Flange three-dimensional reconstruction method and device, storage medium and electronic equipment

Abstract

The invention relates to the field of assembly state detection, in particular to a flange three-dimensional reconstruction method and device, a storage medium and electronic equipment. The method comprises the following steps: acquiring a cylindrical surface point cloud and an end plane point cloud of a flange; according to the cylindrical surface point cloud, flange shaft space parameters including the axial direction of a flange cylinder center shaft and the position of the flange cylinder center shaft are determined; determining the end plane position of the flange according to the end plane point cloud and the flange shaft space parameters; determining three-dimensional shape parameters of the flange according to the flange shaft space parameters and the end plane position; and based on the three-dimensional morphological parameters, performing three-dimensional reconstruction on the flange to obtain a three-dimensional model for reflecting the assembly state of the flange. By means of the method, high-precision three-dimensional reconstruction of the flange is achieved, the obtained three-dimensional model can accurately reflect the assembly state of the flange, challenges brought by narrow spaces and shelters are effectively overcome, and the accuracy and practicability of three-dimensional reconstruction of the flange are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of assembly state detection, and in particular to a flange three-dimensional reconstruction method, device, storage medium and electronic equipment. Background Art

[0002] In aircraft manufacturing and numerous other precision machinery fields, flanges serve as essential connectors between pipes and equipment. Their assembly accuracy directly impacts the performance, stability, and safety of the entire system. In the precision process of aircraft duct assembly, the precise positioning of pre-assembled flanges is particularly crucial for ensuring seamless duct connection. If the flange's position deviates from the ideal preset position, significant step differences can occur during duct connection, severely hindering the achievement of assembly accuracy and performance standards.

[0003] However, the assembly environment for complex mechanical products like aircraft is fraught with challenges. The space is compact and filled with various obstructions, such as intricate networks of pipes and densely packed finished parts. This significantly complicates the 3D reconstruction of flanges. To overcome these obstacles, the 3D reconstruction process often requires the integration of multiple advanced data acquisition technologies, including high-precision measurement using laser scanning, detailed surface capture using structured light, and the stereoscopic perception capabilities of binocular vision, striving to comprehensively and accurately capture the geometric information of the flange surface.

[0004] Despite this, 3D reconstruction in such a narrow and obstructed space remains a challenging task. The scanning equipment is restricted by the space, and the presence of obstructions significantly limits the scanning angle, making data acquisition difficult. The resulting data is often incomplete and potentially erroneous. This lack of data integrity directly threatens the accuracy and reliability of the flange 3D reconstruction, and in turn, the accurate reflection and assessment of the actual assembly state. Summary of the Invention

[0005] The main purpose of the present disclosure is to provide a flange three-dimensional reconstruction method, device, storage medium and electronic equipment, aiming to solve the technical problem in the prior art that the flange three-dimensional reconstruction results cannot accurately reflect the actual assembly status of the flange on the aircraft.

[0006] To achieve the above objectives, the present disclosure proposes a flange 3D reconstruction method, comprising: Obtain the cylindrical surface point cloud and end plane point cloud of the flange; Determine the flange axis spatial parameters according to the cylindrical surface point cloud, wherein the flange axis spatial parameters include the axial direction of the flange cylinder center axis and the position of the flange cylinder center axis; Determining the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters; Determining the three-dimensional morphological parameters of the flange according to the flange axis spatial parameters and the end plane position; Based on the three-dimensional morphological parameters, the flange is three-dimensionally reconstructed to obtain a three-dimensional model of the flange, and the three-dimensional model is used to reflect the assembly state of the flange.

[0007] Optionally, determining the flange axis spatial parameters according to the cylindrical surface point cloud includes: Calculating a cylindrical surface normal vector set of the flange based on the cylindrical surface point cloud; Performing plane fitting on the spatial points formed by the set of cylindrical surface normal vectors to obtain a spatial plane formed by the set of cylindrical surface normal vectors; Determining plane normal information of the spatial plane; The axial direction of the central axis of the flange cylinder is determined according to the plane normal information.

[0008] Optionally, determining the flange axis position parameters according to the cylindrical surface point cloud includes: Obtaining an axial projection plane of the flange; Projecting the cylindrical point cloud onto the axial projection plane to obtain a first axial projection plane projection point set on the axial projection plane; Performing two-dimensional plane circle fitting on the projection circle formed by the first projection point set to obtain a first intersection point between the axial projection plane and the central axis of the cylinder; The position of the central axis of the flange cylinder is determined according to the first intersection point.

[0009] Optionally, obtaining the axial projection plane of the flange includes: Determine the three-dimensional space corresponding to the flange; With the central axis of the cylinder as the plane normal, a plane is drawn in the three-dimensional space to obtain the axial projection plane.

[0010] Optionally, projecting the cylindrical point cloud onto the axial projection plane to obtain a first projection point set on the axial projection plane includes: Determine the global coordinate system corresponding to the flange; Establishing a local reference coordinate system based on the axial projection plane and the global coordinate system; and Determine the X-axis, Y-axis, and Z-axis of the local reference coordinate system; The cylindrical point cloud is projected onto the XOY plane of the local reference coordinate system to obtain the first projection point set.

[0011] Optionally, determining the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters includes: Projecting the end plane point cloud onto the central axis of the cylinder to obtain a second projection point set on the central axis of the cylinder; Calculating the mean of the second projection point set to obtain a second intersection point between the end plane of the flange and the central axis of the cylinder; determining, based on the second intersection point, the spatial point through which the end plane passes; The position of the end plane is determined based on the spatial points passed by the end plane.

[0012] Optionally, obtaining the cylindrical surface point cloud and the end plane point cloud of the flange includes: Acquiring initial three-dimensional scanning data of the flange; Preprocessing the initial three-dimensional scanning data to remove noise points in the initial three-dimensional scanning data to obtain target three-dimensional scanning data of the flange; Point cloud segmentation is performed based on the target three-dimensional scanning data to obtain the cylindrical surface point cloud and the end plane point cloud.

[0013] In addition, to achieve the above-mentioned purpose, the present disclosure further provides a flange 3D reconstruction device, the flange 3D reconstruction device comprising: An acquisition module is used to obtain the cylindrical surface point cloud and the end plane point cloud of the flange; a first determining module, configured to determine flange axis spatial parameters according to the cylindrical surface point cloud, wherein the flange axis spatial parameters include the axial direction of the flange cylinder center axis and the position of the flange cylinder center axis; A second determining module is used to determine the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters; a third determining module, configured to determine the three-dimensional morphological parameters of the flange according to the flange axis spatial parameters and the end plane position; A three-dimensional reconstruction module is used to perform three-dimensional reconstruction on the flange based on the three-dimensional morphological parameters to obtain a three-dimensional model of the flange, wherein the three-dimensional model is used to reflect the assembly state of the flange.

[0014] In addition, to achieve the above objectives, the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the above method.

[0015] In addition, to achieve the above objectives, the present disclosure also provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above method.

[0016] In addition, to achieve the above objectives, the present disclosure also provides a computer program product, which implements the above method when executed by a processor.

[0017] The flange 3D reconstruction method, device, storage medium, and electronic device proposed in the embodiments of the present disclosure first acquire point cloud data of the flange's cylindrical surface and end plane, ensuring the comprehensiveness and accuracy of the data and providing a solid foundation for subsequent spatial parameter calculation and 3D morphological analysis. By analyzing the cylindrical surface point cloud, key spatial parameters such as the flange's cylindrical center axis axial direction and position can be accurately calculated. Combining the end plane point cloud with the acquired flange axis spatial parameters, the precise position of the flange's end plane can be determined, further refining the understanding of the flange's spatial posture and accurately locking the position of the flange's end plane. Then, by combining the flange's center axis spatial parameters and end plane position, all 3D morphological parameters of the flange can be extracted. Finally, a 3D model of the flange is constructed based on all 3D morphological parameters. This achieves high-precision 3D reconstruction of the flange. The resulting 3D model accurately reflects the flange's assembly state, providing an intuitive and reliable basis for subsequent maintenance, inspection, and optimization. Furthermore, this technical solution effectively overcomes the challenges posed by confined spaces and obstructions, improving the accuracy and practicality of 3D reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present disclosure; Figure 2 A schematic flow chart of a flange 3D reconstruction method according to an embodiment of the present disclosure; Figure 3 A schematic diagram of a flange physical model and its on-machine scanning point cloud involved in the embodiment of the present disclosure; Figure 4 A schematic diagram of a unit normal vector of a cylindrical surface point and a central axis of a cylinder involved in an embodiment of the present disclosure; Figure 5 A schematic diagram of a space plane composed of a set of normal vectors of a cylindrical surface involved in an embodiment of the present disclosure; Figure 6 A schematic diagram of an axial projection plane of a flange cylinder and projection points of the cylinder involved in an embodiment of the present disclosure; Figure 7 Schematic diagram of the projection of a scanning point of an end plane of a flange on the central axis of the flange involved in an embodiment of the present disclosure; Figure 8 This is a structural block diagram of a flange 3D reconstruction device involved in an embodiment of the present disclosure.

[0020] The realization of the objectives, functional features and advantages of the present disclosure will be further explained with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0022] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present disclosure.

[0023] Typically, the device includes: at least one processor 301, a memory 302, and a flange 3D reconstruction program stored in the memory 302 and executable on the processor 301, wherein the flange 3D reconstruction program is configured to implement the steps of the flange 3D reconstruction method as described above.

[0024] The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. The processor 301 may also include an AI (Artificial Intelligence) processor, which is used to process operations related to the flange three-dimensional reconstruction method, so that the flange three-dimensional reconstruction method model can be trained and learned independently to improve efficiency and accuracy.

[0025] Memory 302 may include one or more storage media, which may be non-transitory. Memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory storage devices. In some embodiments, the non-transitory storage medium in memory 302 is used to store at least one instruction, which is executed by processor 301 to implement the flange 3D reconstruction method provided in the method embodiment of the present disclosure.

[0026] In some embodiments, the terminal may optionally include a communication interface 303 and at least one peripheral device. The processor 301, memory 302, and communication interface 303 may be connected via a bus or signal lines. Each peripheral device may be connected to the communication interface 303 via a bus, signal lines, or circuit boards. Specifically, the peripheral device may include at least one of a radio frequency circuit 304, a display screen 305, and a power supply 306.

[0027] The communication interface 303 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 301 and the memory 302. In some embodiments, the processor 301, the memory 302, and the communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302, and the communication interface 303 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0028] The RF circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 304 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the RF circuit 304 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The RF circuit 304 can communicate with other terminals via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 304 may also include circuits related to NFC (Near Field Communication), which is not limited in this disclosure.

[0029] Display screen 305 is used to display a user interface (UI). This UI may include graphics, text, icons, videos, or any combination thereof. When display screen 305 is a touchscreen display, it is also capable of collecting touch signals on or above the surface of display screen 305. These touch signals can be input as control signals to processor 301 for processing. Display screen 305 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 305 can be a single display screen, the front panel of the electronic device. In other embodiments, display screen 305 can be at least two, each disposed on different surfaces of the electronic device or in a foldable design. In still other embodiments, display screen 305 can be a flexible display screen, disposed on a curved or foldable surface of the electronic device. Display screen 305 can also be configured as a non-rectangular, irregular shape, also known as a special-shaped screen. Display screen 305 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0030] The power supply 306 is used to power various components in the electronic device. The power supply 306 can be AC ​​power, DC power, disposable batteries, or rechargeable batteries. When the power supply 306 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology. It will be understood by those skilled in the art that Figure 1 The structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0031] In addition, an embodiment of the present disclosure further proposes a storage medium, on which a flange three-dimensional reconstruction program is stored, and when the flange three-dimensional reconstruction program is executed by a processor, the steps of the flange three-dimensional reconstruction method as described above are implemented. Therefore, no further description will be given here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the storage medium embodiment involved in the present disclosure, please refer to the description of the method embodiment of the present disclosure. As an example, the program instructions can be deployed to be executed on one device, or on multiple devices located at one location, or on multiple devices distributed at multiple locations and interconnected by a communication network.

[0032] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The above-described program can be stored in a storage medium, and when executed, the program can include the processes in the above-described method embodiments. The above-described storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0033] In related technologies, due to the limited space within the cabin, scanning equipment is difficult to move freely. Furthermore, due to the influence of multiple obstructions such as ducts and finished parts, 3D scanning of the flange can only be performed from a limited perspective. The acquired scanning data is not only scarce but also incomplete. This directly affects the accuracy and authenticity of the subsequent 3D reconstruction of the flange, making the reconstruction unable to accurately reflect the actual assembly state of the flange on the aircraft. Using traditional cylindrical reconstruction methods to process this incomplete data is prone to falling into the dilemma of local optimal solutions, resulting in significant deviations between the reconstructed flange axis and the actual situation, which in turn causes distortion in the reconstruction result and fails to truly reflect the actual assembly state of the flange on the aircraft.

[0034] In view of this, the present disclosure proposes a flange 3D reconstruction method, device, storage medium, and electronic device. By integrating advanced image processing and 3D reconstruction technologies, it is possible to maximize the extraction and utilization of effective scan data under limited and restricted scanning conditions, ensuring the accurate construction of the flange 3D model. By optimizing scan path planning, enhancing data completion algorithms, and adopting high-precision reconstruction technology, this method can significantly improve the integrity and accuracy of scan data, effectively avoiding local convergence and reconstruction distortion problems, thereby ensuring that the reconstructed flange 3D model can truly and accurately reflect its assembly status on the aircraft, providing a reliable basis for subsequent maintenance, inspection, and optimization.

[0035] Reference Figure 2 , Figure 2 The following is a flow chart of a flange 3D reconstruction method according to an embodiment of the present disclosure, including the following steps: Step S11: Obtain the cylindrical surface point cloud and the end plane point cloud of the flange.

[0036] Step S12: Determine the flange axis spatial parameters based on the cylindrical surface point cloud. The flange axis spatial parameters include the axial direction of the flange cylinder center axis and the position of the flange cylinder center axis.

[0037] Step S13: Determine the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters.

[0038] Step S14: Determine the three-dimensional morphological parameters of the flange according to the flange axis spatial parameters and the end plane position.

[0039] Step S15: Based on the three-dimensional morphological parameters, the flange is three-dimensionally reconstructed to obtain a three-dimensional model of the flange. The three-dimensional model is used to reflect the assembly state of the flange.

[0040] The above technical solution first acquires point cloud data of the flange's cylindrical surface and end plane, ensuring comprehensiveness and accuracy, providing a solid foundation for subsequent spatial parameter calculation and 3D morphological analysis. Analysis of the cylindrical surface point cloud allows precise calculation of key spatial parameters, such as the axial direction and position of the flange's central axis. Combining the end plane point cloud with the acquired flange axial spatial parameters allows the precise position of the flange's end plane to be determined, further refining the understanding of the flange's spatial posture and accurately locking the position of the flange's end plane. Next, combining the flange's axial spatial parameters with the end plane position allows the extraction of all 3D morphological parameters of the flange. Finally, a 3D model of the flange is constructed based on all these 3D morphological parameters. This achieves high-precision 3D reconstruction of the flange. The resulting 3D model accurately reflects the flange's assembly state, providing an intuitive and reliable basis for subsequent maintenance, inspection, and optimization. Furthermore, this technical solution effectively overcomes the challenges presented by confined spaces and obstructions, improving the accuracy and practicality of 3D reconstruction.

[0041] Possible ways to obtain the cylindrical surface point cloud and end plane point cloud of the flange include: Obtain initial 3D scanning data of the flange; Preprocessing the initial 3D scanning data to remove noise points in the initial 3D scanning data to obtain target 3D scanning data of the flange; Point cloud segmentation is performed based on the target 3D scanning data to obtain cylindrical surface point cloud and end plane point cloud.

[0042] For example, Figure 3 This is a schematic diagram of a flange physical model and its on-machine scanning point cloud involved in the embodiment of the present disclosure. Figure 3 As shown in the figure, the flange is 3D scanned to obtain the initial 3D scanning data of the flange. The initial 3D scanning data is preprocessed to remove the noise points in the initial 3D scanning data to obtain the target 3D scanning data of the flange. Then, point cloud segmentation is performed based on the target 3D scanning data to obtain the cylindrical surface point cloud 1 and the end plane point cloud 2. The cylindrical surface point cloud 1 can be , the end plane point cloud 2 is , for subsequent description.

[0043] Possible ways to determine the flange shaft axial parameters based on the cylindrical surface point cloud include: Based on the cylindrical point cloud, calculate the cylindrical surface normal vector set of the flange; Perform plane fitting on the space points composed of the set of normal vectors of the cylindrical surface to obtain a space plane composed of the set of normal vectors of the cylindrical surface; Determine the plane normal information of the space plane; According to the plane normal information, determine the axial direction of the flange cylinder center axis.

[0044] For example, Figure 4 Schematic diagram of the unit normal vector of a cylindrical surface point and the central axis of the cylinder involved in the embodiment of the present disclosure. Figure 4 As shown, on the cylindrical point cloud 1, the unit normal vector of each surface point is calculated to obtain the cylindrical surface normal vector set 3 of the flange. At this time, the normal vector of each surface point is perpendicular to the central axis 4 of the cylinder. Let the cylindrical surface normal vector set 3 be , the direction of the central axis 4 is , a point on the axis is .

[0045] Figure 5 This is a schematic diagram of a space plane consisting of a set of normal vectors of a cylindrical surface involved in the embodiment of the present disclosure. Figure 5 As shown in FIG, after calculating the cylindrical surface normal vector set, a plane fitting can be performed on the spatial point 5 composed of the three-dimensional coordinates of the cylindrical surface normal vector set 3 to obtain the plane normal information 6 of the plane. The normal direction of the plane normal information 6 is the direction of the cylindrical center axis 4 of the flange. Let the normal direction of the plane normal information 6 be , then the following formula holds:

[0046] In this way, the cylindrical center axis of the flange and the axial direction of the cylindrical center axis are determined based on the cylindrical surface point cloud.

[0047] Possible ways to determine the flange axis position parameters based on the cylindrical surface point cloud include: Obtain the axial projection plane of the flange; Projecting the cylindrical point cloud onto the axial projection plane to obtain the first projection point set of the axial projection plane on the axial projection plane; Performing two-dimensional plane circle fitting on the projection circle composed of the first projection point set to obtain the first intersection point of the axial projection plane and the central axis of the cylinder; Based on the first intersection point, determine the position of the center axis of the flange cylinder.

[0048] Possible ways to obtain the axial projection plane of the flange include: Determine the three-dimensional space corresponding to the flange; With the central axis of the cylinder as the plane normal, draw a plane in three-dimensional space to obtain the axial projection plane.

[0049] For example, Figure 6 Schematic diagram of the axial projection plane and projection point of a flange cylinder involved in the embodiment of the present disclosure. Figure 6 As shown, a plane can be drawn in the three-dimensional space corresponding to the flange, so that the plane passes through the point (0,0,0), and the normal of the plane is , this plane is the axial projection plane of the flange cylinder, that is, the axial projection plane 7 is obtained.

[0050] Then, the cylindrical point cloud is projected onto the axial projection plane 7 to obtain a first projection point set 8 on the axial projection plane 7. A two-dimensional plane circle fitting is then performed on the projection circle formed by the first projection point set 8 to obtain a first intersection point 9 between the axial projection plane 7 and the cylinder central axis 4. In the present disclosure, the first intersection point 9 can be determined as the center of the circle. Of course, other methods can also be used to determine the center of the circle based on the first intersection point 9, and the present disclosure is not limited to this.

[0051] In a possible manner, the cylindrical point cloud is projected onto the axial projection plane to obtain a first projection point set on the axial projection plane, including: Determine the global coordinate system corresponding to the flange; Based on the axial projection plane and the global coordinate system, a local reference coordinate system is established; Determine the X-axis, Y-axis, and Z-axis of the local reference coordinate system; Project the cylindrical point cloud onto the XOY plane of the local reference coordinate system to obtain the first projection point set.

[0052] For example, Figure 6 As shown, first determine the global coordinate system corresponding to the flange, and then establish a local reference coordinate system at the origin of the global coordinate system, that is, point (0,0,0) , where the normal to the axial projection plane 7 can be The Z axis of the local reference coordinate system is the axial projection plane 7. XOY plane.

[0053] Local reference coordinate system The X-axis and Y-axis can be determined according to the following calculation formula:

[0054] in, 、 、 Represents the reference coordinate system The direction vectors of the X, Y, and Z axes, , is the Z-axis direction of the global coordinate system.

[0055] Then, if Figure 6 As shown, the cylindrical point cloud (1) is projected onto the axial projection plane 7, that is, onto the XOY plane of the local reference coordinate system, to obtain the first projection point set 8. Let the first projection point set be , which is in the local reference coordinate system The X-axis coordinate component on and the Y-axis coordinate component They can be:

[0056] In the local reference coordinate system On the XOY plane, the projection point set The projected circle is fitted with a two-dimensional plane circle to obtain the center 9 of the projected circle. Let the center 9 be , the two-dimensional coordinates are The center of the circle The three-dimensional coordinates are:

[0057] Obviously, the center It is the intersection of the flange cylinder center axis 4 and the flange cylinder axial projection plane 7. At this time, we have:

[0058] Possible ways to determine the end plane position of the flange based on the end plane point cloud and flange axis space parameters include: Project the end plane point cloud onto the central axis of the cylinder to obtain a second projection point set on the central axis of the cylinder; Calculate the mean of the second projection point set to obtain the second intersection point of the flange end plane and the central axis of the cylinder; According to the second intersection point, determine the spatial point through which the end plane passes; The position of the end plane is determined based on the spatial points that the end plane passes through.

[0059] For example, Figure 7 Schematic diagram of the projection of a scanning point on the flange end plane of a flange according to an embodiment of the present disclosure. Figure 7 As shown, the end plane point cloud is projected onto the central axis of the cylinder to obtain the second projection point set 10 on the central axis of the cylinder. Let the second projection point set 10 be , then:

[0060] Then for the projection point set Taking the average, we can get the second intersection point of the flange end plane and the cylinder center axis 4 , which is also the spatial point through which the end plane of the flange passes. Based on the second intersection , the position of the flange end plane can be further determined.

[0061] Reference Figure 8 , Figure 8 This is a structural block diagram of a flange 3D reconstruction device involved in an embodiment of the present disclosure. Based on the same inventive concept as the previous embodiment, the device includes: An acquisition module 10 is used to acquire a cylindrical surface point cloud and an end plane point cloud of the flange; A first determining module 20 is configured to determine flange axis spatial parameters based on the cylindrical surface point cloud, wherein the flange axis spatial parameters include the axial direction of the flange cylinder center axis and the position of the flange cylinder center axis; A second determining module 30 is configured to determine the end plane position of the flange based on the end plane point cloud and the flange axis spatial parameters; A third determining module 40 is configured to determine the three-dimensional morphological parameters of the flange according to the flange axis spatial parameters and the end plane position; The three-dimensional reconstruction module 50 is used to perform three-dimensional reconstruction on the flange based on the three-dimensional morphological parameters to obtain a three-dimensional model of the flange, where the three-dimensional model is used to reflect the assembly state of the flange.

[0062] Optionally, the first determining module 20 is configured to: Calculating a cylindrical surface normal vector set of the flange based on the cylindrical surface point cloud; Performing plane fitting on the spatial points formed by the set of cylindrical surface normal vectors to obtain a spatial plane formed by the set of cylindrical surface normal vectors; Determining plane normal information of the spatial plane; The axial direction of the central axis of the flange cylinder is determined according to the plane normal information.

[0063] Optionally, the first determining module 20 is configured to: Obtaining an axial projection plane of the flange; Projecting the cylindrical point cloud onto the axial projection plane to obtain a first axial projection plane projection point set on the axial projection plane; Performing two-dimensional plane circle fitting on the projection circle formed by the first projection point set to obtain a first intersection point between the axial projection plane and the central axis of the cylinder; The center position of the circle is determined according to the first intersection point.

[0064] Optionally, the first determining module 20 is configured to: Determine the three-dimensional space corresponding to the flange; With the central axis of the cylinder as the plane normal, a plane is drawn in the three-dimensional space to obtain the axial projection plane.

[0065] Optionally, the first determining module 20 is configured to: Determine the global coordinate system corresponding to the flange; Establishing a local reference coordinate system based on the axial projection plane and the global coordinate system; and Determine the X-axis, Y-axis, and Z-axis of the local reference coordinate system; The cylindrical point cloud is projected onto the XOY plane of the local reference coordinate system to obtain the first projection point set.

[0066] Optionally, the second determining module 30 is configured to: Projecting the end plane point cloud onto the central axis of the cylinder to obtain a second projection point set on the central axis of the cylinder; Calculating the mean of the second projection point set to obtain a second intersection point between the end plane of the flange and the central axis of the cylinder; determining, based on the second intersection point, the spatial point through which the end plane passes; The position of the end plane is determined based on the spatial points passed by the end plane.

[0067] Optionally, the acquisition module 10 is used to: Acquiring initial three-dimensional scanning data of the flange; Preprocessing the initial three-dimensional scanning data to remove noise points in the initial three-dimensional scanning data to obtain target three-dimensional scanning data of the flange; Point cloud segmentation is performed based on the target three-dimensional scanning data to obtain the cylindrical surface point cloud and the end plane point cloud.

[0068] It should be noted that, since the steps executed by the device of this embodiment are the same as those of the aforementioned method embodiment, its specific implementation methods and achievable technical effects can refer to the aforementioned embodiments and will not be repeated here.

[0069] In addition, in one embodiment, an embodiment of the present disclosure further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory, and the computer program implements the steps of the method in the aforementioned embodiment when executed by the processor.

[0070] In addition, in one embodiment, the present disclosure further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the aforementioned embodiment are implemented.

[0071] In some embodiments, the computer-readable storage medium may be a memory device such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface mount memory, optical disk, or CD-ROM; or various devices including any one or any combination of the above memories. The computer may be various computing devices including smart terminals and servers.

[0072] In some embodiments, executable instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0073] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinating files (e.g., files storing one or more modules, subroutines, or code portions).

[0074] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0075] It should be noted that, in this document, the terms "comprises," "may include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0076] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0077] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the existing technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, computer, television receiver, or network device, etc.) to execute the methods described in the various embodiments of the present disclosure.

[0078] The above descriptions are merely optional embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. All equivalent structural transformations made using the contents of the present disclosure and the drawings under the inventive concept of the present disclosure, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present disclosure.

Claims

1. A flange 3D reconstruction method, characterized in that: include: Obtain the cylindrical surface point cloud and end plane point cloud of the flange; Determine the flange axis spatial parameters according to the cylindrical surface point cloud, wherein the flange axis spatial parameters include the axial direction of the flange cylinder center axis and the position of the flange cylinder center axis; Determining the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters; Determining the three-dimensional morphological parameters of the flange according to the flange axis spatial parameters and the end plane position; Based on the three-dimensional morphological parameters, the flange is three-dimensionally reconstructed to obtain a three-dimensional model of the flange, and the three-dimensional model is used to reflect the assembly state of the flange.

2. The method according to claim 1, characterized in that Determining the flange shaft axial parameters according to the cylindrical surface point cloud includes: Calculating a cylindrical surface normal vector set of the flange based on the cylindrical surface point cloud; Performing plane fitting on the spatial points formed by the set of cylindrical surface normal vectors to obtain a spatial plane formed by the set of cylindrical surface normal vectors; Determining plane normal information of the spatial plane; The axial direction of the central axis of the flange cylinder is determined according to the plane normal information.

3. The method according to claim 1, characterized in that Determining the flange axis position parameters according to the cylindrical surface point cloud includes: Obtaining an axial projection plane of the flange; Projecting the cylindrical point cloud onto the axial projection plane to obtain a first projection point set on the axial projection plane; Performing two-dimensional plane circle fitting on the projection circle formed by the first projection point set to obtain a first intersection point between the axial projection plane and the central axis of the cylinder; The position of the central axis of the flange cylinder is determined according to the first intersection point.

4. The method according to claim 3, characterized in that The obtaining of the axial projection plane of the flange includes: Determine the three-dimensional space corresponding to the flange; With the central axis of the cylinder as the plane normal, a plane is drawn in the three-dimensional space to obtain the axial projection plane.

5. The method according to claim 3 or 4, characterized in that The step of projecting the cylindrical point cloud onto the axial projection plane to obtain a first projection point set on the axial projection plane includes: Determine the global coordinate system corresponding to the flange; Establishing a local reference coordinate system based on the axial projection plane and the global coordinate system; and Determine the X-axis, Y-axis, and Z-axis of the local reference coordinate system; The cylindrical point cloud is projected onto the XOY plane of the local reference coordinate system to obtain the first projection point set.

6. The method according to claim 1, characterized in that The step of determining the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters includes: Projecting the end plane point cloud onto the central axis of the cylinder to obtain a second projection point set on the central axis of the cylinder; Calculating the mean of the second projection point set to obtain a second intersection point between the end plane of the flange and the central axis of the cylinder; determining, based on the second intersection point, the spatial point through which the end plane passes; The position of the end plane is determined based on the spatial points passed by the end plane.

7. The method according to claim 1, characterized in that The step of obtaining the cylindrical surface point cloud and the end plane point cloud of the flange includes: Obtaining initial three-dimensional scanning data of the flange; Preprocessing the initial three-dimensional scanning data to remove noise points in the initial three-dimensional scanning data to obtain target three-dimensional scanning data of the flange; Point cloud segmentation is performed based on the target three-dimensional scanning data to obtain the cylindrical surface point cloud and the end plane point cloud.

8. A flange 3D reconstruction device, characterized in that: include: An acquisition module is used to obtain the cylindrical surface point cloud and the end plane point cloud of the flange; a first determining module, configured to determine flange axis spatial parameters according to the cylindrical surface point cloud, wherein the flange axis spatial parameters include the axial direction of the flange cylinder central axis and the center position of the flange; A second determining module is used to determine the end plane position of the flange according to the end plane point cloud and the flange axis spatial parameters; a third determining module, configured to determine the three-dimensional morphological parameters of the flange according to the flange axis spatial parameters and the end plane position; A three-dimensional reconstruction module is used to perform three-dimensional reconstruction on the flange based on the three-dimensional morphological parameters to obtain a three-dimensional model of the flange, wherein the three-dimensional model is used to reflect the assembly state of the flange.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 7.

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