Digitized pipeline form adjusting and optimizing method

Abstract

The invention discloses a digital pipeline form adjustment optimization method, which belongs to the technical field of digital manufacturing, and comprises the following steps: S1, obtaining a scanning point cloud of a to-be-folded port on a machine through three-dimensional scanning, and carrying out three-dimensional reconstruction; s2, establishing a structural model between the YBC parameters of the conduit and the pose matrix of the pipe end coordinate system; s3, enabling the port of the overlapping end of the guide pipe to be overlapped with the port to be folded on the machine by utilizing virtual assembly, and establishing a relationship between the position matrix of the optimized end reference coordinate system of the guide pipe and the YBC parameters of the guide pipe; and S4, performing nonlinear multi-objective optimization of the conduit form by taking the order difference, the gap and the axial included angle between the port of the optimized end of the conduit and the port to be folded on the machine as optimization objectives, and obtaining YBC parameters of the conduit after form optimization. The guide pipe shape correcting operation intensity can be effectively reduced, the shape correcting operation efficiency is improved, the shape of the guide pipe is optimized and adjusted, and good applicability is achieved.

Description

Technical Field

[0001] The present invention relates to the field of digital manufacturing technology, and in particular to a digital pipeline morphology adjustment and optimization method. Background Art

[0002] When installing the last conduit in an aircraft piping system, the end of the last conduit often deviates from the digital model during installation and fixation, resulting in excessive deviation of the pipe end, causing assembly deformation and assembly stress, and posing a safety hazard.

[0003] Given that the ports to be mated on board are already fixed and cannot be adjusted, manual sampling and shaping of the final tube has become a typical solution to aircraft piping assembly failures. However, this method requires workers to repeatedly compare the alignment deviation between the calibrated tube and the port to be mated on board, and then adjust the tube shape at the calibration workbench until the alignment deviation is acceptable. Clearly, this method is not only inefficient, but also suffers from problems such as the calibrated tube shape not matching design requirements, the physical sample tubes taking up a large amount of space, and the inconvenience of finding and accessing the sample tubes.

[0004] A Chinese patent document with publication number CN113068457B, published on July 28, 2017, discloses a method for rapid and precise digital manufacturing of aviation catheters. The specific steps of the method are as follows: Step 1: If a 3D digital model of the target catheter to be manufactured already exists, it can be directly imported into the CATIA platform. If a 3D digital model is not available, reverse measurement is first performed using an articulated arm measuring machine to obtain the digital model before importing it into the CATIA platform. Step 2: Quantitatively edit the target catheter digital model on the CATIA platform to meet standardized design requirements or body structure requirements, and output the edited data file in a specific format. If the original digital model information already meets the requirements, skip this step and directly import it into the CNC pipe bending intelligent auxiliary platform for related operations. Step 3: The data file or reverse data file output by the CATIA platform is imported and processed by the CNC pipe bending intelligent auxiliary platform, and the CNC pipe bending machine processing file is quickly output. The CNC pipe bending machine can then be imported into the CNC pipe bending machine to realize one-click operation and manufacture the target catheter; Step 4: If the catheter needs to be verified for shape accuracy after production, reverse measurement is performed using an articulated arm measuring machine and compared with the original digital model to output a comparison report. This is used to evaluate the overlap and differences between the newly manufactured catheter and the original target catheter. If necessary, corresponding adjustments are made to the processing file in Step 3.

[0005] The patent document discloses a method for rapid and precise digital manufacturing of aviation catheters. This method uses a 3D catheter digital model or physical catheter to generate catheter CNC machining files, enabling quantitative editing of non-standard data sources. However, it is not suitable for optimizing and adjusting catheter morphology, resulting in low efficiency in catheter calibration. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides a digital pipeline morphology adjustment and optimization method. The present invention can effectively reduce the intensity of catheter shaping operations, improve the shaping efficiency, and optimize and adjust the catheter morphology with good applicability.

[0007] The present invention is achieved through the following technical solutions: A digital pipeline morphology adjustment and optimization method, characterized by comprising the following steps: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, with one end of the catheter as the coincidence end port and the other end as the optimization end port, using virtual assembly to make the coincidence end port of the catheter coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the optimized end of the catheter and the YBC parameters of the catheter; S4, the step difference between the optimized end port of the catheter and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

[0008] In S1, the scanning point cloud of the port to be aligned on the machine includes the center point coordinates of the port A to be aligned on the machine , the plane normal vector of the port A to be matched on the machine , the center point coordinates of the port B to be matched on the machine and the plane normal vector of the port B to be matched on the machine .

[0009] In S2, the pipe end coordinate system pose matrix Determined by formula 1; Formula 1; in, is the pose transformation matrix of the first straight line segment of the catheter, is the pose transformation matrix of the second straight line segment of the catheter, is the posture transformation matrix of the i-th straight line segment of the catheter, is the pose transformation matrix of the nth straight line segment of the catheter, is the pose transformation matrix of the n+1th straight line segment of the catheter.

[0010] In the above S3, the overlapping end port of the conduit and the port to be joined on the machine overlap means that the overlapping end port of the conduit overlaps with the port A to be joined on the machine.

[0011] In the above S4, the port to be paired on the machine is port B to be paired on the machine.

[0012] In S3, the relationship between the reference coordinate system pose matrix of the optimized end of the catheter and the YBC parameters of the catheter is established through Formula 2; Formula 2; in, is the reference coordinate system pose matrix at the port A to be aligned on the aircraft, is the reference coordinate system pose matrix at the port B to be aligned on the aircraft, The reference coordinate system pose matrix at the port B to be aligned on the aircraft The inverse matrix of .

[0013] The reference coordinate system pose matrix at the port A to be aligned on the machine Calculated by formula 3; Formula 3; in, is the transposition of the X-axis of the reference coordinate system at the port A to be aligned on the machine, is the transposition of the Y axis of the reference coordinate system at the port A to be aligned on the machine, is the transpose of the plane normal vector of the port A to be matched on the machine, It is the transpose of the center point coordinates of the port A to be matched on the machine.

[0014] The reference coordinate system pose matrix at the port B to be aligned on the machine Calculated by formula 4; Formula 4.

[0015] in, is the transposition of the X-axis of the reference coordinate system at the port B to be aligned on the machine, It is the transposition of the Y axis of the reference coordinate system at the port B to be matched on the machine.

[0016] In the above-mentioned S4, performing nonlinear multi-objective optimization of the catheter morphology refers to determining the parameters to be optimized and the objective function and performing parameter optimization.

[0017] The objective function is determined by formula 5; Formula 5; in, is the parameter to be optimized.

[0018] The catheter YBC parameters described in the present invention refer to the straight section length Y of the catheter, the plane normal deflection angle B of adjacent curved sections of the catheter, and the bending angle C of the curved section of the catheter.

[0019] The beneficial effects of the present invention are mainly manifested in the following aspects: 1. The present invention comprises the following steps: S1, obtaining a scanning point cloud of the port to be matched on the machine by 3D scanning, and performing 3D reconstruction; S2, extracting the YBC parameters corresponding to the digital model of the catheter, and establishing the YBC parameters of the catheter and the pose matrix of the tube end coordinate system. S3, take one port of the catheter as the coincidence port and the other port as the optimization port, use virtual assembly to make the coincidence port of the catheter coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the catheter optimization end and the YBC parameters of the catheter; S4, take the step difference between the optimized end port of the catheter and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology is performed to obtain the YBC parameters of the catheter after morphology optimization. Compared with the existing technology, it can effectively reduce the intensity of catheter shaping work, improve the efficiency of shaping work, and has good applicability for optimizing and adjusting the catheter morphology.

[0020] 2. The present invention can greatly improve sampling efficiency and accuracy when the catheter needs to be sampled and corrected due to an on-board catheter assembly failure, thereby avoiding the inefficiency and low quality problems caused by repeated manual sampling.

[0021] 3. The present invention, by establishing catheter YBC parameters, can transform the storage and retrieval of sample tubes from physical sample tubes to digital sample tubes, thereby solving the problem that sample tube storage takes up a large amount of space and sample tube search and retrieval is inconvenient.

[0022] 4. The present invention obtains the YBC parameters of the catheter after morphology optimization, so that the catheter after morphology adjustment can meet the on-board assembly requirements, and realizes the transformation of catheter sampling from manual physical tube sampling to digital sampling.

[0023] 5. The present invention establishes a structured model of the catheter YBC parameters and posture matrix, transforms the complex three-dimensional morphological adjustment into a parameter optimization problem, and combines a multi-objective optimization algorithm to achieve iterative optimization of the catheter morphology, effectively improving the design efficiency compared with traditional empirical design.

[0024] 6. The present invention is suitable for assembling special-shaped catheters in confined spaces. It can handle the spatial posture coupling problem with multiple degrees of freedom through a nonlinear optimization algorithm, thereby improving the adaptability to complex working conditions.

[0025] 7. The present invention organically combines three-dimensional scanning reconstruction with virtual assembly to achieve sub-millimeter spatial matching between the catheter port and the on-board structure, effectively eliminating the step difference, gap and angle deviation problems caused by traditional manual trial assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: Figure 1 It is a schematic diagram of the catheter of the present invention and the port to be mated on the machine; Figure 2 Schematic diagram of the port to be mated on the machine after three-dimensional reconstruction according to the present invention; Figure 3 This is a schematic diagram of the assembly of the catheter after the morphology of the present invention is optimized; Figure 4 Schematic diagram of the comparison of the catheter before and after morphology optimization; Markings in the figure: 1. catheter, 2. port A to be mated on the machine, 3. port B to be mated on the machine, 4. catheter after shape optimization. DETAILED DESCRIPTION

[0027] Example 1 See also Figure 1 A digital pipeline morphology adjustment and optimization method includes the following steps: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter 1 and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, with one port of the catheter 1 as the coincidence port and the other port as the optimization port, using virtual assembly to make the coincidence port of the catheter 1 coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the optimized end of the catheter and the YBC parameters of the catheter; S4, the step difference between the optimized end port of the catheter 1 and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

[0028] This embodiment is the most basic implementation method. S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction. S2. Extract the YBC parameters corresponding to the digital model of the catheter 1 and establish the catheter YBC parameters and the tube end coordinate system pose matrix. S3, with one port of the catheter 1 as the coincidence port and the other port as the optimization port, use virtual assembly to make the coincidence port of the catheter 1 coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the catheter optimization end and the YBC parameters of the catheter; S4, with the step difference between the optimized end port of the catheter 1 and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology is performed to obtain the YBC parameters of the catheter after morphology optimization. Compared with the existing technology, it can effectively reduce the intensity of catheter shaping work, improve the efficiency of shaping work, and has good applicability for optimizing and adjusting the catheter morphology.

[0029] Example 2 See also Figure 1-Figure 3 A digital pipeline morphology adjustment and optimization method includes the following steps: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter 1 and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, with one port of the catheter 1 as the coincidence port and the other port as the optimization port, using virtual assembly to make the coincidence port of the catheter 1 coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the optimized end of the catheter and the YBC parameters of the catheter; S4, the step difference between the optimized end port of the catheter 1 and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

[0030] Preferably, in said S1, the scanning point cloud of the port to be matched on the machine includes the center point coordinates of the port A2 to be matched on the machine , the plane normal vector of the port A2 to be matched on the machine , the center point coordinates of the port B3 to be matched on the machine and the plane normal vector of the port B3 to be matched on the machine .

[0031] In S2, the pipe end coordinate system pose matrix Determined by formula 1; Formula 1; in, is the pose transformation matrix of the first straight line segment of the catheter, is the pose transformation matrix of the second straight line segment of the catheter, is the posture transformation matrix of the i-th straight line segment of the catheter, is the pose transformation matrix of the nth straight line segment of the catheter, is the pose transformation matrix of the n+1th straight line segment of the catheter.

[0032] This embodiment is a preferred implementation method. When the on-board catheter assembly failure is encountered and the catheter needs to be sampled and corrected, the sampling efficiency and accuracy can be greatly improved, and the low efficiency and low quality problems caused by repeated manual sampling can be avoided.

[0033] Example 3 See also Figure 1-Figure 3 A digital pipeline morphology adjustment and optimization method includes the following steps: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter 1 and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, with one port of the catheter 1 as the coincidence port and the other port as the optimization port, using virtual assembly to make the coincidence port of the catheter 1 coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the optimized end of the catheter and the YBC parameters of the catheter; S4, the step difference between the optimized end port of the catheter 1 and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

[0034] In the above S1, the scanning point cloud of the port to be matched on the machine includes the center point coordinates of the port A2 to be matched on the machine , the plane normal vector of the port A2 to be matched on the machine , the center point coordinates of the port B3 to be matched on the machine and the plane normal vector of the port B3 to be matched on the machine .

[0035] In S2, the pipe end coordinate system pose matrix Determined by formula 1; Formula 1; in, is the pose transformation matrix of the first straight line segment of the catheter, is the pose transformation matrix of the second straight line segment of the catheter, is the posture transformation matrix of the i-th straight line segment of the catheter, is the pose transformation matrix of the nth straight line segment of the catheter, is the pose transformation matrix of the n+1th straight line segment of the catheter.

[0036] In the above S3, the overlapping end port of the conduit 1 and the port to be joined on the machine overlap, which means that the overlapping end port of the conduit 1 overlaps with the port A2 to be joined on the machine.

[0037] In the above S4, the port to be mated on the machine is the port B3 to be mated on the machine.

[0038] In S3, the relationship between the reference coordinate system pose matrix of the optimized end of the catheter and the YBC parameters of the catheter is established through Formula 2; Formula 2; in, is the reference coordinate system pose matrix at the port A2 to be aligned on the aircraft, is the reference coordinate system pose matrix at the port B3 to be aligned on the aircraft, The reference coordinate system pose matrix at the port B3 to be matched on the aircraft The inverse matrix of .

[0039] This embodiment is another preferred implementation method. By establishing catheter YBC parameters, the storage and retrieval of sample tubes can be converted from physical sample tubes to digital sample tubes, solving the problem that sample tube storage takes up a lot of space and sample tube search and retrieval are inconvenient.

[0040] Example 4 See also Figure 1-Figure 3 A digital pipeline morphology adjustment and optimization method includes the following steps: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter 1 and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, with one port of the catheter 1 as the coincidence port and the other port as the optimization port, using virtual assembly to make the coincidence port of the catheter 1 coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the optimized end of the catheter and the YBC parameters of the catheter; S4, the step difference between the optimized end port of the catheter 1 and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

[0041] In the above S1, the scanning point cloud of the port to be matched on the machine includes the center point coordinates of the port A2 to be matched on the machine , the plane normal vector of the port A2 to be matched on the machine , the center point coordinates of the port B3 to be matched on the machine and the plane normal vector of the port B3 to be matched on the machine .

[0042] In S2, the pipe end coordinate system pose matrix Determined by formula 1; Formula 1; in, is the pose transformation matrix of the first straight line segment of the catheter, is the pose transformation matrix of the second straight line segment of the catheter, is the posture transformation matrix of the i-th straight line segment of the catheter, is the pose transformation matrix of the nth straight line segment of the catheter, is the pose transformation matrix of the n+1th straight line segment of the catheter.

[0043] In the above S3, the overlapping end port of the conduit 1 and the port to be joined on the machine overlap, which means that the overlapping end port of the conduit 1 overlaps with the port A2 to be joined on the machine.

[0044] In the above S4, the port to be mated on the machine is the port B3 to be mated on the machine.

[0045] Further preferably, in said S3, the relationship between the pose matrix of the reference coordinate system of the optimized catheter end and the YBC parameters of the catheter is established by formula 2; Formula 2; in, is the reference coordinate system pose matrix at the port A2 to be aligned on the aircraft, is the reference coordinate system pose matrix at the port B3 to be aligned on the aircraft, The reference coordinate system pose matrix at the port B3 to be matched on the aircraft The inverse matrix of .

[0046] The reference coordinate system pose matrix at the port A2 to be aligned on the machine Calculated by formula 3; Formula 3; in, is the transposition of the X-axis of the reference coordinate system at the port A2 to be aligned on the machine, is the transposition of the Y axis of the reference coordinate system at the port A2 to be mated on the machine, is the transpose of the plane normal vector of the port A2 to be matched on the machine, It is the transposition of the center point coordinates of the port A2 to be matched on the machine.

[0047] This embodiment is another preferred implementation method. By obtaining the YBC parameters of the catheter after morphology optimization, the catheter after morphology adjustment can meet the on-board assembly requirements, realizing the transformation of catheter sampling from manual physical tube sampling to digital sampling.

[0048] Example 5 See also Figure 1-Figure 4 A digital pipeline morphology adjustment and optimization method includes the following steps: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter 1 and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, with one port of the catheter 1 as the coincidence port and the other port as the optimization port, using virtual assembly to make the coincidence port of the catheter 1 coincide with the port to be matched on the machine, and establish the relationship between the pose matrix of the reference coordinate system of the optimized end of the catheter and the YBC parameters of the catheter; S4, the step difference between the optimized end port of the catheter 1 and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

[0049] In the above S1, the scanning point cloud of the port to be matched on the machine includes the center point coordinates of the port A2 to be matched on the machine , the plane normal vector of the port A2 to be matched on the machine , the center point coordinates of the port B3 to be matched on the machine and the plane normal vector of the port B3 to be matched on the machine .

[0050] In S2, the pipe end coordinate system pose matrix Determined by formula 1; Formula 1; in, is the pose transformation matrix of the first straight line segment of the catheter, is the pose transformation matrix of the second straight line segment of the catheter, is the posture transformation matrix of the i-th straight line segment of the catheter, is the pose transformation matrix of the nth straight line segment of the catheter, is the pose transformation matrix of the n+1th straight line segment of the catheter.

[0051] In the above S3, the overlapping end port of the conduit 1 and the port to be joined on the machine overlap, which means that the overlapping end port of the conduit 1 overlaps with the port A2 to be joined on the machine.

[0052] In the above S4, the port to be mated on the machine is the port B3 to be mated on the machine.

[0053] In S3, the relationship between the reference coordinate system pose matrix of the optimized end of the catheter and the YBC parameters of the catheter is established through Formula 2; Formula 2; in, is the reference coordinate system pose matrix at the port A2 to be aligned on the aircraft, is the reference coordinate system pose matrix at the port B3 to be aligned on the aircraft, The reference coordinate system pose matrix at the port B3 to be matched on the aircraft The inverse matrix of .

[0054] The reference coordinate system pose matrix at the port A2 to be aligned on the machine Calculated by formula 3; Formula 3; in, is the transposition of the X-axis of the reference coordinate system at the port A2 to be aligned on the machine, is the transposition of the Y axis of the reference coordinate system at the port A2 to be mated on the machine, is the transpose of the plane normal vector of the port A2 to be matched on the machine, It is the transposition of the center point coordinates of the port A2 to be matched on the machine.

[0055] The reference coordinate system pose matrix at the port B3 to be aligned on the machine Calculated by formula 4; Formula 4.

[0056] in, is the transposition of the X-axis of the reference coordinate system at the port B3 to be mated on the machine, It is the transposition of the Y axis of the reference coordinate system at the port B3 to be matched on the machine.

[0057] In the above-mentioned S4, performing nonlinear multi-objective optimization of the catheter morphology refers to determining the parameters to be optimized and the objective function and performing parameter optimization.

[0058] The objective function is determined by formula 5; Formula 5; in, is the parameter to be optimized.

[0059] This embodiment is the best implementation method. It establishes a structured model of the catheter YBC parameters and posture matrix, transforms the complex three-dimensional morphology adjustment into a parameter optimization problem, and combines a multi-objective optimization algorithm to achieve iterative optimization of the catheter morphology. Compared with traditional empirical design, it effectively improves design efficiency.

[0060] It is suitable for the assembly of special-shaped catheters in confined spaces. It can handle the spatial posture coupling problem with multiple degrees of freedom through nonlinear optimization algorithms, improving the adaptability to complex working conditions.

[0061] By organically combining 3D scanning reconstruction with virtual assembly, sub-millimeter spatial matching between the catheter port and the onboard structure is achieved, effectively eliminating the step difference, gap and angle deviation problems caused by traditional manual trial assembly.

[0062] The present invention establishes the YBC parameters of the catheter and the position matrix of the tube end coordinate system The structural model process is as follows: If the catheter 1 has n curved sections, the YBC parameters of the catheter are shown in Table 1 below: Table 1 In Table 1, . Pipe end coordinate system pose matrix The calculation method is as follows: ; in: Where, is the bending radius of the conduit, is the length of the first straight section on the conduit, is the bending angle of the first curved section on the catheter, is the length of the i-th straight section on the conduit, is the bending angle of the i-th bending segment on the catheter, is the angle of the i-1th bend on the catheter, is the length of the n+1th straight pipe section on the conduit, is the bending angle of the nth bending segment on the catheter, is the deflection angle of the normal direction of the plane of the i-th curved segment on the catheter relative to the normal direction of the plane of the i-1-th curved segment.

[0063] The reference coordinate system at the port A2 to be aligned on the machine is as follows: The Z axis of the coordinate system is: the plane normal vector of the port A2 to be matched on the machine ; The Y axis of the coordinate system is: ; The X-axis of the coordinate system is: .

[0064] The reference coordinate system at the port B3 to be aligned on the machine is as follows: The Z axis of the coordinate system is: the plane normal vector of the port B3 to be matched on the machine ; The Y axis of the coordinate system is: ; The X-axis of the coordinate system is: .

[0065] The constraints of the objective function of the present invention are: ; in: To meet the maximum step difference required for assembly, To meet the maximum clearance required for assembly, It is the maximum axial angle that meets the assembly requirements.

Claims

1. A digital pipeline morphology adjustment and optimization method, characterized in that: The following steps are involved: S1. Obtain the scanning point cloud of the port to be aligned on the machine through 3D scanning and perform 3D reconstruction; S2. Extract the YBC parameters corresponding to the digital model of the catheter (1) and establish the YBC parameters of the catheter and the pose matrix of the tube end coordinate system The structural model between S3, using one port of the catheter (1) as the coincidence port and the other port as the optimization port, using virtual assembly to make the coincidence port of the catheter (1) coincide with the port to be matched on the machine, and establishing the relationship between the pose matrix of the catheter optimization end reference coordinate system and the catheter YBC parameters; S4, the step difference between the optimized end port of the catheter (1) and the port to be matched on the machine ,gap and axial angle In order to optimize the target, nonlinear multi-objective optimization of the catheter morphology was performed to obtain the YBC parameters of the catheter after morphology optimization.

2. A digital pipeline morphology adjustment and optimization method according to claim 1, characterized in that: In said S1, the scanning point cloud of the port to be matched on the machine includes the center point coordinates of the port A (2) to be matched on the machine 、The plane normal vector of the port A (2) to be matched on the machine 、The center point coordinates of the port B (3) to be matched on the machine and the plane normal vector of the port B (3) to be matched on the machine .

3. The digital pipeline morphology adjustment and optimization method according to claim 1, characterized in that: In S2, the pipe end coordinate system pose matrix Determined by formula 1; Formula 1; in, is the pose transformation matrix of the first straight line segment of the catheter, is the pose transformation matrix of the second straight line segment of the catheter, is the posture transformation matrix of the i-th straight line segment of the catheter, is the pose transformation matrix of the nth straight line segment of the catheter, is the pose transformation matrix of the n+1th straight line segment of the catheter.

4. A digital pipeline morphology adjustment and optimization method according to claim 2, characterized in that: In the above S3, the overlapped end port of the catheter (1) overlaps with the port to be joined on the machine, which means that the overlapped end port of the catheter (1) overlaps with the port A (2) to be joined on the machine.

5. The digital pipeline morphology adjustment and optimization method according to claim 2, characterized in that: In the above S4, the port to be paired on the machine is the port B (3) to be paired on the machine.

6. The digital pipeline morphology adjustment and optimization method according to claim 2, characterized in that: In S3, the relationship between the reference coordinate system pose matrix of the optimized end of the catheter and the YBC parameters of the catheter is established through Formula 2; Formula 2; in, is the reference coordinate system pose matrix at the port A (2) to be matched on the aircraft, is the reference coordinate system pose matrix at the port B (3) to be matched on the aircraft, The reference coordinate system pose matrix at the port B (3) to be matched on the aircraft is The inverse matrix of .

7. A digital pipeline morphology adjustment and optimization method according to claim 6, characterized in that: The reference coordinate system pose matrix at the port A (2) to be matched on the machine Calculated by formula 3; Formula 3; in, is the transposition of the X-axis of the reference coordinate system at the port A (2) to be matched on the machine, is the transposition of the Y axis of the reference coordinate system at the port A (2) to be matched on the machine, is the transpose of the plane normal vector of the port A (2) to be matched on the machine, is the transpose of the coordinates of the center point of the port A (2) to be matched on the machine.

8. The digital pipeline morphology adjustment and optimization method according to claim 6, characterized in that: The reference coordinate system pose matrix at the port B3 to be aligned on the machine Calculated by formula 4; Formula 4; in, is the transposition of the X-axis of the reference coordinate system at the port B (3) to be matched on the machine, It is the transposition of the Y axis of the reference coordinate system at the port B (3) to be matched on the machine.

9. The digital pipeline morphology adjustment and optimization method according to claim 1, characterized in that: In the above-mentioned S4, performing nonlinear multi-objective optimization of the catheter morphology refers to determining the parameters to be optimized and the objective function and performing parameter optimization.

10. A digital pipeline morphology adjustment and optimization method according to claim 9, characterized in that: The objective function is determined by formula 5; Formula 5; in, is the parameter to be optimized.

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