CN115146401A - Hollow turbine blade ceramic core detection section line point cloud outer contour filtering method - Google Patents
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- B22—CASTING; POWDER METALLURGY
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Abstract
The invention discloses a method for filtering the outer contour of a section line point cloud detected by a ceramic core of a hollow turbine blade. And then, iteratively solving the minimum envelope rectangle of the point cloud through rotation of the point cloud, determining a maximum value and a minimum value point of the point cloud on a long axis on the basis of the minimum envelope rectangle, and judging the ranges of the leading edge and the trailing edge according to the maximum value and the minimum value. The method is based on the geometric and iterative algorithm, solves the problem of low three-dimensional detection data processing efficiency of the turbine blade ceramic core in actual production, realizes the automation of point cloud outer contour point screening, and has the advantages of simple realization method, high calculation efficiency, strong expansibility and good applicability.
Description
Technical Field
The invention belongs to the technical field of aero-engines, and particularly relates to a method for filtering a point cloud outer contour of a section line detected by a ceramic core.
Background
Hollow turbine blades have a significant impact on the performance and life of aircraft engines and, due to the complexity of their hollow structures, are typically manufactured using an investment casting process in which a ceramic core corresponding to the hollow structure is manufactured as part of a casting mold and removed after casting to form the hollow structure of the blade. In this process, the dimensional accuracy of the ceramic core has a significant impact on the final blade cavity and wall thickness accuracy. Therefore, after the ceramic core is manufactured, the appearance of the ceramic core needs to be scanned and detected in three dimensions, the outer contour of the blade needs to be matched, and whether the core can control the wall thickness error within a reasonable range or not needs to be judged.
The outer contour of the blade is generally composed of four parts, namely a blade basin, a blade back, a front edge and a tail edge, and is a smooth spline curve. The cavity structure of the hollow turbine blade is very complex, a large number of flow channels are provided to help the blade to be rapidly cooled, a three-dimensional structure of the ceramic core is provided with a plurality of grooves and holes, and the result obtained by three-dimensional scanning is not simple shrinkage of the shape of the outer contour. Therefore, the section lines obtained by scanning need to be filtered, measurement points of the characteristics such as grooves and holes are removed, and only the outer contour points of the vane basin, the vane back, the front edge and the tail edge of the ceramic core are reserved as the basis for registering with the outer contour of the vane, so that a reasonable matching result can be obtained. The current point cloud filtering method mainly adopts manual screening, has low efficiency, is difficult to carry out batch processing, and has a large limitation on the application range.
The problem can be described as solving the problem of the concave-convex outer contour by a given point cloud, and the common method is a rolling sphere method. However, parameters of the rolling ball method have a large influence on the quality of the finally formed contour, and the quality evaluation method of the contour is not clear.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for filtering the outer contour of a section line point cloud detected by a ceramic core of a hollow turbine blade. And then, solving the minimum envelope rectangle of the point cloud through rotation iteration of the point cloud, determining the maximum value and the minimum value of the point cloud on the long axis on the basis of the minimum envelope rectangle, and judging the ranges of the leading edge and the trailing edge according to the maximum value and the minimum value. The method is based on the geometric algorithm and the iterative algorithm, solves the problem of low three-dimensional detection data processing efficiency of the turbine blade ceramic core in actual production, realizes the automation of point cloud outer contour point screening, and has the advantages of simple realization method, high calculation efficiency, strong expansibility and good applicability.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
step 1: acquiring point cloud data coordinate data of the cross section of the ceramic core, extracting x and y coordinate data of the point cloud data coordinate data to form an initial point set P 0 ；
Step 2: setting initial parameter values including alpha, s and theta; 1/alpha represents the radius of a ball in a rolling ball method, s represents the change step length of alpha iteration in the filtering method, and theta represents the upper limit of the ratio of a first long edge and a second long edge of a polygon formed by the filtering method;
and step 3: establishing a cycle, starting from an initial value of alpha, and increasing a fixed step length s for each time of alpha; the method comprises the following specific steps:
step 3-1: calculating the outer contour of the point cloud by using a rolling sphere method by taking 1/alpha as the radius length of the rolling sphere method to obtain P 0 One of subset P' = { P = } 1 ′,…,P N '}, wherein P' n ＝{x n ,y n N =1,2, \ 8230, wherein N represents the coordinate of the nth point, and the front point and the rear point are connected to form one edge of the outline polygon;
step 3-2: calculating the side length of each side, wherein the side length of the nth side is calculated according to the following formula:
step 3-3: sorting the side length sets from large to small to obtain the first two side lengths as l max1 And l max2 If:
ending the circulation, and taking the currently obtained outline point set P' as a final filtered point set; otherwise, repeating the step 3 until the formula (2) is satisfied and continuing to circulate;
and 4, step 4: obtaining the maximum value x of all points in the final outline point set P' on the x and y axes max 、y max And the minimum value x min 、y min Forming an envelope rectangle A 1 B 1 C 1 D 1 Wherein A is 1 ＝{x max ,y max },B 1 ＝{x max ,y min },C 1 ＝{x min ,y max },D 1 ＝{x min ,y min }; rotating the final outline point set P' by different angles to find an envelope rectangle ABCD with the smallest area; the angle of each rotation is calculated by the following method:
step 4-1: the slope of the nth side is calculated using the following equation:
then, calculating the included angle between the nth edge and the positive direction of the x axis:
β n ＝arctan (k n ) (4)
step 4-2: calculating the included angle beta of each edge and the positive direction of the x axis in turn = { beta = [ (. Beta ]) 1 ,…,β N Sorting beta from small to large;
step 4-3: selecting the central point [ x ] of the final outline point set P c ,y c ]Sequentially rotating the final outline point set P' by beta for rotating the original point n The rotated coordinates are calculated as follows:
finding out the envelope rectangle with the smallest area, and further rotating the envelope rectangle and the point set therein to the position where the long side of the rectangle is parallel to the x axis and the leaf basin faces upwards to obtain the final point set P final As a final solution;
and 5: obtaining the minimum envelope rectangle according to the coordinates of the point set when the minimum envelope rectangle is rotatedMaximum values x 'on x and y axes' max 、y′ max And a minimum value of x' min 、y′ min (ii) a Find x' max And x' min Points P of corresponding coordinates in the minimal enveloping rectangular point set max 、P min ∈P final As the midpoint of the trailing and leading edges, respectively, if x' max Or x' min Corresponding to a plurality of points with different y coordinates, if the points with odd number of y coordinates exist, selecting a median value of the y coordinates, and if the points with even number of y coordinates exist, taking any one of the middle two y coordinates as a longitudinal coordinate of the middle point of the front edge or the tail edge;
step 6: setting radius range r of leading edge and trailing edge points 1 、r 2 (ii) a With P min As the center r of a circle 1 For radius, points within the formed circle are defined as a set of leading edge points; p max As the center r of a circle 2 To the radius, the points within the formed circle are defined as the set of trailing edge points.
Further, in step 2, initial parameter values are set, α =0, s =0.01, θ ∈ [1,2].
The invention has the following beneficial effects:
according to the method, the outer contour point set of the ceramic core can be quickly screened out according to the given point cloud of the section line of the ceramic core of the hollow turbine blade. Firstly, points belonging to the outer contour are included as accurately as possible through a parameter optimization algorithm, and points not belonging to the outer contour are removed. Second, the leading and trailing edge regions of the blade are determined based on a minimum envelope rectangle method. The method has the advantages of simple implementation process, less required parameters, low calculation complexity, high screening accuracy and low deployment difficulty, and can be suitable for ceramic cores of different models, thereby being more suitable for actual production fields.
Drawings
FIG. 1 is a schematic view of a turbine blade ceramic core inspection cross-section point cloud in accordance with the present invention.
FIG. 2 shows an outline polygon and a corresponding point set obtained by the rounding method according to the embodiment of the present invention.
FIG. 3 is a schematic diagram of a minimum envelope rectangle according to an embodiment of the present invention.
FIG. 4 is a schematic view of the leading and trailing edge regions of an embodiment of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
A method for filtering a point cloud outline of a detection section line of a ceramic core of a hollow turbine blade comprises the following steps:
step 1: acquiring point cloud data coordinate data of the cross section of the ceramic core, extracting x and y coordinate data of the point cloud data coordinate data to form an initial point set P 0 ；
Step 2: setting initial parameter values including alpha, s and theta; 1/alpha represents the radius of a ball in a rolling ball method, s represents the change step length of alpha iteration in the filtering method, and theta represents the upper limit of the ratio of a first long edge and a second long edge of a polygon formed by the filtering method;
and step 3: establishing a cycle, starting from an initial value of alpha, and increasing a fixed step length s for each time of alpha; when α is small, the result obtained by the rolling sphere method tends to a convex hull, and satisfies the shapes of the leaf back, the leading edge, and the trailing edge, but cannot satisfy the concave shape of the leaf basin. Therefore, the invention provides a side length judgment method which starts from a small value of alpha and gradually increases, and ends when the side length distribution becomes uniform, and the method comprises the following specific steps:
step 3-1: calculating the outer contour of the point cloud by using a rolling sphere method by taking 1/alpha as the radius length of the rolling sphere method to obtain P 0 Is set to one subset P' = { P = } 1 ′,…,P N '}, wherein P' n ＝{x n ,y n N =1,2, \ 8230, wherein N represents the coordinate of the nth point, and the front point and the rear point are connected to form one edge of the outline polygon;
step 3-2: calculating the side length of each side, wherein the side length of the nth side is calculated according to the following formula:
step 3-3: sorting the side length sets from large to small to obtain the first two side lengths as l max1 And l max2 If:
ending the circulation, and taking the currently obtained outline point set P' as a final filtered point set; because the edge length distribution in the ideal outer contour of the ceramic core should be relatively uniform, if one edge is significantly longer than the remaining edges, then the current α is too small. Otherwise, repeating the step 3 until the formula (2) is satisfied and continuing to circulate;
and 4, step 4: obtaining the maximum value x of all points in the final outline point set P' on the x and y axes max 、y max And minimum value x min 、y min Forming an envelope rectangle A 1 B 1 C 1 D 1 Wherein A is 1 ＝{x max ,y max },B 1 ＝{x max ,y min },C 1 ＝{x min ,y max },D 1 ＝{x min ,y min }; rotating the final outline point set P' by different angles to find an envelope rectangle ABCD with the smallest area; the angle of each rotation is calculated by the following method:
step 4-1: the slope of the nth side is calculated using the following equation:
then, calculating the angle between the nth edge and the positive direction of the x axis:
β n ＝arctan (k n ) (4)
step 4-2: sequentially calculating the included angle beta = { beta ] between each edge and the positive direction of the x axis 1 ,…,β N Sorting beta from small to large;
step 4-3: selecting the central point [ x ] of the final outline point set P c ,y c ]Sequentially rotating the final outline point set P' by beta for rotating the original point n The rotated coordinates are calculated as follows:
finding out the envelope rectangle with the smallest area, and further rotating the envelope rectangle and the point set therein to the position where the long side of the rectangle is parallel to the x axis and the leaf basin faces upwards to obtain the final point set P final As a final solution;
and 5: obtaining the maximum value x 'of the minimum enveloping rectangle on the x and y axes according to the point set coordinates when rotating to the minimum enveloping rectangle' max 、y′ max And a minimum value of x' min 、y′ min (ii) a Find x' max And x' min Points P of corresponding coordinates in the minimal enveloping rectangular point set max 、P min ∈P final As midpoints of trailing and leading edges, respectively, if x' max Or x' min Corresponding to a plurality of points with different y coordinates, if the points with odd number of y coordinates exist, selecting a median value of the y coordinates, and if the points with even number of y coordinates exist, taking any one of the middle two y coordinates as a longitudinal coordinate of the middle point of the front edge or the tail edge;
step 6: setting radius range r of leading edge and trailing edge points 1 、r 2 (ii) a With P min As the center r of a circle 1 For radius, points within the formed circle are defined as a set of leading edge points; p max As the center r of a circle 2 To the radius, the points within the formed circle are defined as the set of trailing edge points.
Generally, α =0 is an initial value, and the value of s can be set to about 0.01 to achieve a relatively good solution efficiency and search granularity, and θ is generally a value in the range of [1,2].
The specific embodiment is as follows:
in this embodiment, a program is developed in a Python 3.9 development environment running in a windows 11 system, the program runs in a notebook computer, and a CPU is an Intel Core i7-1165G7.
As shown in fig. 1, the specific process of this embodiment is as follows:
the method comprises the following steps: unloading the cross section line point cloud coordinate data intotxt format, reading data into program line by line through readline () function, extracting x and y coordinate data to form initial point set P 0 As shown in fig. 1;
step two: setting initial parameter values, and taking alpha =0, s =0.01 and theta =1.5;
step three: a loop is set up, starting with α =0, each time α is increased by a fixed step s. Each cycle performs the following substeps of calculation:
1) Using 1/alpha as radius length of rolling sphere method, calling alphashape toolkit in python, inputting alpha value into function, calculating outer contour of point cloud by rolling sphere method to obtain P 0 Is set to one subset P' = { P = 1 ′,…,P N ' }, wherein P n ′＝{x n ,y n The points are contained in sequence, and the front point and the rear point are connected to form one side of the outline polygon;
2) Calculating the side length of each side by circularly traversing each obtained polygon side, wherein the side length of the nth side is calculated according to the following formula:
3) Calling a sort () function in the numpy toolkit, sequencing the side length sets from big to small to obtain the first two side lengths as l max1 And l max2 If, then,
the loop is ended, and the currently obtained outline point set P' is taken as the final filtered point set. Otherwise, the loop continues. The final result is shown in fig. 2;
step four: searching a minimum envelope rectangle based on the currently obtained final contour point set P':
1) Calculating the included angle beta of each side of the formed polygon and the positive direction of the x axis = { beta = 1 ,…,β N }；
2) Go through each angle to get allMaximum x of point on x and y axes after each rotation max 、y max And the minimum value x min 、y min Forming an envelope rectangle A 1 B 1 C 1 D 1 Wherein A = { x = max ,y max },B＝{x max ,y min },C＝{x min ,y max },D＝{x min ,y min And finding the envelope rectangle ABCD with the minimum area, further rotating the envelope rectangle and the point set thereof to the position where the long side of the rectangle is parallel to the x axis and the leaf basin faces upwards to obtain a final point set P final As a final solution, as shown in fig. 3;
step five: x 'is obtained according to the point set coordinates when the point set coordinates are rotated to the minimum envelope rectangle' max 、y′ max And a minimum value of x' min 、y′ min . Find x' max And x' min Point P of corresponding coordinate max 、P min ∈P final Respectively as the midpoints of the trailing edge and the leading edge as the midpoints of the leading edge and the trailing edge;
step six: setting radius range r of leading edge and trailing edge points 1 ＝r 2 =2, with the above P min And P max As a center of circle, r 1 And r 2 For the radius, points within the formed circle are defined as a leading edge point set and a trailing edge point set, as shown in FIG. 4.
Claims (2)
1. A hollow turbine blade ceramic core detection section line point cloud outer contour filtering method is characterized by comprising the following steps:
step 1: acquiring point cloud data coordinate data of the cross section of the ceramic core, extracting x and y coordinate data of the point cloud data coordinate data to form an initial point set P 0 ；
Step 2: setting initial parameter values including alpha, s and theta; 1/alpha represents the radius of a ball in a rolling ball method, s represents the change step length of alpha iteration in the filtering method, and theta represents the upper limit of the ratio of a first long edge and a second long edge of a polygon formed by the filtering method;
and step 3: establishing a cycle, starting from an initial value of alpha, and increasing a fixed step length s for each time of alpha; the method comprises the following specific steps:
step 3-1: calculating the outer contour of the point cloud by using a rolling sphere method by taking 1/alpha as the radius length of the rolling sphere method to obtain P 0 Is set to one subset P' = { P = } 1 ′,…,P N '}, wherein P' n ＝{x n ,y n N =1,2, \ 8230, wherein N represents the coordinate of the nth point, and the front point and the rear point are connected to form one edge of the outline polygon;
step 3-2: the side length of each side is calculated, and the side length of the nth side is calculated according to the following formula:
step 3-3: sorting the side length sets from large to small to obtain the first two side lengths as l max1 And l max2 If:
ending the circulation, and taking the currently obtained outline point set P' as a final filtered point set; otherwise, repeating the step 3 until the formula (2) is satisfied and continuing to circulate;
and 4, step 4: obtaining the maximum value x of all points in the final outline point set P' on the x and y axes max 、y max And minimum value x min 、y min Forming an envelope rectangle A 1 B 1 C 1 D 1 Wherein A is 1 ＝{x max ,y max },B 1 ＝{x max ,y min },C 1 ＝{x min ,y max },D 1 ＝{x min ,y min }; rotating the final outline point set P' by different angles to find an envelope rectangle ABCD with the smallest area; the angle of each rotation is calculated by the following method:
step 4-1: the slope of the nth side is calculated using the following equation:
then, calculating the included angle between the nth edge and the positive direction of the x axis:
β n ＝arctan(k n ) (4)
step 4-2: sequentially calculating the included angle beta = { beta ] between each edge and the positive direction of the x axis 1 ,…,β N Sorting beta from small to large;
step 4-3: selecting the central point [ x ] of the final outline point set P c ,y c ]Sequentially rotating the final outline point set P' by beta for rotating the original point n The rotated coordinates are calculated as follows:
finding out the envelope rectangle with the smallest area, and further rotating the envelope rectangle and the point set therein to the position where the long side of the rectangle is parallel to the x axis and the leaf basin faces upwards to obtain the final point set P final As a final solution;
and 5: obtaining the maximum value x 'of the minimum envelope rectangle on the x axis and the y axis according to the point set coordinates when the minimum envelope rectangle is rotated' max 、y′ max And a minimum value of x' min 、y′ min (ii) a Find x' max And x' min Points P of corresponding coordinates in the minimal enveloping rectangular point set max 、P min ∈P final As midpoints of trailing and leading edges, respectively, if x' max Or x' min Corresponding to a plurality of points with different y coordinates, if the points with odd number of y coordinates exist, selecting a median value of the y coordinates, and if the points with even number of y coordinates exist, taking any one of the middle two y coordinates as a longitudinal coordinate of the middle point of the front edge or the tail edge;
step 6: setting the radius range r of the leading edge and the trailing edge point 1 、r 2 (ii) a With P min As the center r of a circle 1 The radius, the point within the formed circle being defined asA set of leading edge points; p max As a center r 2 To the radius, the points within the formed circle are defined as the set of trailing edge points.
2. The method for filtering the point cloud outer contour of the hollow turbine blade ceramic core detection section line according to claim 1, wherein initial parameter values are set in the step 2, wherein α =0,s =0.01, and θ e [1,2].
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