CN115690018A - Method and device for detecting symmetric structure and computer readable storage medium - Google Patents
Method and device for detecting symmetric structure and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a method and a device for detecting a symmetric structure and a computer readable storage medium, wherein the method for detecting the symmetric structure comprises the following steps: acquiring point cloud data of a symmetrical structure; acquiring a slice of a characteristic profile of a symmetrical structure; acquiring a projection point of the slice on a tangent plane; performing polynomial fitting on the projection points to obtain an expansion straight line of the curve; combining all unfolding straight lines into an unfolding plane to obtain a two-dimensional covering path; the two-dimensional overlay path is converted to a three-dimensional outer surface overlay path. The three-dimensional surface of the symmetrical structure is unfolded into the two-dimensional plane, then the full coverage path planning is carried out on the two-dimensional plane, and then the path on the two-dimensional plane is converted into the three-dimensional path, so that the three-dimensional coverage path can be rapidly planned on the surface of the large-scale symmetrical structure, the workload of maintainers in the maintenance work can be reduced, the detection time is shortened, the detection quality is improved, and the personal safety is ensured at the same time by adopting the path planning algorithm with high calculation efficiency of the coverage path.
Description
Technical Field
The invention relates to the technical field of structure detection, in particular to a detection method of a symmetrical structure.
Background
In the related art, the detection of large-scale symmetrical structures mainly depends on manual visual detection. Because the human factors cannot be checked, time and labor are wasted, and potential safety hazards are brought to maintenance personnel.
With the development of optical measurement equipment, three-dimensional point cloud data of the surface of a measured object can be rapidly acquired. By using an unmanned ground facility loaded with cameras and sensors instead of manual work to accomplish the inspection task, it is necessary to equip the respective precise control unit, sensor system and related intelligent planning method of the coverage path. The coverage path planning algorithm can calculate and plan the shortest three-dimensional coverage path, thereby realizing the complete coverage of the structure to be checked. However, the currently adopted coverage path planning algorithm is still time-consuming and labor-consuming.
Disclosure of Invention
The present invention is directed to solving or improving at least one of the above technical problems.
Therefore, a first object of the present invention is to provide a method for detecting a symmetric structure.
A second object of the present invention is to provide a detection device of a symmetrical structure.
A third object of the present invention is to provide a computer-readable storage medium.
To achieve the first object of the present invention, an embodiment of the present invention provides a method for detecting a symmetric structure, including: acquiring point cloud data of a symmetrical structure; acquiring a slice of the feature profile of the symmetric structure; acquiring a projection point of the slice on a tangent plane; performing polynomial fitting on the projection points to obtain an expansion straight line of a curve; combining all the unfolding straight lines into an unfolding plane to obtain a two-dimensional covering path; converting the two-dimensional overlay path to a three-dimensional outer surface overlay path.
According to the technical scheme, the three-dimensional surface of the symmetrical structure is unfolded into the two-dimensional plane, then the full-coverage path planning is carried out on the two-dimensional plane, the path on the two-dimensional plane is converted into the three-dimensional path, the three-dimensional coverage path can be rapidly planned on the surface of the large-scale symmetrical structure, the workload of maintenance personnel in the maintenance work can be reduced, the detection time is shortened, the detection quality is improved, and meanwhile the personal safety is guaranteed.
In addition, the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, the obtaining the slice of the feature profile of the symmetric structure specifically includes: acquiring a slice interval; and slicing the characteristic contour of the symmetrical structure according to different slicing intervals to obtain a plurality of slices.
In any of the above technical solutions, the obtaining of the projection point of the slice on the tangent plane specifically includes: projecting each of the slices onto the slice plane to obtain the projection points in each of the slices.
In any of the above technical solutions, performing polynomial fitting on the projection points to obtain an unfolded straight line specifically includes: performing polynomial fitting on the projection points to obtain a fitting curve of the slice profile, and calculating to obtain normal vectors and curvatures of the projection points in a tangent plane; performing region division according to the normal vector and the curvature; and (3) unfolding the fitted curves of all the slices in the same region into a straight line with constant length and constant inter-slice distance and placing the straight line on the same plane.
In any of the above technical solutions, performing polynomial fitting on the projection points to obtain an expansion straight line of a curve, specifically including: selecting orders for projection points on the tangent plane for polynomial fitting; calculating the inclination angle theta = [ theta ] at each point respectively 1 ,θ 2 ,…,θ m-1 ]And calculating the distance between two adjacent points, wherein m represents the number of projection points; and obtaining an unfolded straight line of the fitting curve according to the distance between the two adjacent points.
In any of the above technical solutions, the combining all the straight lines into an unfolding plane to obtain a two-dimensional coverage path specifically includes: combining each straight line together to form the unfolding plane; determining an interval of a scanning coverage path; and carrying out full coverage scanning in a two-dimensional plane by adopting a bow-shaped coverage path planning method to obtain the two-dimensional coverage path.
In any of the above technical solutions, the converting the two-dimensional coverage path into a three-dimensional outer surface coverage path specifically includes: acquiring the number of straight paths parallel to the tangent plane; for each straight line path, bending the straight line path into a curve path with the same curve shape as the surface curve shape of the symmetrical structure according to the inclination angle of each point and the length between two adjacent points; and sequentially connecting the curve paths end to end in sequence corresponding to the two-dimensional paths to obtain a three-dimensional coverage path of the contour characteristic area with a symmetrical structure.
In any of the above technical solutions, the acquiring point cloud data of a symmetric structure specifically includes: three-dimensional scanning is carried out on the symmetrical structure to obtain a three-dimensional model of the symmetrical structure; and acquiring point cloud data of the three-dimensional model.
To achieve the second object of the present invention, an embodiment of the present invention provides a detection apparatus of a symmetric structure, including: a memory storing a computer program; a processor executing the computer program; wherein the processor, when executing the computer program, implements any one of the methods of detecting a symmetric structure.
To achieve the third object of the present invention, an embodiment of the present invention provides a computer-readable storage medium including: the storage medium stores a computer program that, when executed, implements any one of the symmetrical structure detection methods.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flowchart of a method for detecting a symmetric structure according to an embodiment of the present invention;
fig. 2 is a flowchart of the method for detecting a symmetric structure of fig. 1 for obtaining a slice of a feature profile of the symmetric structure;
FIG. 3 is a flow chart of the method for detecting a symmetric structure according to some embodiments in FIG. 1, in which the projection points are polynomial-fitted to obtain a straight line;
FIG. 4 is a flowchart of the method for detecting a symmetric structure in the embodiment of FIG. 3, which performs polynomial fitting on the projection points to obtain a slice profile curve;
FIG. 5 is a flow chart of a method for detecting a symmetric structure according to some embodiments of FIG. 1, in which all straight lines are combined into an unfolding plane to obtain a two-dimensional overlay path;
FIG. 6 is a flow chart of a method of detecting a symmetric structure of some embodiments of FIG. 1 to convert a two-dimensional overlay path to a three-dimensional outer surface overlay path;
fig. 7 is a flowchart of acquiring point cloud data of a symmetric structure according to the method for detecting a symmetric structure in some embodiments in fig. 1.
FIG. 8 is a cloud point view of an aircraft illustrating a method for detecting a symmetrical structure according to an embodiment of the present invention;
FIG. 9 is a slice view of the upper surface of the fuselage of the aircraft of the method of detection of symmetrical structures according to an embodiment of the invention;
fig. 10 is a three-dimensional inspection coverage path diagram of the upper surface of the aircraft fuselage of the inspection method of the symmetrical structure according to the embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention, taken in conjunction with the accompanying drawings and detailed description, is set forth below. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The technical solutions of some embodiments of the present invention are described below with reference to fig. 1 to 10.
As shown in fig. 1, there is provided a method for detecting a symmetric structure, including:
step S101: acquiring point cloud data of a symmetrical structure;
step S103: acquiring a slice of a characteristic profile of a symmetrical structure;
step S105: acquiring a projection point of the slice on a cutting plane;
step S107: performing polynomial fitting on the projection points to obtain an unfolded straight line;
step S109: combining all the unfolding straight lines into an unfolding plane to obtain a two-dimensional covering path;
step S110: the two-dimensional overlay path is converted to a three-dimensional outer surface overlay path.
The point cloud data is a point data set obtained by measuring the appearance surface of the symmetrical structure by the measuring instrument. The characteristic contour is an outer contour with a symmetrical structure, slices of the outer contour with the symmetrical structure can be obtained by slicing the outer contour, points in each slice are projected onto a tangent plane to obtain projection points, projection points are subjected to polynomial fitting to obtain unfolding straight lines, all adjacent straight line points are connected, and a closed plane area is defined by straight lines at two ends, so that the unfolding planes can be combined into the unfolding planes through the unfolding straight lines, then the two-dimensional coverage path planning is carried out on the unfolding planes formed by combining all the unfolding straight lines, the two-dimensional coverage path planning is carried out after the plane unfolding diagram of the characteristic contour with the symmetrical structure is obtained, a plane coverage path is obtained, the two-dimensional path covering the closed plane area is obtained by searching, the two-dimensional coverage path is converted into a three-dimensional path on an origin cloud curved surface, the obtained two-dimensional coverage path is reversely converted into an outer surface coverage path of a three-dimensional large-scale symmetrical structure, the speed is high, and the three-dimensional coverage path can be rapidly planned on the surface of the large-scale symmetrical structure.
The measuring instrument may be a depth camera, and the large symmetrical structure may be an airplane, for example.
Further, as shown in fig. 2, acquiring a slice of a feature profile of a symmetric structure specifically includes:
step S201: acquiring a slice interval;
step S203: and slicing the characteristic profile of the symmetrical structure according to different slice intervals to obtain a plurality of slices.
Further, acquiring a projection point of the slice on the tangent plane specifically includes:
each slice is projected onto the slice plane, resulting in a projection point in each slice.
The specific area of the large-scale symmetrical structure is sliced according to different slice intervals a to obtain the number n of slices, and then each slice is projected onto a plane to obtain m projection points in the slice. For a fixed range of structural regions, the smaller the slice spacing, the larger the number n, and the more accurate the unfolded plane representation. In each slice, the number of point clouds is uncertain, so the projection point m in each slice is different.
Further, as shown in fig. 3, performing polynomial fitting on the projection points to obtain an unfolding straight line specifically includes:
step S301: performing polynomial fitting on the projection points to obtain a fitting curve of the slice profile, and calculating to obtain normal vectors and curvatures of the projection points in a tangent plane;
step S303: performing region division according to the normal vector and the curvature;
step S305: and (3) unfolding the fitted curves of all the slices in the same area into a straight line with the length and the distance between the slices unchanged, and placing the straight line and the straight line on the same plane.
The slice profile curve is an approximate curve, and a three-dimensional slice shape with a symmetrical structure can be restored through polynomial fitting.
Further, as shown in fig. 4, performing polynomial fitting on the projection points to obtain an expansion straight line of the curve specifically includes:
step S401: selecting orders of projection points on the tangent plane to perform polynomial fitting;
step S403: the tilt angle theta = [ theta ] at each point is calculated separately 1 ,θ 2 ,…,θ m-1 ]And calculating the distance between two adjacent points, wherein m represents the number of projection points;
step S405: and obtaining an unfolded straight line of the fitting curve according to the distance between the two adjacent points.
Because the fitted curve shape is very similar to the two connected line graphs, the inclination angle and the line segment length of each point can be calculated by using the two connected line graphs.
Further, as shown in fig. 5, combining all the straight lines into an unfolding plane to obtain a two-dimensional coverage path specifically includes:
step S501: combining each straight line together to form an unfolding plane;
step S503: determining an interval of a scanning coverage path;
step S505: and carrying out full coverage scanning in a two-dimensional plane by adopting a bow-shaped coverage path planning method to obtain a two-dimensional coverage path.
Combining all the straight lines of the calculated characteristic areas of the large-scale symmetrical structure together to form an expansion plane, and then determining the interval of the scanning coverage path according to the relative position relation between the detection camera and the outer surface of the large-scale symmetrical structure; since the field of view of the inspection camera is in the shape of a rectangular pyramid, the farther the camera is from the surface, the greater the separation between the two parallel paths, and a path separation can only be determined by determining a suitable distance positional relationship between the camera and the structure surface. And carrying out full-coverage scanning detection on the two-dimensional unfolding plane of the three-dimensional structure by using a widely applied bow-shaped coverage path planning method in the two-dimensional plane.
Further, as shown in fig. 6, converting the two-dimensional coverage path into a three-dimensional outer surface coverage path specifically includes:
step S601: acquiring the number of straight paths parallel to the tangent plane;
step S603: for each straight line path, bending the straight line path into a curve path with the same shape as the surface curve of the symmetrical structure according to the inclination angle of each point and the length between two adjacent points;
step S605: and sequentially connecting the curve paths end to end corresponding to the sequence of the two-dimensional paths to obtain a three-dimensional coverage path of the contour characteristic area with a symmetrical structure.
Further, as shown in fig. 7, acquiring point cloud data of a symmetric structure specifically includes:
step S701: three-dimensional scanning is carried out on the symmetrical structure to obtain a three-dimensional model of the symmetrical structure;
step S703: and acquiring point cloud data of the three-dimensional model.
The embodiment of the present invention further provides a detection apparatus for a symmetric structure, including: a memory storing a computer program; a processor executing a computer program; wherein the processor, when executing the computer program, implements any one of the methods of detecting a symmetric structure.
The detection apparatus of a symmetric structure provided in the embodiments of the present invention implements the steps of the detection method of a symmetric structure according to any one of the embodiments of the present invention, and thus has all the beneficial effects of the detection method of a symmetric structure according to any one of the embodiments of the present invention.
A computer-readable storage medium, comprising: the storage medium stores a computer program that realizes any one of the methods for detecting a symmetric structure when executed.
The answer sheet generation processing device provided by the embodiment of the present invention implements the steps of the detection method of a symmetric structure according to any embodiment of the present invention, and therefore has all the advantages of the detection method of a symmetric structure according to any embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program that instructs the relevant hardware to perform the processes, and the computer program may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
The invention provides a three-dimensional scanning-based detection path planning method for a large symmetrical structure, which is applied to a coverage detection path of an upper surface area of a large symmetrical structure, namely an airplane, and comprises the following steps:
step (1): acquiring point cloud data of a large symmetrical structure three-dimensional model of the airplane by using a depth camera, as shown in fig. 8;
step (2): slicing the upper surface of the airplane body, and projecting points in the slices to a plane;
slicing the upper surface of the body according to different slicing intervals to obtain the number of slices, as shown in fig. 9; the points in each slice are projected onto the tangent plane, resulting in m projected points in the plane.
And (3): performing polynomial fitting on the projection points to obtain a slice outline approximate curve, and then expanding the slice outline approximate curve into a straight line;
selecting a proper order for the m projection points of each slice in the n slices obtained in the step (2), and performing polynomial fitting; then, the tilt angle θ = [ θ ] at each point in each plane is calculated, respectively 1 ,θ 2 ,…,θ m-1 ]And calculating the distance between two adjacent points in each plane; finally, each curve is converted into a straight line according to the calculated data.
And (4): planning a two-dimensional coverage path for a plane formed by combining all the unfolded straight lines;
firstly, combining all the straight lines calculated in the step (3) together to form an unfolding plane of the upper surface of the body; then determining the interval of the scanning coverage path according to the relative position relation between the detection camera and the upper surface of the airplane body; and then, performing plane full coverage in a two-dimensional unfolding plane by using a widely applied arch-shaped coverage path planning method to obtain a two-dimensional coverage path.
And (5): and (4) inversely converting the two-dimensional path obtained in the step (4) into a three-dimensional outer surface covering path.
Firstly, obtaining the number of straight paths parallel to the slicing plane according to the step (4); then, for each straight path, bending the straight path into a curve path with the same shape as the original curve according to the inclination angle theta of each point obtained in the step (3) and the lengths of two adjacent points; and (4) sequentially connecting the obtained curve paths end to end according to the two-dimensional path sequence of the step (3) to obtain a three-dimensional coverage path of the upper surface of the body, as shown in fig. 10.
The embodiment of the invention has the beneficial effects that:
this application is through expanding symmetrical structure's three-dimensional surface into two-dimensional plane, then carry out the full coverage route planning to two-dimensional plane, convert the route on the two-dimensional plane into three-dimensional route again, can plan out three-dimensional coverage route to large-scale symmetrical structure's surface fast, can alleviate the work load of maintainer in maintenance work, adopt the route planning algorithm that this kind of computational efficiency of coverage route is high, the check-out time has been shortened, and the detection quality is improved, and the personal safety has also been ensured simultaneously.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "connected" may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for detecting a symmetric structure, comprising:
acquiring point cloud data of a symmetrical structure;
acquiring a slice of the feature profile of the symmetric structure;
acquiring a projection point of the slice on a tangent plane;
performing polynomial fitting on the projection points to obtain an expansion straight line of a curve;
combining all the unfolding straight lines into an unfolding plane to obtain a two-dimensional covering path;
converting the two-dimensional overlay path into a three-dimensional outer surface overlay path.
2. The method for detecting a symmetric structure according to claim 1, wherein the obtaining a slice of the feature profile of the symmetric structure specifically includes:
acquiring a slice interval;
and slicing the characteristic contour of the symmetrical structure according to different slicing intervals to obtain a plurality of slices.
3. The method for detecting a symmetric structure according to claim 1, wherein the obtaining the projection point of the slice on the tangent plane specifically includes:
projecting each of the slices onto the slicing plane to obtain the projection points in each of the slices.
4. The method for detecting a symmetric structure according to claim 3, wherein the performing polynomial fitting on the projection points to obtain an unfolded straight line of a curve specifically comprises:
performing polynomial fitting on the projection points to obtain a fitting curve of the slice outline, and calculating to obtain normal vectors and curvatures of the projection points in a tangent plane;
performing region division according to the normal vector and the curvature;
and (3) unfolding the fitted curves of all the slices in the same region into a straight line with constant length and constant inter-slice distance and placing the straight line on the same plane.
5. The method for detecting a symmetric structure according to claim 3, wherein the polynomial fitting is performed on the projection points to obtain an expansion straight line of a curve, and specifically comprises:
selecting orders for projection points on the tangent plane for polynomial fitting;
calculating the inclination angle theta = [ theta ] at each point respectively 1 ,θ 2 ,…,θ m-1 ]And calculating the distance between two adjacent points, wherein m represents the number of projection points;
and obtaining an unfolded straight line of the fitting curve according to the distance between the two adjacent points.
6. The method for detecting a symmetric structure according to claim 5, wherein the combining all the straight lines into an unfolding plane to obtain a two-dimensional coverage path specifically comprises:
combining each straight line together to form the unfolding plane;
determining an interval of a scanning coverage path;
and carrying out full coverage scanning in a two-dimensional plane by adopting a bow-shaped coverage path planning method to obtain the two-dimensional coverage path.
7. The method for detecting a symmetric structure according to claim 6, wherein the converting the two-dimensional overlay path into a three-dimensional outer surface overlay path specifically comprises:
acquiring the number of straight paths parallel to the tangent plane;
for each straight line path, bending the straight line path into a curve path with the same curve shape as the surface curve shape of the symmetrical structure according to the inclination angle of each point and the length between two adjacent points;
and sequentially connecting the curve paths end to end in sequence corresponding to the two-dimensional paths to obtain a three-dimensional coverage path of the contour characteristic area with a symmetrical structure.
8. The method for detecting a symmetric structure according to any one of claims 1 to 7, wherein the obtaining point cloud data of the symmetric structure specifically includes:
three-dimensional scanning is carried out on the symmetrical structure to obtain a three-dimensional model of the symmetrical structure;
and acquiring point cloud data of the three-dimensional model.
9. A symmetrical structure detection device, comprising:
a memory storing a computer program;
a processor executing the computer program;
wherein the processor, when executing the computer program, implements a method of detecting a symmetric structure according to any one of claims 1 to 8.
10. A computer-readable storage medium, comprising:
the storage medium stores a computer program which, when executed, implements the method of detecting a symmetric structure according to any one of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116503409A (en) * | 2023-06-28 | 2023-07-28 | 矽瞻科技(成都)有限公司 | Weld defect 3D point cloud detection method, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116503409A (en) * | 2023-06-28 | 2023-07-28 | 矽瞻科技(成都)有限公司 | Weld defect 3D point cloud detection method, equipment and medium |
| CN116503409B (en) * | 2023-06-28 | 2023-09-12 | 矽瞻科技(成都)有限公司 | Weld defect 3D point cloud detection method, equipment and medium |
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