CN114862664A - Pipe characteristic identification method and equipment based on end face projection and storage medium - Google Patents
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Abstract
The invention relates to a pipe characteristic identification method based on end surface projection, which comprises the following steps: introducing a pipe to be identified; step two: selecting a stretching direction; step three: acquiring all surfaces of the pipe, and finding a limit surface; step four: finding all end faces according to the limit faces; step five: connecting the outer contours of all the end faces to form a closed loop; step six: creating a circular projection reference surface, and projecting a closed loop into the projection reference surface; step seven: obtaining the shape and the thickness T of the pipe according to the projected geometric figure; step eight: confirming the outer wall surface; step nine: and finding out a cutting edge from the outer wall surface, and identifying the cutting path of the pipe. For the pipes with different shapes, the end face of one end of the pipe is found, the end face is projected, parameters such as the shape and the thickness value of the pipe are judged according to the projection result, the cutting tool path is rapidly identified, and the identification efficiency is improved.
Description
Technical Field
The invention relates to the field of numerical control machining, in particular to a pipe characteristic identification method and equipment based on end face projection and a storage medium.
Background
In the technical field of numerical control machining, the identification of a machining tool path is a crucial link, the tool path is quickly and efficiently identified, and particularly, the bottleneck always exists in the identification of complex pipes. The existing pipe characteristic identification method usually needs to traverse each surface of a pipe model, find out the outer wall surface and the inner wall surface of a machined part according to the topological relation of adjacent surfaces, and then perform tool path identification by combining the characteristics of the outer wall surface. The method has the advantages that the topological relation of adjacent surfaces and the determination of the outer avoidance and the inner wall surface are needed for each surface, the calculation process is repeated for each surface, the pipes with few surfaces and simple characteristics can be quickly identified, the traversing processing of each surface is very time-consuming for the pipes with many surfaces and complex characteristics, and the identification efficiency is low for some special pipes.
Disclosure of Invention
The invention aims to solve the problem of low recognition efficiency of the pipe with a complex structure in the prior art, and provides the pipe characteristic recognition method based on the end surface projection.
In order to solve the technical problems, the invention adopts the technical scheme that: a pipe characteristic identification method based on end face projection comprises the following steps:
the method comprises the following steps: introducing a pipe to be identified, acquiring a coordinate minimum value point and a coordinate maximum value point of the pipe, and calculating characteristic information of the length L, the height H and the width W of the pipe;
step two: selecting the direction with the largest value among the length L, the height H and the width W in the step one as a stretching direction;
step three: obtaining all surfaces of the pipe, finding out all vertical surfaces of which normal vectors of the middle points of the surfaces are vertical to the stretching direction, and finding out a limit surface at one end of the stretching direction in all the vertical surfaces;
step four: finding all adjacent surfaces of the limit surface, and finding out a first end surface from the adjacent surfaces; acquiring all adjacent surfaces of the first end surface, and finding other end surfaces in the adjacent surfaces;
step five: connecting the outer contours of the first end face and the other end faces to form a closed loop;
step six: creating a circular projection reference surface at the other end of the stretching direction, and projecting the closed loop in the step five into the projection reference surface;
step seven: analyzing the shape of the pipe and calculating the thickness T of the pipe according to the geometric figure projected in the sixth step;
step eight: constructing an inner wall boundary and an outer wall boundary according to the shape and the characteristic information of the pipe, calculating the distance from each surface of the pipe to the inner wall boundary and the outer wall boundary, and confirming the outer wall surface;
step nine: and finding out a cutting edge from the outer wall surface, and identifying the cutting path of the pipe.
Preferably, in the third step, the process of determining whether the boundary surface is the limit surface is as follows:
s3.1, traversing each vertical surface, and calculating the vertical distance dis from the vertical surface to one end of the pipe;
s3.2, judging whether the dis vertical is less than or equal to a set threshold range, and if so, taking the vertical plane as a limit plane; if not, the vertical plane is continuously traversed.
Preferably, in the fourth step, the specific process is as follows:
s4.1, traversing the adjacent surface of each limit surface, and calculating that the distances dis from the adjacent surface to one end of the pipe are adjacent;
s4.2, judging whether dis adjacency is smaller than or equal to a set threshold range, if so, the adjacent surface is a first end surface; if not, continuously traversing the adjacent surfaces;
s4.3, finding all adjacent surfaces of the first end surface according to the topological relation of the geometric model;
s4.4, judging whether the normal vector of the midpoint of the adjacent surface is vertical to the stretching direction, if not, judging other end surfaces and continuing to judge the next adjacent surface, if so, judging whether the extension line of the normal vector of the midpoint of the adjacent surface is intersected with the stretching axis, and if not, judging other end surfaces and continuing to judge the next adjacent surface; if the two adjacent surfaces are intersected, the other adjacent surfaces of the adjacent surface are traversed, and the judgment of the step is executed again by the other adjacent surfaces;
s4.5, traversing all the adjacent surfaces and finding out all other end surfaces except the first end surface.
Preferably, in step five, the method for determining the outer contour is as follows: traversing the first end face and other end faces to obtain the information of all edges of each end face; traversing all edges, and finding all surfaces of the pipe material containing the edges according to the topological relation of the geometric model; if the end face includes all the faces related to the edge, or does not include all the faces related to the edge, the edge is not the outer contour edge, otherwise, the edge is the outer contour edge.
Preferably, in the sixth step, a circular projection reference plane is created after the other end of the stretching direction is offset by a certain distance, the projection reference plane is perpendicular to the stretching direction, the geometric center of the tube enclosure box on the perpendicular plane to the stretching direction is the center of a circle, the radius of the projection plane is R, and the judgment condition is as follows: h/2 is more than W/2, if R is H/2, otherwise R is W/2, H is the height of the pipe, and W is the width of the pipe.
Preferably, in step eight, the specific process is as follows:
s8.1, firstly, putting the coordinates of the outer contour points of one surface of the pipe into a one-dimensional array P with the length i, wherein i is the total number of the outer contour points;
s8.2, calculating a distance value of each point in the P from the outer wall surface, putting the distance value into a one-dimensional array Louter with the length i, calculating a distance value of each point in the P from the inner wall surface, and putting the distance value into a one-dimensional array Linner with the length i;
s8.3, sequentially traversing the router values to find the minimum value fDistOuter
S8.4, traversing Linner values in sequence to find a minimum value fDistInner;
s8.5, judging the property of the surface; if fdittouter is less than or equal to the preset threshold, fdittlner > the preset threshold, and fdittlner < ═ T, the surface is an outer wall surface.
Preferably, the specific process of step nine is as follows:
s9.1, traversing all the outer wall surfaces to obtain a loop of each outer wall surface;
s9.2, determining the type of each loop, and finding all boundary loops and segmentation loops of all outer wall surfaces;
s9.3, traversing the division loops in sequence, obtaining all edges of each division loop, connecting the edges end to end, and placing the edges into a listInnerLoop array;
s9.4, traversing the boundary loops, obtaining all edges of each boundary loop, and finding all surfaces related to each edge according to the topological relation of the geometric model; if the outer wall surface comprises all surfaces related to the edge of the boundary loop, the edge is a shared edge and needs to be removed;
s9.5, traversing all boundary loops, removing all shared edges, and storing the rest boundary edges;
s9.6, connecting the residual boundary edges end to end and placing the residual boundary edges in an array of listOuterLoop; and inserting the listInnerLoop array into the middle of the listOuterLoop array to form a complete cutting profile, wherein the cutting profile is the tool path to be identified.
Preferably, in the second step, if the direction having the largest numerical value is not recognized as the stretching method, the other direction is treated as the stretching direction.
A three-dimensional pipe feature identification device, comprising:
a memory for storing a computer program; a processor for processing the received data, wherein the processor is used for processing the received data,
the method is used for realizing the steps of the three-dimensional pipe characteristic identification method based on the end surface projection when the computer program is executed.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned end-projection-based three-dimensional pipe feature identification method.
Compared with the prior art, the invention has the beneficial effects that: for the pipes with different shapes, the end face of one end of each pipe is found, the end face is projected, parameters such as the shape and the thickness value of each pipe are judged according to the projection result, the cutting tool path is rapidly identified, the identification efficiency is improved, and the cutting tool path is more quickly and conveniently applicable to numerical control machining.
Drawings
Fig. 1 is a flowchart of a pipe feature identification method based on end surface projection according to the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for a better understanding of the present embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "long", "short", etc., based on the orientations or positional relationships shown in the drawings, the description is only for convenience of describing the present invention and simplifying the description, but the terms indicating the positional relationships in the drawings are only used for exemplary illustration and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:
example 1
Fig. 1 shows an embodiment of a pipe feature identification method based on end surface projection, which includes the following steps:
the method comprises the following steps: introducing a pipe to be identified, acquiring a coordinate minimum value point and a coordinate maximum value point of the pipe, and calculating characteristic information of the length L, the height H and the width W of the pipe;
step two: selecting the direction with the largest value among the length L, the height H and the width W in the step one as a stretching direction;
step three: obtaining all surfaces of the pipe, finding out all vertical surfaces of which normal vectors of the middle points of the surfaces are vertical to the stretching direction, and finding out a limit surface at one end of the stretching direction in all the vertical surfaces;
step four: finding all adjacent surfaces of the limit surface, and finding out a first end surface from the adjacent surfaces; acquiring all adjacent surfaces of the first end surface, and finding other end surfaces in the adjacent surfaces;
step five: connecting the outer contours of the first end face and the other end faces to form a closed loop;
step six: creating a circular projection reference surface at the other end of the stretching direction, and projecting the closed loop in the step five into the projection reference surface;
step seven: analyzing the shape of the pipe and calculating the thickness T of the pipe according to the geometric figure projected in the sixth step;
step eight: constructing an inner wall boundary and an outer wall boundary according to the shape and the characteristic information of the pipe, calculating the distance from each surface of the pipe to the inner wall boundary and the outer wall boundary, and confirming the outer wall surface;
step nine: and finding out a cutting edge from the outer wall surface, and identifying the cutting path of the pipe.
The beneficial effects of this embodiment: for the pipes with different shapes, the end face of one end of the pipe is found, the end face is projected, the shape, the thickness value and other parameters of the pipe are judged according to the projection result, the cutting tool path is quickly identified, the identification efficiency is improved, and the pipe is more quickly and conveniently suitable for numerical control machining.
Example 2
An embodiment 2 of a pipe feature identification method based on end face projection includes the following steps:
the method comprises the following steps: introducing a pipe to be identified, acquiring a coordinate minimum value point and a coordinate maximum value point of the pipe, and calculating characteristic information of the length L, the height H and the width W of the pipe;
step two: selecting the direction with the largest value among the length L, the height H and the width W in the step one as a stretching direction;
step three: obtaining all surfaces of the pipe, finding out all vertical surfaces of which normal vectors of the middle points of the surfaces are vertical to the stretching direction, and finding out a limit surface at one end of the stretching direction in all the vertical surfaces; the process of judging whether the surface is a limiting surface is as follows: s3.1, traversing each vertical surface, and calculating the vertical distance dis from the vertical surface to one end of the pipe; s3.2, judging whether the dis vertical is less than or equal to a set threshold range, and if so, taking the vertical plane as a limit plane; if not, the vertical plane is continuously traversed.
Step four: finding all adjacent surfaces of the limit surface, and finding out a first end surface from the adjacent surfaces; acquiring all adjacent surfaces of the first end surface, and finding other end surfaces in the adjacent surfaces; the specific process comprises the following steps:
s4.1, traversing the adjacent surface of each limit surface, and calculating that the distances dis from the adjacent surface to one end of the pipe are adjacent;
s4.2, judging whether dis adjacency is smaller than or equal to a set threshold range, if so, the adjacent surface is a first end surface; if not, continuously traversing the adjacent surfaces;
s4.3, finding all adjacent surfaces of the first end surface according to the topological relation of the geometric model;
s4.4, judging whether the normal vector of the midpoint of the adjacent surface is vertical to the stretching direction, if not, judging other end surfaces and continuing to judge the next adjacent surface, if so, judging whether the extension line of the normal vector of the midpoint of the adjacent surface is intersected with the stretching axis, and if not, judging other end surfaces and continuing to judge the next adjacent surface; if the two adjacent surfaces are intersected, the other adjacent surfaces of the adjacent surface are traversed, and the judgment of the step is executed again by the other adjacent surfaces;
s4.5, traversing all the adjacent surfaces and finding out all other end surfaces except the first end surface.
Step five: connecting the outer contours of the first end face and the other end faces to form a closed loop; the method for determining the outer contour comprises the following steps: traversing the first end face and other end faces to obtain information of all edges of each end face; traversing all edges, and finding all surfaces of the pipe including the edges according to the topological relation of the geometric model; if the end face includes all the faces related to the edge or does not include all the faces related to the edge, the edge is not the outer contour edge, otherwise, the edge is the outer contour edge.
Step six: and (3) creating a circular projection reference surface after the other end in the stretching direction deviates a certain distance, wherein the projection reference surface is vertical to the stretching direction, the geometric center of the tube bounding box on the vertical plane of the stretching direction is the circle center, the radius R of the projection surface is as follows: h/2 is more than W/2, if R is H/2, otherwise R is W/2, H is the height of the pipe, and W is the width of the pipe; projecting the closed loop in the step five into a projection reference surface;
step seven: analyzing the shape of the pipe and calculating the thickness T of the pipe according to the geometric figure projected in the sixth step;
step eight: constructing an inner wall boundary and an outer wall boundary according to the shape and the characteristic information of the pipe, calculating the distance from each surface of the pipe to the inner wall boundary and the outer wall boundary, and confirming the outer wall surface; the specific process comprises the following steps:
s8.1, firstly, putting the coordinates of the outer contour points of one surface of the pipe into a one-dimensional array P with the length i, wherein i is the total number of the outer contour points;
s8.2, calculating a distance value of each point in the P from the outer wall surface, putting the distance value into a one-dimensional array Louter with the length i, calculating a distance value of each point in the P from the inner wall surface, and putting the distance value into a one-dimensional array Linner with the length i;
s8.3, sequentially traversing the Louter values to find the minimum value fDistOuter
S8.4, traversing Linner values in sequence to find a minimum value fDistInner;
s8.5, judging the property of the surface; if fdittouter is less than or equal to the preset threshold, fdittlner > the preset threshold, and fdittlner < ═ T, the surface is an outer wall surface.
Step nine: find the cutting edge from the outer wall, carry out the sword way discernment to tubular product, concrete flow is:
s9.1, traversing all the outer wall surfaces to obtain a loop of each outer wall surface;
s9.2, determining the type of each loop, and finding all boundary loops and segmentation loops of all outer wall surfaces;
s9.3, traversing the division loops in sequence, obtaining all edges of each division loop, connecting the edges end to end, and placing the edges into a listInnerLoop array;
s9.4, traversing the boundary loops, obtaining all edges of each boundary loop, and finding all surfaces related to each edge according to the topological relation of the geometric model; if the outer wall surface comprises all surfaces related to the edge of the boundary loop, the edge is a shared edge and needs to be removed;
s9.5, traversing all boundary loops, removing all shared edges, and storing the rest boundary edges;
s9.6, connecting the residual boundary edges end to end and placing the residual boundary edges in an array of listOuterLoop; and inserting the listInnerLoop array into the middle of the listOuterLoop array to form a complete cutting profile, wherein the cutting profile is the tool path to be identified.
In the second step, if the direction having the largest numerical value is not recognized as the stretching method, the other direction is treated as the stretching direction.
The beneficial effects of this embodiment: for the pipes with different shapes, the end face of one end of the pipe is found, the end face is projected, the shape, the thickness value and other parameters of the pipe are judged according to the projection result, the cutting tool path is quickly identified, the identification efficiency is improved, and the pipe is more quickly and conveniently suitable for numerical control machining.
Example 3
An embodiment of a three-dimensional tubing feature identification apparatus, comprising: a memory for storing a computer program; a processor for implementing the steps of the end-projection-based three-dimensional pipe feature identification method of embodiment 1 or 2 when executing the computer program.
Example 4
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the end-projection-based three-dimensional pipe feature identification method of embodiment 1 or 2.
It should be understood that the above-described examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A pipe characteristic identification method based on end face projection is characterized by comprising the following steps:
the method comprises the following steps: introducing a pipe to be identified, acquiring a coordinate minimum value point and a coordinate maximum value point of the pipe, and calculating characteristic information of the length L, the height H and the width W of the pipe;
step two: selecting the direction with the largest value among the length L, the height H and the width W in the step one as a stretching direction;
step three: obtaining all surfaces of the pipe, finding out all vertical surfaces of the normal vector of the middle point of the surface, which are vertical to the stretching direction, and finding out the limit surface at one end of the stretching direction in all the vertical surfaces;
step four: finding all adjacent surfaces of the limit surface, and finding out a first end surface from the adjacent surfaces; acquiring all adjacent surfaces of the first end surface, and finding other end surfaces in the adjacent surfaces;
step five: connecting the outer contours of the first end face and the other end faces to form a closed loop;
step six: creating a circular projection reference surface at the other end of the stretching direction, and projecting the closed loop in the step five into the projection reference surface;
step seven: analyzing the shape of the pipe and calculating the thickness T of the pipe according to the geometric figure projected in the sixth step;
step eight: constructing an inner wall boundary and an outer wall boundary according to the shape and the characteristic information of the pipe, calculating the distance from each surface of the pipe to the inner wall boundary and the outer wall boundary, and confirming the outer wall surface;
step nine: and finding out a cutting edge from the outer wall surface, and identifying the cutting path of the pipe.
2. The pipe characteristic identification method based on the end face projection as claimed in claim 1, wherein in the third step, the process of determining whether the pipe is a limiting surface is as follows:
s3.1, traversing each vertical surface, and calculating the distance dis from the vertical surface to one end of the pipe Is perpendicular to ；
S3.2 judging dis Is perpendicular to Whether the vertical plane is smaller than or equal to a set threshold range or not is judged, and if the vertical plane is smaller than or equal to the set threshold range, the vertical plane is a limiting plane; if not, the vertical plane is continuously traversed.
3. The pipe characteristic identification method based on end surface projection according to claim 2, wherein in the fourth step, the specific process is as follows:
s4.1, traversing the adjacent surface of each limit surface, and calculating the distance dis from the adjacent surface to one end of the pipe Adjacent to each other ；
S4.2 judging dis Adjacent to each other Whether the distance is smaller than or equal to a set threshold range, if so, the adjacent surface is a first end surface; if not, continuously traversing the adjacent surfaces;
s4.3, finding all adjacent surfaces of the first end surface according to the topological relation of the geometric model;
s4.4, judging whether the normal vector of the midpoint of the adjacent surface is vertical to the stretching direction, if not, judging other end surfaces and continuing to judge the next adjacent surface, if so, judging whether the extension line of the normal vector of the midpoint of the adjacent surface is intersected with the stretching axis, and if not, judging other end surfaces and continuing to judge the next adjacent surface; if the two adjacent surfaces are intersected, traversing other adjacent surfaces of the adjacent surface and re-executing the judgment of the step by using other adjacent surfaces;
s4.5, traversing all the adjacent surfaces and finding out all other end surfaces except the first end surface.
4. The pipe characteristic identification method based on the end surface projection as claimed in claim 3, wherein in the fifth step, the method for determining the outer contour is as follows: traversing the first end face and other end faces to obtain the information of all edges of each end face; traversing all edges, and finding all surfaces of the pipe, which contain the edges, according to the topological relation of the geometric model; if the end face includes all the faces related to the edge or does not include all the faces related to the edge, the edge is not the outer contour edge, otherwise, the edge is the outer contour edge.
5. The pipe characteristic identification method based on end surface projection as claimed in claim 4, wherein in step six, a circular projection reference surface is created after the other end of the stretching direction is offset by a certain distance, the projection reference surface is perpendicular to the stretching direction, the pipe bounding box takes the geometric center of a plane perpendicular to the stretching direction as the center, the radius of the projection surface R is determined as follows: h/2 is more than W/2, if R is H/2, otherwise R is W/2, H is the height of the pipe, and W is the width of the pipe.
6. The pipe characteristic identification method based on the end face projection as claimed in claim 1, wherein in step eight, the specific flow is as follows:
s8.1, firstly, putting the coordinates of the outer contour points of one surface of the pipe into a one-dimensional array P with the length i, wherein i is the total number of the outer contour points;
s8.2, calculating a distance value of each point in the P from the outer wall surface, putting the distance value into a one-dimensional array Louter with the length i, calculating a distance value of each point in the P from the inner wall surface, and putting the distance value into a one-dimensional array Linner with the length i;
s8.3, sequentially traversing the Louter values to find the minimum value fDistOuter
S8.4, traversing Linner values in sequence to find a minimum value fDistInner;
s8.5, judging the property of the surface; if fdittouter is less than or equal to the preset threshold, fdittlner > the preset threshold, and fdittlner < ═ T, the surface is an outer wall surface.
7. The pipe characteristic identification method based on the end face projection as claimed in claim 6, wherein the specific process of the ninth step is as follows:
s9.1, traversing all the outer wall surfaces to obtain a loop of each outer wall surface;
s9.2, determining the type of each loop, and finding all boundary loops and segmentation loops of all outer wall surfaces;
s9.3, traversing the division loops in sequence, obtaining all edges of each division loop, connecting the edges end to end, and placing the edges into a listInnerLoop array;
s9.4, traversing the boundary loops, obtaining all edges of each boundary loop, and finding all surfaces related to each edge according to the topological relation of the geometric model; if the outer wall surface comprises all surfaces related to the edge of the boundary loop, the edge is a shared edge and needs to be removed;
s9.5, traversing all boundary loops, removing all shared edges, and storing the rest boundary edges;
s9.6, connecting the residual boundary edges end to end and placing the residual boundary edges in an array of listOuterLoop; and inserting the listInnerLoop array into the middle of the listOuterLoop array to form a complete cutting profile, wherein the cutting profile is the tool path to be identified.
8. The method for identifying the pipe characteristics based on the end face projection as claimed in claim 1, wherein in the second step, if the direction with the largest numerical value is not identified as the stretching method successfully, the other directions are taken as the stretching directions for processing.
9. A three-dimensional pipe characteristic identification device is characterized by comprising:
a memory for storing a computer program; a processor for processing the received data, wherein the processor is used for processing the received data,
for implementing the method of end face projection based three-dimensional pipe feature identification according to any of claims 1 to 8 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the end-projection-based three-dimensional pipe feature identification method according to any one of claims 1 to 8.
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| CN117974669A (en) * | 2024-04-02 | 2024-05-03 | 北京阿迈特医疗器械有限公司 | Online detection and preparation control method and device for implantation and intervention tubular instrument |
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