CN115408784B - Curved surface matching method and system based on parallel curves - Google Patents
Curved surface matching method and system based on parallel curves Download PDFInfo
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Abstract
The invention provides a curved surface matching method and a system based on parallel curves, comprising the following steps: connecting two positioning points on the theoretical curved surface, and creating a geodesic line on the theoretical curved surface, which is called zero-number geodesic line; taking the zero-number geodesic line as a reference, making parallel lines along the theoretical curved surface, and numbering the curved lines; making equal arc length dividing points on the zero-number geodesic line; projecting a datum point on the zero-number geodesic line onto the first-number geodesic line, and taking the projection point as a datum point to make equal-arc-length dividing points; equidistant segmentation is carried out on each curve, and matching point generation on a theoretical curved surface is completed; repeating the above operation on the reverse curved surface to generate matching points on the reverse curved surface; and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points. The invention solves the problems of low speed and low precision of solving the matching point by adopting an optimization algorithm by adopting the method for directly generating the matching point on the curved surface, and achieves the effect of quickly generating the high-precision matching point.
Description
Technical Field
The invention relates to the technical field of parallel curves, in particular to a curved surface matching method and system based on parallel curves, and especially relates to a curved surface matching algorithm based on parallel curves.
Background
Because the large thin-wall skin is easy to deform in the clamping process and the deformation is very large, qualified parts cannot be cut out without compensating the processing path.
Disclosed in patent document with publication number CN110480075B is a workpiece curved surface contour compensation system, method and medium based on point cloud data, comprising the following modules: and the scanning control module is used for: scanning the actual curved surface shape to obtain a point cloud data set of the actual curved surface shape; acquiring actual positioning point coordinates corresponding to a preset positioning hole on an actual curved surface; theoretical model processing module: acquiring a theoretical positioning point coordinate on a theoretical curved surface model; evenly acquiring discrete points on the theoretical surface model to obtain a discrete point cloud data set of the theoretical surface; and a mapping compensation module: according to the point cloud data set of the actual curved surface shape and the discrete point cloud data set of the theoretical curved surface, the principle structure is constructed by measuring the ground wire equidistanceEstablishing a mapping relation between a theoretical curved surface and an actual curved surface; and carrying out compensation calculation on the theoretical tool path according to the mapping relation between the theoretical curved surface and the actual curved surface to obtain the actual processing tool path. The method has slow solving speed of the matching points, and the time complexity and the space complexity of the algorithm are n 2 In addition, the accuracy of the method is also greatly lost because the geodesic line is calculated on the triangular mesh surface.
Therefore, a new solution is needed to improve the above technical problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a curved surface matching method and system based on parallel curves.
The invention provides a curved surface matching method based on parallel curves, which comprises the following steps:
step S1: connecting two positioning points on the theoretical curved surface, and creating a geodesic line on the theoretical curved surface, which is called zero-number geodesic line;
step S2: sequentially making a plurality of parallel lines along the theoretical curved surface by taking the zero-number geodesic line as a reference, covering the whole theoretical curved surface by the parallel lines, and numbering the curves;
step S3: taking the first positioning point as a reference point, and making equal arc length dividing points on a zero-number geodesic line;
step S4: projecting a reference point on the zero-number geodesic line onto the first-number geodesic line, obtaining a projection point on the first-number geodesic line, and taking the projection point as the reference point to make equal-arc-length division points;
step S5: the other curves are also subjected to equidistant segmentation according to the operation in the step S4, each curve is numbered in a two-dimensional array, and the number mode is (line number and point number) to finish the generation of matching points on the theoretical curved surface;
step S6: repeating the above operation on the reverse curved surface to generate matching points on the reverse curved surface;
step S7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points.
Preferably, two anchor points in the step S1 are at edge portions of the face, and two anchor points are on two opposite sides.
Preferably, in step S1, a geodesic is created in the CAM software by two anchor points, and the geodesic is a straight line on the parameter surface.
Preferably, in the step S6, the reverse curved surface is a point cloud obtained by scanning the surface of the part with laser, and is obtained by performing surface fitting.
Preferably, the locating points on the theoretical curved surface and the locating points on the actual surface correspond to each other and are the same position point; the geodesic distance between the theoretical locating points is equal to the geodesic distance between the actual locating points.
The invention also provides a curved surface matching system based on the parallel curves, which comprises the following modules:
module M1: connecting two positioning points on the theoretical curved surface, and creating a geodesic line on the theoretical curved surface, which is called zero-number geodesic line;
module M2: taking the zero-number geodesic line as a reference, making parallel lines along the theoretical curved surface, covering the whole theoretical curved surface by the parallel lines, and numbering the curves;
module M3: taking the first positioning point as a reference point, and making equal arc length dividing points on a zero-number geodesic line;
module M4: projecting a reference point on the zero-number geodesic line onto the first-number geodesic line, obtaining a projection point on the first-number geodesic line, and taking the projection point as the reference point to make equal-arc-length division points;
module M5: the other curves are also subjected to equidistant segmentation on each curve according to the operation in the module M4, and each point is numbered in a two-dimensional array in a mode of (line number and point number) to finish the generation of matching points on the theoretical curved surface;
module M6: repeating the above operation on the reverse curved surface to generate matching points on the reverse curved surface;
module M7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points.
Preferably, two anchor points in the module M1 are at the edge portions of the face and two anchor points are on two opposite sides.
Preferably, a geodesic line is created in the CAM software in the module M1 by means of two anchor points, which is a straight line on the parameter plane.
Preferably, the reverse curved surface in the module M6 is a point cloud obtained by scanning the surface of the part with laser, and is obtained by performing surface fitting.
Preferably, the locating points on the theoretical curved surface and the locating points on the actual surface correspond to each other and are the same position point; the geodesic distance between the theoretical locating points is equal to the geodesic distance between the actual locating points.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, by adopting a curved surface matching point mode, the problem of continuity problem solving is converted into the discrete problem solving, so that the problem that characteristics cannot be matched after a curved surface is greatly deformed is solved, and the effect of compensating theoretical characteristics onto a reverse curved surface is achieved;
2. the invention solves the problems of low speed and low precision of solving the matching points by adopting an optimization algorithm by adopting the method for directly generating the matching points on the curved surface, thereby achieving the effect of quickly generating the high-precision matching points;
3. the invention has stronger robustness, and the distance between the matching points has higher uniformity, and individual abnormal points cannot appear, so that the subsequent tool path compensation fails.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a curve matching algorithm based on parallel curves;
FIG. 2 is a diagram of a geodesic between the creation of anchor points according to the present invention;
FIG. 3 is a parallel geodesic diagram of the present invention;
FIG. 4 is a plot of isochrons on a created curve of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
the invention provides a curved surface matching method based on parallel curves, which comprises the following steps:
step S1: connecting two positioning points on the theoretical curved surface, and creating a geodesic line on the theoretical curved surface, which is called zero-number geodesic line; two locating points are positioned at the edge part of the surface, and the two locating points are positioned on two opposite sides; a geodesic line is created in CAM software through two positioning points, and the geodesic line is a straight line on the parameter surface.
Step S2: and taking the zero-number geodesic line as a reference, sequentially making a plurality of parallel lines along the theoretical curved surface, covering the whole theoretical curved surface by the parallel lines, and numbering the curves.
Step S3: and taking the first positioning point as a reference point, and making equal arc length dividing points on the zero-number geodesic line.
Step S4: and projecting the datum point on the zero-number geodesic line onto the first-number geodesic line, obtaining a projection point on the first-number geodesic line, and taking the projection point as the datum point to make equal-arc-length division points.
Step S5: and (3) carrying out equidistant segmentation on each curve according to the operation in the step S4, and numbering a two-dimensional array on each point in a mode of (line number and point number) to finish the generation of the matching points on the theoretical curved surface.
Step S6: repeating the above operation on the reverse curved surface to generate matching points on the reverse curved surface; the reverse curved surface is obtained by performing surface fitting on point clouds obtained by scanning the surface of the part by laser; the locating point on the theoretical curved surface corresponds to the locating point on the actual surface and is the same position point; the geodesic distance between the theoretical locating points is equal to the geodesic distance between the actual locating points.
Step S7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points.
Example 2:
example 2 is a preferable example of example 1 to more specifically explain the present invention.
The invention also provides a curved surface matching system based on the parallel curves, which comprises the following modules:
module M1: connecting two positioning points on the theoretical curved surface, and creating a geodesic line on the theoretical curved surface, which is called zero-number geodesic line; two locating points are positioned at the edge part of the surface, and the two locating points are positioned on two opposite sides; a geodesic line is created in CAM software through two positioning points, and the geodesic line is a straight line on the parameter surface.
Module M2: and taking the zero-number geodesic line as a reference, sequentially making a plurality of parallel lines along the theoretical curved surface, covering the whole theoretical curved surface by the parallel lines, and numbering the curves.
Module M3: and taking the first positioning point as a reference point, and making equal arc length dividing points on the zero-number geodesic line.
Module M4: and projecting the datum point on the zero-number geodesic line onto the first-number geodesic line, obtaining a projection point on the first-number geodesic line, and taking the projection point as the datum point to make equal-arc-length division points.
Module M5: the other curves are also subjected to equidistant segmentation on each curve according to the operation in the module M4, and each point is numbered in a two-dimensional array in a mode of (line number and point number) to finish the generation of the matching points on the theoretical curved surface.
Module M6: repeating the operation of the modules on the reverse curved surface to generate matching points on the reverse curved surface; the reverse curved surface is obtained by performing surface fitting on point clouds obtained by scanning the surface of the part by laser; the locating point on the theoretical curved surface corresponds to the locating point on the actual surface and is the same position point; the geodesic distance between the theoretical locating points is equal to the geodesic distance between the actual locating points.
Module M7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points.
Example 3:
example 3 is a preferable example of example 1 to more specifically explain the present invention.
The invention provides a curved surface matching method based on parallel curves, which has the core idea that matching points on a theoretical curved surface and a reverse curved surface are generated by a method of creating a straight line grid surface on the curved surface, and the matching relationship between the curved surfaces is converted into the matching relationship between point clouds, namely, one-to-one mapping from the theoretical matching points to the actual matching points is constructed.
Because the large thin-wall skin is easy to deform in the clamping process and the deformation is very large, qualified parts cannot be cut out without compensating the processing path. The self-adaptive compensation mode scans the surface of the skin through line laser and then reverses the actual curved surface of the part. And then respectively establishing equidistant straight line grid surfaces by taking positioning holes on the theoretical curved surface and the actual surface as references, wherein nodes of the grids are the matching points between the theoretical curved surface and the actual surface. And performing triangular meshing on the theoretical matching points, calculating the area coordinates of each tool point, and mapping the area coordinates to the actual matching points to finally obtain a compensated tool path.
The invention provides a curved surface matching method based on parallel curves, which comprises the following steps:
step 1: and connecting two positioning points on the theoretical curved surface, and creating a geodesic line on the theoretical curved surface, which is called zero-number geodesic line. The anchor points should be on the edge portion of the face as much as possible, and the two anchor points should be on two opposite sides. The specific location of the anchor point is not limited. A geodesic line is established in CAM software through two positioning points, and the geodesic line is a straight line on the parameter surface.
Step 2: taking the zero-number ground wire as a reference, and making parallel lines along the theoretical curved surface, so that the parallel lines cover the whole theoretical curved surface, and numbering the curves, such as 1, 2, 3, -1, -2 and-3.
Step 3: and taking the first positioning point as a reference point, and making equal arc length dividing points on the zero-number geodesic line.
Step 4: and projecting the datum point on the zero-number geodesic line onto the 1-number geodesic line, and taking the projection point as the datum point to make equal-arc-length dividing points.
Step 5: and (3) projecting other n-1 numbers to n-number curves, equally dividing each curve according to the operation in the step (4), and numbering a two-dimensional array for each point in a mode of (line number and point number), thereby completing the generation of the matching points on the theoretical curved surface.
Step 6: repeating the above operation on the reverse curved surface to generate the matching point on the reverse curved surface. The reverse curved surface is obtained by performing surface fitting on a point cloud obtained by scanning the surface of the part by laser, so that the reverse curved surface and the theoretical curved surface are the same surface, but large deformation exists between the theoretical curved surface and the reverse surface due to gravity deformation, clamping deformation and other reasons. The locating point on the theoretical curved surface and the locating point on the actual surface are mutually corresponding, namely the same locating point. The geodesic distance between theoretical anchor points is therefore equal to the geodesic distance between actual anchor points.
Step 7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points. As described in step 6, the pair of points with the same number is a pair of mapping points, that is, if there is a point on the theoretical surface at the number (1, 1), the point on the actual surface corresponding to the compensated point is also at the number (1, 1).
The present embodiment will be understood by those skilled in the art as more specific descriptions of embodiment 1 and embodiment 2.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (4)
1. A curved surface matching method based on parallel curves, which is characterized by comprising the following steps:
step S1: connecting two positioning points on the theoretical curved surface, creating a geodesic line on the theoretical curved surface, namely a zero-number geodesic line, wherein the two positioning points are arranged on the edge part of the surface, and the two positioning points are arranged on two opposite edges;
step S2: sequentially making a plurality of parallel lines along the theoretical curved surface by taking the zero-number geodesic line as a reference, covering the whole theoretical curved surface by the parallel lines, and numbering the curves;
step S3: taking the first positioning point as a reference point, and making equal arc length dividing points on a zero-number geodesic line;
step S4: projecting a reference point on the zero-number geodesic line onto the first-number geodesic line, obtaining a projection point on the first-number geodesic line, and taking the projection point as the reference point to make equal-arc-length division points;
step S5: the other curves are also subjected to equidistant segmentation according to the operation in the step S4, each curve is numbered in a two-dimensional array, and the number mode is (line number and point number) to finish the generation of matching points on the theoretical curved surface;
step S6: repeating the above operation on the reverse curved surface to generate a matching point on the reverse curved surface, wherein the reverse curved surface is a point cloud obtained by scanning the surface of the part by laser, and the point cloud is obtained by curve fitting, and the locating point on the theoretical curved surface corresponds to the locating point on the actual surface and is the same position point; the geodesic distance between the theoretical positioning points is equal to the geodesic distance between the actual positioning points;
step S7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points.
2. The method of claim 1, wherein in step S1, a geodesic is created by two anchor points in the CAM software, and the geodesic is a straight line on the parameter plane.
3. A parallel curve based surface matching system, the system comprising the following modules:
module M1: connecting two positioning points on the theoretical curved surface, creating a geodesic line on the theoretical curved surface, namely a zero-number geodesic line, wherein the two positioning points are arranged on the edge part of the surface, and the two positioning points are arranged on two opposite edges;
module M2: sequentially making a plurality of parallel lines along the theoretical curved surface by taking the zero-number geodesic line as a reference, covering the whole theoretical curved surface by the parallel lines, and numbering the curves;
module M3: taking the first positioning point as a reference point, and making equal arc length dividing points on a zero-number geodesic line;
module M4: projecting a reference point on the zero-number geodesic line onto the first-number geodesic line, obtaining a projection point on the first-number geodesic line, and taking the projection point as the reference point to make equal-arc-length division points;
module M5: the other curves are also subjected to equidistant segmentation on each curve according to the operation in the module M4, and each point is numbered in a two-dimensional array in a mode of (line number and point number) to finish the generation of matching points on the theoretical curved surface;
module M6: repeating the operation of the modules on the reverse curved surface to generate matching points on the reverse curved surface, wherein the reverse curved surface is a point cloud obtained by scanning the surface of the part by laser, and is obtained by curve fitting, and the locating points on the theoretical curved surface and the locating points on the actual surface correspond to each other and are the same position point; the geodesic distance between the theoretical positioning points is equal to the geodesic distance between the actual positioning points;
module M7: and carrying out relation mapping on the theoretical surface matching points and the reverse surface matching points through the number of the points.
4. A parallel curve based surface matching system according to claim 3, wherein a geodesic is created in the CAM software by two anchor points in the module M1, the geodesic being a straight line on the parameter plane.
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