deformation interference caused by artificial factors cannot be eliminated. Meanwhile, the manual sample preparation is adjusted and fixed for many times, the tube shape is very complex, and a long time of data model post-processing process is needed after the pipeline model is reversely reconstructed, so that the precision loss of the pipeline original data model can be caused in the process. Therefore, the pipeline manufacturing industry urgently needs an efficient and accurate pipeline virtual measurement method to replace the working conditions of sample preparation and pipeline part field configuration.
Disclosure of Invention
The invention aims to make up for the defects of the prior art, and provides a reverse modeling method, a system and electronic equipment of a virtual pipeline model, so as to solve the problems of deformation interference and low model precision caused by artificial factors in the prior art which relies on the real pipeline to establish reverse modeling.
In order to solve the above technical problem, the present invention provides a reverse modeling method for a virtual pipeline model, comprising:
calibrating binocular measuring equipment by using a first calibration device, calibrating a plurality of pre-selected adapters by using the calibrated binocular measuring equipment and a second calibration device, wherein a plurality of mark points are arranged on the surface of each calibrated adapter;
according to the type of each calibrated adapter, arranging each calibrated adapter at a specified virtual limit position of a virtual pipeline to be built;
determining the three-dimensional coordinates of each mark point corresponding to each calibrated adapter according to the three-dimensional reconstruction principle of the calibrated binocular measuring equipment;
performing feature conversion on the three-dimensional coordinates of each mark point to obtain geometric feature parameters of each calibrated adapter;
determining a plurality of straight line section axes and end point parameters of the virtual pipeline to be built according to the characteristic parameters of each calibrated adapter;
determining the three-dimensional coordinates of a bending point between two adjacent straight line section axes according to the straight line section axis parameters;
and establishing the virtual pipeline model according to preset input parameters, the linear section axis parameters and the three-dimensional coordinates of the bending points.
Optionally, the first calibration device and the second calibration device may each include: the surface is provided with a calibration plate and a calibration device of a plurality of coding mark points and non-coding mark points;
the step of calibrating the binocular measuring equipment by using the first calibration tool comprises the following steps:
acquiring a plurality of images of the calibration plate under different putting postures by using the binocular measuring equipment;
and extracting the coordinates of the mark points from the image by utilizing a photogrammetry space rear intersection principle and a beam adjustment algorithm, and further resolving the internal parameters and the external parameters of the binocular measuring equipment.
Optionally, the preselected adapter may include one or more of a tip adapter, a single point adapter, and a spacing adapter.
Optionally, the step of setting each calibrated adapter at a specified virtual limit position of the to-be-built virtual pipeline according to the type of each calibrated adapter may include:
setting the calibrated end adapters at the initial end position and the termination end position of the virtual pipeline to be built;
and at least two calibrated single-point adapters are arranged at the linear section corresponding to each linear section axis parameter of the virtual pipeline to be built.
Optionally, the calibration device may include a calibration base;
the step of calibrating the end adapter by using the calibrated binocular measuring equipment and the second calibration device comprises the following steps of:
installing the end adapter on a calibration base of the assembled and fixed second calibration device;
acquiring an image of a calibration device of the second calibration instrument by using the calibrated binocular measuring equipment;
extracting the three-dimensional coordinates of each mark point arranged on the end head adapting surface from the image by utilizing an edge detection algorithm, a sub-pixel edge extraction algorithm and an ellipse center fitting algorithm;
fixing the fixed base, rotating the target surface of the end head adapter, and acquiring images of the end head adapter under different placing postures by using the calibrated binocular measuring equipment;
aiming at each mark point, carrying out space circle fitting by utilizing the space three-dimensional coordinates acquired and reconstructed for multiple times by the same mark point in the target surface rotation process, and acquiring the space coordinates of the circle center;
and fitting the axis of the rotating space of the whole calibration device by combining the coordinates of the centers of the circles of the fitting spaces of the plurality of mark points, and fitting in the same way according to the mark points of the base to obtain an end plane, so as to obtain the intersection point of the straight line and the plane as an end point, and the axis to which the straight line belongs as an end point normal vector.
Based on the reverse modeling method of the virtual pipeline model, the invention also provides a reverse modeling system of the virtual pipeline model, and the system comprises:
the calibration module is used for calibrating the binocular measuring equipment by using a first calibration device, calibrating a plurality of pre-selected adapters by using the calibrated binocular measuring equipment and a second calibration device, and a plurality of mark points are arranged on the surface of each calibrated adapter;
the adapter setting module is used for setting each calibrated adapter at a specified virtual limit position of a virtual pipeline to be established according to the type of each calibrated adapter;
the mark point three-dimensional coordinate determination module is used for determining the three-dimensional coordinate of each mark point corresponding to each calibrated adapter according to the three-dimensional reconstruction principle of the calibrated binocular measuring equipment;
the adapter geometric characteristic parameter determining module is used for performing characteristic conversion on the three-dimensional coordinates of each mark point to obtain characteristic parameters of each calibrated adapter;
the straight line section axis and end point parameter determining module is used for determining a plurality of straight line section axes and end point parameters of the virtual pipeline to be built according to the characteristic parameters of each calibrated adapter;
the bending point three-dimensional coordinate determination module is used for determining the three-dimensional coordinate of a bending point between two adjacent straight line segment axes according to the straight line segment axis parameters and the three-dimensional coordinate of each marking point;
and the virtual pipeline model establishing module is used for establishing the virtual pipeline model according to preset input parameters, the linear section axis parameters and the three-dimensional coordinates of the bending points.
Optionally, the first calibration device and the second calibration device may each include: the surface is provided with a calibration plate and a calibration device of a plurality of coding mark points and non-coding mark points;
the calibration module comprises:
the image acquisition unit is used for acquiring a plurality of images of the calibration plate under different putting postures by using the binocular measurement equipment;
and the binocular measuring equipment calibration unit is used for extracting the coordinates of the mark points from the image by utilizing a photogrammetry space rear intersection principle and a beam adjustment algorithm so as to solve the internal parameters and the external parameters of the binocular measuring equipment.
Optionally, the preselected adaptor includes one or more of a tip adaptor, a single point adaptor, and a spacing adaptor.
Optionally, the adapter setting module includes:
the first position setting unit is used for setting the calibrated end adapter at the starting end position and the ending end position of the virtual pipeline to be built;
and the second position setting unit is used for setting at least two calibrated single-point adapters at the linear section corresponding to each linear section axis parameter of the virtual pipeline to be built.
And the third position setting unit is used for setting the calibrated limiting adapter at the key feature which the axis of the virtual pipeline to be built must pass through and/or the key feature to be avoided.
Optionally, the calibration device includes a calibration base;
the calibration module may further include:
the mounting unit is used for mounting the end head adapter on a calibration base of the second calibration appliance after assembly and fixation;
the image acquisition unit is used for acquiring an image of the calibration device of the second calibration instrument by using the calibrated binocular measuring equipment;
the mark point three-dimensional coordinate determination unit is used for extracting the three-dimensional coordinates of each mark point arranged on the end head adapting surface from the image by utilizing an edge detection algorithm, a sub-pixel edge extraction algorithm and an ellipse center fitting algorithm;
the end adapter image acquisition unit is used for fixing the calibration base, rotating the target surface of the end adapter and acquiring images of the end adapter in different placing postures by using the calibrated binocular measurement equipment;
the circle center space coordinate obtaining unit is used for carrying out space circle fitting on each mark point by utilizing the space three-dimensional coordinates which are acquired and reconstructed for multiple times by the same mark point in the target surface rotation process and obtaining the circle center space coordinates;
and the end plane fitting unit is used for fitting the rotation space axis of the whole calibration device by combining the coordinates of the centers of the circles of the fitting spaces of the plurality of mark points, obtaining an end plane by fitting in the same way according to the mark points of the base, and further solving the intersection point of the straight line and the plane as an end point and the axis to which the straight line belongs as an end point normal vector.
In addition, based on the above reverse modeling method of the virtual pipeline model, the invention also provides an electronic device, which is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
a memory for storing a computer program;
the processor is configured to implement the reverse modeling method of the virtual pipeline model as described above when executing the program stored in the memory.
Compared with the prior art, the technical scheme of the invention has at least one of the following beneficial effects:
in the reverse modeling method of the virtual pipeline model provided by the invention, the virtual reconstruction measurement of the pipeline is completed by designing a series of relevant adapters conforming to the pipeline design process and combining binocular vision measurement equipment. During measurement, the adapter is required to be fixed at a virtual limit position, one or more images including all the adapters are acquired by means of measurement equipment, the virtual reconstruction of the axis of the pipeline is completed through mark point identification and three-dimensional reconstruction, and finally a reverse data model of the virtual pipeline is obtained through optimization in combination with relevant process parameters of the pipeline.
According to the invention, various types of adapters are designed aiming at the characteristics and accessories of the pipeline, and when each adapter is fixed, the single-point adapter corresponding to the straight-line section needs to be fixed at a certain height from the bottom plane, so that a certain distance is kept; the single-point adapters corresponding to two adjacent parallel straight line segments need to keep a certain gap. In the pipeline design, the same mould layer is bent as much as possible, and the radius of the mould layer is related to the diameter of the pipeline. The invention finally carries out reverse modeling, further converts the tubular axis into the process data which can be processed by the numerical control pipe bender, directly sends and manufactures the process data, replaces the original method which depends on manual sample preparation, improves the manufacturing efficiency and reduces the manual interference. And then the process of taking and preparing the sample in the prior art is cancelled, the interference of artificial factors on sampling reverse modeling can be eliminated, the method does not depend on the real existing pipeline, the method has the advantage of high precision, and the target of an accurate and efficient reverse pipeline data model to be detected can be achieved.
Drawings
FIG. 1 is a block diagram of a method flow in an embodiment of the invention.
Fig. 2 is a calibration diagram of a measuring device in an embodiment of the invention.
FIG. 3 is a schematic diagram of the design of three adapters in an embodiment of the present invention, wherein:
fig. 3a shows a tip adapter, fig. 3b shows a single point adapter, and fig. 3c shows a spacing adapter.
FIG. 4 is a schematic diagram of a tip adapter and a dedicated calibration device in an embodiment of the present invention.
FIG. 6 is a schematic diagram of the area of the pipeline to be measured in an embodiment of the present invention.
Fig. 5 is a schematic diagram of a limiting adapter and a special calibration device in an embodiment of the invention.
Fig. 7 is a schematic diagram of virtual assembly of an adapter in an embodiment of the invention.
Fig. 8 is a schematic diagram of the acquisition process of the binocular stereo vision measuring device in the embodiment of the invention.
FIG. 9 is a schematic diagram of axis reconstruction and optimization in an embodiment of the present invention.
FIG. 10 is a schematic diagram of the location determination of the inflection point in an embodiment of the present invention.
FIG. 11 is a schematic diagram of generating a pipeline model in an embodiment of the present invention.
Fig. 12 is a schematic structural diagram of a modeling system of a virtual pipeline model according to an embodiment of the present invention.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention provides a reverse modeling method and system of a virtual pipeline model and electronic equipment, and aims to solve the problems of deformation interference and low model precision caused by artificial factors in the prior art which relies on the real pipeline to establish reverse modeling.
The present invention will be described in detail below with reference to specific examples.
As shown in fig. 1, the reverse modeling method of the virtual pipeline model provided by the present invention may include the following steps:
s100, calibrating the binocular measuring equipment by using a first calibration device, calibrating a plurality of pre-selected adapters by using the calibrated binocular measuring equipment and a second calibration device, and setting a plurality of mark points on the surface of each calibrated adapter.
Wherein the pre-selected adapter comprises one or more of a tip adapter, a single point adapter, and a spacing adapter.
In this embodiment, the binocular measurement device is designed based on the principle of binocular photogrammetry and is composed of two high-precision industrial cameras. The first calibration device and the second calibration device are special calibration plates with a certain number of coding marking points and non-coding marking points printed on the surfaces, wherein the spatial three-dimensional coordinates of the marking points are obtained in advance through a photogrammetric technology and are led into a measurement equipment calibration module.
Specifically, as shown in fig. 2, in the calibration process of the binocular measurement device, the binocular measurement device needs to acquire images in different pose positions in a plurality of calibration plate spaces, internal and external orientation parameters of a camera in the measurement device (the internal parameters include a focal length of the camera, a principal point deviation, a distortion parameter of a lens, and the like, and the external parameters include a rotation and translation matrix of a camera coordinate system relative to a reference point coordinate system) can be determined simultaneously through a space rear intersection and a light beam adjustment algorithm, and the operation is mainly used for initial calibration of the measurement device or calibration when the camera position in the device has a significant displacement.
For example, binocular measurement equipment is also adopted, and images of the acquisition calibration plate in a plurality of positions and postures are used for calculating internal and external parameters of the binocular measurement equipment. The algorithms used for calibration are all the prior art, and the invention is not described in detail.
Further, in the embodiment of the present invention, the adapter may include a design and calibration of several adapters in a series of adapters with the same principle and similar structures, as shown in fig. 3.
In order to ensure the accuracy of measurement, the adapter and the limited position need to be fixed firmly and attached, the reconstruction and design of the virtual pipeline axis are not influenced by the pipe diameter in principle, and only parts such as a limited hole, an end connection and the like need to be influenced by the pipe diameter under the actual working condition.
For example, three adapter designs having the same principle as that shown in fig. 3 are taken as an example, wherein the head adapter is used for butting with a reserved pipeline joint between modules to determine the spatial position of a start point and a stop point of a pipeline; the single-point adapter is used for confirming the plane where the straight line section part of the pipeline is located; the limiting adapter is used for assisting in measuring the characteristics of the branch pipe, the flange hole and the like, and the limiting adapter is not necessary and can be adapted with the diameter of the pipeline according to actual working conditions.
Because the adapter calibration operation needs to be carried out by depending on calibrated binocular measuring equipment, and the measuring characteristics of different adapters are different, the calibration method is different for different adapters.
The following describes three adapter calibration methods in a virtual pipeline.
It should be noted that all adapter calibration devices provided by the present invention are composed of a marking point and a calibration device attached to the surface of the adapter.
As an example, the calibration method for the end adapter provided by the present invention is specifically as follows:
in this embodiment, in the process of calibrating the end adapter, the calibration base needs to be assembled and fixed, the end adapter is installed on the calibration base, and the measurement equipment needs to acquire an image after the calibration device is placed and fixed, and complete the identification of the mark point from the image by using algorithms such as edge detection, sub-pixel edge extraction, ellipse center fitting and the like, so as to complete the spatial three-dimensional coordinate positioning of the center of the mark point; the calibration base is kept fixed, only the target surface of the end adapter is rotated (in the process, the adapter and the calibration base are required to be combined and fixed, and relative displacement cannot occur), so that the measuring equipment is controlled to acquire images of different placing postures in the space of a plurality of groups of end adapters, and then the spatial three-dimensional coordinates of multiple acquisition and reconstruction in the spatial rotation process of the same mark point are utilized to fit a spatial circle, so that the spatial coordinates of the circle center are acquired. And fitting the axis of the rotating space of the whole calibration device by combining the coordinates of the centers of the circles of the spaces fitted by the plurality of mark points, fitting in the same way according to the mark points of the base to obtain an end plane, and then calculating the intersection point of a straight line and the plane to be used as an end point, wherein the axis to which the straight line belongs is used as an end point normal vector.
The end adapter mainly takes the starting end and the ending end of a measuring pipeline as main parts to finish the confirmation of the starting point and the ending point of the whole pipeline.
For example, as shown in fig. 4, the butt nut and the butt end face at the bottom end of the end adapter need to correspond to the diameter of the pipeline to be measured one by one, and cannot be adapted universally. As shown in the figure, the design of the end adapter with the diameter of 16mm is shown, the end adapter and the calibration base are screwed and fixed through threads, images of the marking point panel on the upper portion of the end adapter rotating at different angles are collected through binocular measuring equipment, the calibration base is kept fixed in the process, and the space coordinates of the marking point on the upper portion of the adapter and the marking points on the surface of the calibration base are respectively reconstructed. And then, fitting the rotating central axis at the upper part of the adapter according to different angles, and performing plane fitting on the mark points on the surface of the base to obtain the intersection point of the plane of the base and the rotating central axis, so as to determine the spatial position of the end point, take the central axis as a straight line where a normal vector is located, and convert all the solved geometric characteristics and position relations to a local coordinate system on the surface of the adapter, thereby facilitating subsequent use.
Example two, the calibration method for the single-point adapter provided by the present invention specifically includes the following steps:
in this embodiment, the point adapter mainly takes a point on the axis of the linear section of the measurement pipeline as a main point to complete the direction of the central axis of the whole pipeline. The single point adapter does not need to calibrate the operation flow.
In a third example, the calibration method for the limiting adapter provided by the invention specifically includes the following steps:
in this embodiment, the limiting adapter mainly uses a limiting hole through which a straight line section of the measuring pipeline passes and a pipe clamp axis as main parts to complete auxiliary positioning of the direction of a central axis of the whole pipeline. Specifically, in the calibration process of the limiting adapter, the calibration base needs to be assembled and fixed, the limiting adapter is installed on the calibration base, the measuring equipment needs to collect images of the calibration device after the calibration device is placed and fixed, mark point reconstruction is completed from the images by adopting the same algorithm of the end adapter, and the spatial positions of the bottom plane and the rotation axis and the spatial position relation between the plane and the rotation axis are obtained through fitting by rotating the target surface for multiple angles.
For example, as shown in fig. 5, the bottom end limiting cylinder of the limiting adapter needs to correspond to the diameter of the hole site feature to be measured of the pipeline one by one, and cannot be adapted universally. As shown in the figure, the design of the limiting adapter with the diameter of 16mm shows that the limiting adapter and the calibration base are assembled through hole sites, images of the limiting adapter rotating at different angles are collected through binocular measuring equipment, the calibration base is kept fixed in the process, and the space coordinates of the mark points on the upper portion of the adapter and the mark points on the surface of the calibration base are respectively reconstructed. And then, fitting the rotating central axis at the upper part of the adapter according to different angles, and performing plane fitting on the mark points on the surface of the base to obtain the intersection point of the plane of the base and the rotating central axis, so as to determine the spatial position of the end point, take the central axis as a straight line where a normal vector is located, and convert all the solved geometric characteristics and position relations to a local coordinate system on the surface of the adapter, thereby facilitating subsequent use.
And S200, arranging each calibrated adapter at a specified virtual limit position of a virtual pipeline to be built according to the type of each calibrated adapter.
In this embodiment, the required adapter can be fixed at a specified virtual limit position (belonging position) of the virtual pipeline to be established. As shown in fig. 6 and 7, the end adapters are fixed to the starting and stopping ends of the pipeline, the single-point adapters are fixed to the surfaces of the modules to which the straight sections of the pipeline belong, whether a pipeline flange, a branch pipe and the like exist or not is determined according to actual working conditions, if yes, the limiting adapters can be installed, and details are not repeated here.
For example, the end adapter needs the adaptation and the pipe end annexes such as butt joint nut, flat nozzle that await measuring the pipeline diameter matching, uses an aviation pipe measurement as the example here, will wait to design pipeline local area inner module and carry out abstract representation, the different surfaces of a plurality of modules of sign respectively to mark pipeline start and stop point, can reserve the butt joint among the operating condition, only need the installation fixed can.
The single-point adapters need to be adsorbed and fixed on the surface of the module, and more than two single-point adapters are fixed on the same surface of the module to be measured, so that the surface is guaranteed to be flat as much as possible, and the single-point adapters are consistent in height. The limiting adapter needs to extend into the flange hole and the branch pipe to wait for measuring the geometric characteristics of the cylinder, and the end face of the limiting adapter is guaranteed to be closely based.
And S300, determining the three-dimensional coordinates of each mark point corresponding to each calibrated adapter according to the three-dimensional reconstruction principle of the calibrated binocular measuring equipment.
In the embodiment, the binocular measuring equipment acquires the module surface image of the assembled adapter, further identifies, detects and reconstructs three-dimensional space coordinates for labeled points on the surface of the adapter, calls characteristic parameters of the calibrated adapter for conversion, acquires the characteristics of corresponding points, lines, surfaces, bodies and the like reconstructed by the adapter,
for example, according to the binocular stereo vision measurement model shown in fig. 8, the assembled image of the region to be measured is collected as shown in the figure, and the three-dimensional space coordinates are detected, identified and reconstructed through the mark points attached to the surface of the adapter. Meanwhile, the end point coordinates and normal vectors of the end adapter are converted from a local coordinate system to a camera coordinate system. The single point adapter only needs to complete the landmark reconstruction.
And S400, performing feature conversion on the three-dimensional coordinates of each mark point to obtain the geometric feature parameters of each calibrated adapter.
S500, determining a plurality of straight line section axes and end point parameters of the to-be-built virtual pipeline according to the characteristic parameters of each calibrated adapter.
In this embodiment, the end points are connected with the single points on the axis (where the same straight line segment is determined by two single points) depending on the reconstructed key point characteristics to form an initial axis, the algorithm performs dynamic tube type adjustment according to different weight constraints of each characteristic point on the pipeline, adjusts each straight line segment to the most practical situation, and performs secondary optimization on the pipeline axis while considering a three-dimensional model of the numerical control pipe bender for convenient processing.
For example, as shown in fig. 9, starting from one side end point, the point coordinates reconstructed by the single-point adapter are connected in a straight line along the normal vector, and the position where the normal vector changes does not belong to a straight line segment, and can be skipped directly. According to the principle that two adjacent straight line segments are coplanar, the trend of the straight line segments on the surface (the direction of the straight line segment is continued) can be automatically judged by an algorithm. And sequentially connecting the single-point coordinates of a plurality of planes (two can be directly connected, and more than three can obtain the linear position after plane fitting), and finishing the confirmation of all the linear section axes of the pipeline to be measured.
S600, determining the three-dimensional coordinates of the bending point between two adjacent straight line segment axes according to the straight line segment axis parameters and the three-dimensional coordinates of each marking point.
In this embodiment, it can be determined that the bending point is located at the intersection of the axes of two adjacent straight line segments according to the definition of the bending point. The three-dimensional space position of the central axis of the multi-section straight line segment of the pipeline to be measured is firstly completed, and then the space coordinate positions of all bending points of the pipeline can be reconstructed by solving the intersection point of two adjacent space straight lines.
For example, as shown in fig. 10, the reconstruction of the bending point is sequentially completed according to the intersection point of two adjacent straight lines, and the end point coordinates are directly obtained from the calibration result of the end adapter after coordinate conversion.
S700, establishing the virtual pipeline model according to preset input parameters, the linear section axis parameters and the three-dimensional coordinates of the bending points.
In this embodiment, the virtual pipeline model to be created can be automatically generated on the basis of the known axis of the straight line segment, the coordinates of the bending point and the coordinates of the end point according to initial parameters such as the pipe diameter and the bending radius input by a user.
For example, as shown in fig. 11, in combination with a known diameter given by a user of 16mm and a bending radius of 56mm, R angles of pipe-type axes at all control points can be solved, axes of straight-line segments and arcs formed by bending points are sequentially connected to form a complete pipeline central axis, starting points and ending points of the whole pipeline are constrained according to end point coordinates, and a complete three-dimensional model of the pipeline to be measured is generated according to an end point, a bending point and a central axis spatial model.
In summary, in the invention, since various types of adapters are designed for the characteristics and fittings of the pipeline, when each adapter is fixed, the single-point adapter corresponding to the straight-line section needs to be fixed at a fixed height from the bottom plane, and a certain distance is kept; the single-point adapters corresponding to two adjacent parallel straight line segments need to keep a certain gap. In the pipeline design, the same mould layer is bent as much as possible, and the radius of the mould layer is related to the diameter of the pipeline. The invention finally carries out reverse modeling, further converts the tubular axis into the process data which can be processed by the numerical control pipe bender, directly sends and manufactures the process data, replaces the original method which depends on manual sample preparation, improves the manufacturing efficiency and reduces the manual interference. And then the process of taking and preparing the sample in the prior art is cancelled, the interference of artificial factors on sampling reverse modeling can be eliminated, the method does not depend on the real existing pipeline, the method has the advantage of high precision, and the target of an accurate and efficient reverse pipeline data model to be detected can be achieved.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments and it is not intended to limit the invention to the specific embodiments described. It will be apparent to those skilled in the art that various equivalent substitutions and obvious modifications can be made without departing from the spirit of the invention, and all changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
In addition, corresponding to the method embodiment, an embodiment of the present invention further provides a reverse modeling system of a virtual pipeline model, and as shown in fig. 12, the system may include the following devices:
a calibration module 1201, configured to calibrate a binocular measurement device using a first calibration instrument, and calibrate a plurality of pre-selected adapters using the calibrated binocular measurement device and a second calibration instrument, where a plurality of mark points are disposed on a surface of each calibrated adapter;
an adapter setting module 1202, configured to set each calibrated adapter at a specified virtual limit position of a to-be-established virtual pipeline according to a type of each calibrated adapter;
a marking point three-dimensional coordinate determining module 1203, configured to determine, according to a three-dimensional reconstruction principle of the calibrated binocular measuring device, a three-dimensional coordinate of each marking point corresponding to each calibrated adapter;
an adapter geometric characteristic parameter determining module 1204, configured to perform characteristic conversion on the three-dimensional coordinates of each mark point to obtain a geometric characteristic parameter of each calibrated adapter;
a straight line section axis and end point parameter determining module 1205, configured to determine, according to the feature parameter of each calibrated adapter, a plurality of straight line section axes and end point parameters of the virtual pipeline to be built;
a bending point three-dimensional coordinate determining module 1206, configured to determine, according to the linear segment axis parameters and the three-dimensional coordinate of each marking point, a three-dimensional coordinate of a bending point between two adjacent linear segment axes;
a virtual pipeline model establishing module 1207, configured to establish the virtual pipeline model according to preset input parameters, the linear segment axis parameters, and the three-dimensional coordinates of the bending point.
Optionally, the first calibration device and the second calibration device each include: the surface is provided with a calibration plate and a calibration device of a plurality of coding mark points and non-coding mark points;
the calibration module 1201 includes:
the image acquisition unit is used for acquiring a plurality of images of the calibration plate under different putting postures by using the binocular measurement equipment;
and the binocular measuring equipment calibration unit is used for extracting the coordinates of the mark points from the image by utilizing a photogrammetry space rear intersection principle and a beam adjustment algorithm so as to solve the internal parameters and the external parameters of the binocular measuring equipment.
Optionally, the preselected adaptor includes one or more of a tip adaptor, a single point adaptor, and a spacing adaptor.
Optionally, the adapter setting module 1202 includes:
the first position setting unit is used for setting the calibrated end adapter at the starting end position and the ending end position of the virtual pipeline to be built;
and the second position setting unit is used for setting at least two calibrated single-point adapters at the linear section corresponding to each linear section axis parameter of the virtual pipeline to be built.
And the third position setting unit is used for setting the calibrated limiting adapter at key features (limiting holes, pipe clamps and the like) which are required to pass by the axis of the virtual pipeline to be built and/or key features needing to be avoided.
Optionally, the calibration device includes a calibration base;
the calibration module 1201 further includes:
the mounting unit is used for mounting the end head adapter on the calibration base of the second calibration apparatus after being assembled and fixed;
the image acquisition unit is used for acquiring an image of the calibration device of the second calibration instrument by using the calibrated binocular measuring equipment;
the mark point three-dimensional coordinate determination unit is used for extracting the three-dimensional coordinates of each mark point arranged on the end head adapting surface from the image by utilizing an edge detection algorithm, a sub-pixel edge extraction algorithm and an ellipse center fitting algorithm;
the end adapter image acquisition unit is used for fixing the calibration base, rotating the target surface of the end adapter and acquiring images of the end adapter in different placing postures by using the calibrated binocular measurement equipment;
the circle center space coordinate obtaining unit is used for fitting a space circle by utilizing the space three-dimensional coordinates which are repeatedly acquired and reconstructed by the same mark point in the target surface rotation process and obtaining the circle center space coordinates;
and the end plane fitting unit is used for fitting the rotation space axis of the whole calibration device by combining the coordinates of the centers of the circles of the fitting spaces of the plurality of mark points, obtaining an end plane by fitting in the same way according to the mark points of the base, and further solving the intersection point of the straight line and the plane as an end point and the axis to which the straight line belongs as an end point normal vector.
In addition, the embodiment of the invention also provides an electronic device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus,
a memory for storing a computer program;
and the processor is used for realizing the reverse modeling method of the virtual pipeline model when executing the program stored in the memory.
In addition, other implementation manners of the application setting method implemented by the processor executing the program stored in the memory are the same as the implementation manners mentioned in the foregoing method embodiment section, and are not described herein again.
The communication bus of the terminal may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this is not intended to represent only one bus or type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
In yet another embodiment of the present invention, a computer-readable storage medium is further provided, which has instructions stored therein, and when the instructions are executed on a computer, the instructions cause the computer to perform the inverse modeling method of the virtual pipeline model according to any one of the above embodiments.
In a further embodiment of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the inverse modeling method of any of the virtual pipeline models in the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (11)
1. A reverse modeling method of a virtual pipeline model is characterized by comprising the following steps:
calibrating binocular measuring equipment by using a first calibration device, calibrating a plurality of pre-selected adapters by using the calibrated binocular measuring equipment and a second calibration device, wherein a plurality of mark points are arranged on the surface of each calibrated adapter;
according to the type of each calibrated adapter, arranging each calibrated adapter at a specified virtual limit position of a virtual pipeline to be built;
determining the three-dimensional coordinates of each mark point corresponding to each calibrated adapter according to the three-dimensional reconstruction principle of the calibrated binocular measuring equipment;
performing feature conversion on the three-dimensional coordinates of each mark point to obtain geometric feature parameters of each calibrated adapter;
determining a plurality of straight line section axes and end point parameters of the virtual pipeline to be built according to the characteristic parameters of each calibrated adapter;
determining three-dimensional coordinates of a bending point between two adjacent straight line segment axes according to the straight line segment axes;
and establishing the virtual pipeline model according to preset input parameters, the linear line segment axes and end point parameters and the three-dimensional coordinates of the bending points.
2. The method according to claim 1, characterized in that the first calibration device and the second calibration device each comprise: the surface is provided with a calibration plate and a calibration device of a plurality of coding mark points and non-coding mark points;
the step of calibrating the binocular measuring equipment by using the first calibration tool comprises the following steps:
acquiring a plurality of images of the calibration plate under different putting postures by using the binocular measuring equipment;
and extracting the coordinates of the mark points from the image by utilizing a photogrammetry space rear intersection principle and a beam adjustment algorithm, and further resolving the internal parameters and the external parameters of the binocular measuring equipment.
3. The method of claim 1, wherein the pre-selected adapters comprise one or more of a tip adapter, a single point adapter, and a stop adapter.
4. The method of claim 3, wherein said step of positioning each of said calibrated adapters at a designated virtually-defined location of a virtual circuit to be created based on the type of each of said calibrated adapters comprises:
setting the calibrated end adapters at the initial end position and the termination end position of the virtual pipeline to be built;
and arranging at least two calibrated single-point adapters at the linear section corresponding to the axis of each linear section of the virtual pipeline to be built.
5. The method of claim 3, wherein the calibration device comprises a calibration base;
the step of calibrating the end adapter by using the calibrated binocular measuring equipment and the second calibration device comprises the following steps of:
installing the end adapter on a calibration base of the assembled and fixed second calibration device;
acquiring an image of a calibration device of the second calibration instrument by using the calibrated binocular measuring equipment;
extracting the three-dimensional coordinates of each mark point arranged on the end head adapting surface from the image by utilizing an edge detection algorithm, a sub-pixel edge extraction algorithm and an ellipse center fitting algorithm;
fixing the calibration base, rotating the target surface of the end head adapter, and acquiring images of the end head adapter in different placing postures by using the calibrated binocular measuring equipment;
aiming at each mark point, carrying out space circle fitting by using space three-dimensional coordinates acquired and reconstructed for multiple times by the same mark point in the target surface rotation process, and acquiring circle center space coordinates;
and fitting the axis of the rotating space of the whole calibration device by combining the coordinates of the centers of the circles of the fitting spaces of the plurality of mark points, and fitting in the same way according to the mark points of the base to obtain an end plane, so as to obtain the intersection point of the straight line and the plane as an end point, and the axis to which the straight line belongs as an end point normal vector.
6. A reverse modeling system for a virtual pipe model, the system comprising:
the calibration module is used for calibrating the binocular measuring equipment by using a first calibration device, calibrating a plurality of pre-selected adapters by using the calibrated binocular measuring equipment and a second calibration device, and a plurality of mark points are arranged on the surface of each calibrated adapter;
the adapter setting module is used for setting each calibrated adapter at a specified virtual limit position of a virtual pipeline to be established according to the type of each calibrated adapter;
the mark point three-dimensional coordinate determination module is used for determining the three-dimensional coordinate of each mark point corresponding to each calibrated adapter according to the three-dimensional reconstruction principle of the calibrated binocular measuring equipment;
the adapter geometric characteristic parameter determining module is used for performing characteristic conversion on the three-dimensional coordinates of each mark point to obtain the geometric characteristic parameters of each calibrated adapter;
the straight line section axis and end point parameter determining module is used for determining a plurality of straight line section axes and end point parameters of the virtual pipeline to be built according to the characteristic parameters of each calibrated adapter;
the bending point three-dimensional coordinate determination module is used for determining the three-dimensional coordinate of a bending point between two adjacent straight line segment axes according to the straight line segment axes and the three-dimensional coordinate of each mark point;
and the virtual pipeline model establishing module is used for establishing the virtual pipeline model according to preset input parameters, the straight line segment axes and end point parameters and the three-dimensional coordinates of the bending points.
7. The system of claim 6, wherein the first and second calibration means each comprise: the surface is provided with a calibration plate and a calibration device of a plurality of coding mark points and non-coding mark points;
the calibration module comprises:
the image acquisition unit is used for acquiring a plurality of images of the calibration plate under different placing postures by using the binocular measurement equipment;
and the binocular measuring equipment calibration unit is used for extracting the coordinates of the mark points from the image by utilizing a photogrammetry space rear intersection principle and a beam adjustment algorithm so as to solve the internal parameters and the external parameters of the binocular measuring equipment.
8. The system of claim 6, wherein the pre-selected adapters include one or more of tip adapters, single point adapters, and stop adapters.
9. The system of claim 8, wherein the adapter setup module comprises:
the first position setting unit is used for setting the calibrated end adapter at the starting end position and the ending end position of the virtual pipeline to be built;
the second position setting unit is used for setting at least two calibrated single-point adapters at the linear section corresponding to the axis of each linear section of the virtual pipeline to be built;
and the third position setting unit is used for setting the calibrated limiting adapter at the key feature which the axis of the virtual pipeline to be built must pass through and/or the key feature to be avoided.
10. The system of claim 8, wherein the calibration device comprises a calibration base;
the calibration module further comprises:
the mounting unit is used for mounting the end head adapter on the calibration base of the second calibration apparatus after being assembled and fixed;
the image acquisition unit is used for acquiring an image of the calibration device of the second calibration instrument by using the calibrated binocular measuring equipment;
the mark point three-dimensional coordinate determination unit is used for extracting the three-dimensional coordinates of each mark point arranged on the end head adapting surface from the image by utilizing an edge detection algorithm, a sub-pixel edge extraction algorithm and an ellipse center fitting algorithm;
the end adapter image acquisition unit is used for fixing the calibration base, rotating the target surface of the end adapter and acquiring images of the end adapter in different placing postures by using the calibrated binocular measurement equipment;
the circle center space coordinate obtaining unit is used for fitting a space circle by utilizing the space three-dimensional coordinates which are repeatedly acquired and reconstructed by the same mark point in the target surface rotation process and obtaining the circle center space coordinates;
and the end plane fitting unit is used for fitting the rotation space axis of the whole calibration device by combining the circle center coordinates of the space fitted by the mark points, obtaining an end plane by adopting the same fitting mode according to the mark points of the base, and further solving the intersection point of the straight line and the plane as an end point and the axis to which the straight line and the plane belong as an end point normal vector.
11. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method of reverse modeling of a virtual circuit model according to any one of claims 1 to 5 when executing a program stored in a memory.
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| CN114187316A (en) * | 2021-12-14 | 2022-03-15 | 福建省电力有限公司泉州电力技能研究院 | Virtual-real space conversion-based cable head manufacturing simulation method |
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