A method and system for identifying process features of a three-dimensional free-bending forming process of a tubular product

Abstract

This application relates to the field of pipe component forming technology, and particularly to a method and system for identifying process features in three-dimensional free bending forming of pipes. The method includes: extracting the axis of the pipe surface model; acquiring point data along the axis at equal steps based on discrete density, including the coordinates of the points on the axis and the curvature and deflection of the axis at those points; identifying process features based on the curvature and deflection of the points on the axis, and analyzing the length, curvature, and deflection according to the type of process feature. By comparing the process features after pipe forming with those in the design model, forming errors can be analyzed, thereby allowing for further adjustment of forming parameters. Therefore, based on the measurement model after forming, this application provides a method for identifying process features in three-dimensional free bending forming of pipes, providing data support for subsequent error analysis and forming parameter adjustment by accurately identifying process features.

Description

Technical Field

[0001] This application relates to the field of pipe component forming technology, and in particular to a method and system for identifying the process features of three-dimensional free bending forming of pipes. Background Technology

[0002] Complex three-dimensional curved tubular components are widely used in high-tech industries such as aerospace and automotive. Conventional manufacturing techniques struggle to achieve precise, one-time forming of complex three-dimensional tubular components. Three-dimensional free bending forming technology, a significant technological innovation in the field of tubular plastic bending, can form complex curved components with features such as straight bends, continuous bends, and continuous variable curvature in a single process. By controlling the spatial motion trajectory of the bending die, combined with the axial feed motion of the tube blank, flexible, precise, and integral forming of three-dimensional complex axis tubular components can be achieved. During the forming process, the movement of the bending die results in the formed tubular parts exhibiting stable segment characteristics (the tube axis approximates a straight line, arc, or spiral) and transition segment characteristics (the tube axis is a free curve).

[0003] In the pipe design model, if the characteristic axis of the stable section is a straight line, then the curvature of each point on that axis is 0; if the characteristic axis of the stable section is an arc, then the curvature of each point on that axis is constant, and the deflection is 0; if the characteristic axis of the stable section is a spiral, then the curvature of each point on that axis is constant, and the deflection is a non-zero constant; the curvature / deflection values ​​of each point on the transition section characteristic axis are constantly changing. After scanning and measuring the formed pipe and converting it into a surface model, the original axis of the stable section feature may not be a standard straight line, arc, or spiral. The method of judging whether the curvature and deflection of points on the axis are 0 or constant will affect the accuracy of process feature identification. Summary of the Invention

[0004] This application provides a method and system for identifying the process features of three-dimensional free bending forming of pipes, in order to solve the problems mentioned in the background art.

[0005] In a first aspect, this application provides a method for identifying the process features of three-dimensional free bending forming of pipes, including: Extract the axis lines from the pipe surface model; Based on the discrete density, point data is obtained at equal steps along the axis, including the coordinates of the points on the axis and the curvature and torsion of the axis at that point; Process features are identified based on the curvature and deflection of points on the axis, and length, curvature, and deflection are analyzed according to the type of process feature.

[0006] Furthermore, the extraction of the axis of the pipe surface model includes: Based on the pipe measurement surface model Obtain axis .

[0007] Furthermore, the step of acquiring point data on the axis at equal steps based on discrete density, including the coordinates of the point on the axis and the curvature and torsion of the axis at that point, includes: Calculate the axis length Determine the step size , N For discrete density; Based on the step length from the axis endpoint Obtain point data on the axis using equal step sizes. , Representing the curves respectively The curvature and torsion at each location, where the axis begins at the endpoints. .

[0008] Furthermore, before identifying process features based on the curvature and torsion of points on the axis, the method further includes: The identified process feature attributes are defined as follows: feature type, the position of the feature start point in the axis point data, the position of the feature end point in the axis point data, the maximum value of feature curvature in each judgment interval, and the minimum value of feature curvature.

[0009] Furthermore, the identification of process features based on the curvature and torsion of points on the axis includes: Straight lines are identified based on the maximum curvature limit; stable and transitional segments are identified based on the judgment interval and the maximum curvature deviation limit; and circular arcs and spirals are identified based on the maximum deflection limit.

[0010] Furthermore, the identification of arcs and helices based on the maximum deflection limit includes: The deflection values ​​at each location point in the non-linear stable segment are found to be less than or equal to the maximum deflection limit. Number of And the torsion values ​​at each location point in the non-linear stable segment are greater than the maximum torsion limit. Number of ; like If the non-linear stable segment exhibits a circular arc characteristic, then the non-linear stable segment exhibits a spiral characteristic; otherwise, the non-linear stable segment exhibits a spiral characteristic.

[0011] Furthermore, the step of analyzing length, curvature, and deflection based on process feature type includes: Based on the starting and ending point positions of the process features, the arc length of each process feature is calculated. The average curvature of the data points between the starting and ending points of the process feature is taken as the curvature of the process feature segment. The average value of the deflection of the data points between the starting point and the ending point of the process feature is taken as the deflection of the process feature segment.

[0012] Secondly, this application provides a three-dimensional free bending forming process feature recognition system for pipes, including: The axis extraction module is used to extract the axis of the pipe surface model; The data acquisition module is used to acquire point data on the axis at equal steps according to the discrete density, including the coordinates of the point on the axis and the curvature and torsion of the axis at that point; The feature recognition module is used to identify process features based on the curvature and deflection of points on the axis, and to analyze the length, curvature, and deflection according to the type of process feature.

[0013] Thirdly, this application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for identifying the three-dimensional free bending forming process features of the pipe as described above.

[0014] Fourthly, this application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for identifying the process features of a three-dimensional free bending forming of a pipe as described above.

[0015] The above-mentioned technical solution of this application has the following advantages: The method for identifying process features in the three-dimensional free bending forming of pipes provided in the first aspect of this application extracts the axis of the pipe surface model and obtains point data along the axis at equal steps based on discrete density. This data includes the coordinates of the points on the axis and the curvature and deflection of the axis at those points. Process features are identified based on the curvature and deflection of the points on the axis, and the length, curvature, and deflection are analyzed according to the type of process feature. This method can accurately identify the process features of the measurement model and provide data support for pipe forming error analysis and forming parameter adjustment. A method is proposed to identify stable segments (circular arcs, spirals) and transition segments by using a moving judgment interval, thereby improving the accuracy of identifying process features in the three-dimensional free bending forming of pipes.

[0016] It is understood that the beneficial effects of the second, third and fourth aspects mentioned above can be found in the relevant descriptions in the first aspect above, and will not be repeated here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 The point location number and the curvature diagram of the point on the axis are provided for the embodiments of this application; Figure 2 This is a schematic diagram of the stable interval of the reverse lookup transition segment provided in the embodiments of this application; Figure 3 This is a schematic diagram of the stable interval for the forward lookup transition interval provided in an embodiment of this application; Figure 4 The image shows the feature recognition results provided in the embodiments of this application. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0021] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0023] In the three-dimensional free bending forming process, the tube is axially fed in by the feeding mechanism, and the bending die applies a force to the tube to bend it. The process feature formed by the fixed bending die is the stable section. The tube axis of the stable section is usually approximately a straight line, a circular arc, or a spiral. The process feature formed by the bending die moving at the same time as the tube is fed in is the transition section. The tube axis of the transition section is usually a free curve.

[0024] By comparing the process characteristics of the formed pipe with those of the design model, the forming error can be analyzed, thereby allowing for further adjustment of the forming parameters. Therefore, based on the measurement model after forming, this application provides a method for identifying the process characteristics of three-dimensional free bending forming of pipes. By accurately identifying the process characteristics, it provides data support for subsequent error analysis and forming parameter adjustment.

[0025] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0026] This application provides a method for identifying the process features of a three-dimensional free bending forming process of a pipe. The method uses a moving interval approach, combined with the set maximum curvature limit and maximum curvature deviation limit, to accurately identify the scanning model of the formed pipe, providing data support for subsequent error analysis and forming parameter adjustment.

[0027] After the pipe is formed by three-dimensional free bending, the forming result needs to be compared and analyzed with the theoretical model of the design. By identifying the process characteristics after forming and comparing them with the process characteristics of the design model, the forming error can be analyzed and the forming parameters can be adjusted to provide support for the subsequent free bending forming of the pipe.

[0028] The technical solution of this application is as follows: The input conditions for process feature recognition are the surface model measured after pipe forming, discrete density, judgment interval, maximum curvature limit, maximum deflection limit, and maximum curvature deviation limit. First, the axis of the pipe model is extracted, and point data is obtained on the axis at equal steps according to the discrete density, including the coordinates of the points on the axis and the curvature and deflection of the axis at that point; the process features are identified based on the curvature and deflection of the points on the axis, and finally, the parameters of the process features are analyzed.

[0029] 1) Extraction of pipe model axis The axis is obtained from the pipe surface model.

[0030] 2) Acquisition of axis point data Point data is obtained on the axis at equal steps based on discrete density, including the coordinates of the points on the axis and the curvature and torsion of the axis at that point.

[0031] 3) Process Feature Identification Identify straight lines based on the maximum curvature limit; identify stable segments (circular arcs, spirals) and transition segments based on the judgment interval and maximum curvature deviation limit; identify circular arcs and spirals based on the maximum deflection limit.

[0032] 4) Analysis of process characteristic parameters Based on the process feature type, parameters such as length, curvature, and deflection are analyzed.

[0033] The following is a description through specific embodiments.

[0034] Example In this embodiment, the identification of the three-dimensional free bending forming process features of the pipe mainly includes: extraction of the pipe model axis, acquisition of axis point data, identification of process features, and analysis of process feature parameters. The curved surface of the pipe part is known. Discrete density Maximum curvature limit Maximum curvature deviation limit Maximum torsion limit Determine the interval The implementation process will be described in detail below.

[0035] Step 1: Measure the curved surface of the pipe. Obtain axis .

[0036] Step 2: Obtaining Axis Point Data: Step 2-1: Calculate the axis length Determine the step size. .

[0037] Step 2-2: Starting from the endpoint of the axis, based on the step size of step 2-1 Obtain point data on the axis using equal step sizes. , Representing the curves respectively The curvature and torsion at each location, where the axis begins at the endpoints. .like Figure 1 The diagram shows the position number of a point on the axis and the curvature of that point on the axis.

[0038] Step 3: The process feature identification flow is as follows: The identified process feature attributes are defined as follows: feature type, the position of the feature's starting point in the axis point data (hereinafter referred to as the starting point position), the position of the feature's ending point in the axis point data (hereinafter referred to as the ending point position), the maximum and minimum feature curvature values ​​within each judgment interval (the maximum and minimum feature curvature values ​​represent the stable segment feature attributes of non-linear structures). Begin searching for the axis, then the axis interval This is the identified region.

[0039] Step 3-1: Search the line on the first Data for points at each location, if If the position is the end point of the axis, jump to step 3-10; otherwise, continue with the identification process. That is, the first If the curvature at any position is less than or equal to the maximum curvature limit, then jump to step 3-2; if That is, the first If the curvature at any position is greater than the maximum curvature limit, then proceed to Step 3-3.

[0040] Step 3-2: Obtain the last identified process feature. If the last process feature is empty or the feature type is not a straight line, then add a new axis region. This is a linear process feature, and its initial position is... The termination position is If the last process feature type is a straight line, then the axis region will be... Add to the last process feature, which updates the termination point position of that process feature. .make Proceed to Step 3-1.

[0041] Step 3-3: Obtain the axis interval Maximum curvature within the range and minimum value Calculate the curvature deviation .like If the curvature deviation is less than the maximum curvature deviation limit, then jump to step 3-4; otherwise, jump to step 3-8.

[0042] Step 3-4: Obtain the last identified process feature. If the process feature type is a straight line, proceed to step 3-5. If the process feature type is a non-linear stable segment, proceed to step 3-6. If the process feature type is a transition segment, proceed to step 3-7.

[0043] Steps 3-5: Add axis area This is a process feature of the non-linear stable segment type, and its initial position is... The termination position is The maximum curvature attribute is The minimum curvature attribute is ,make Proceed to Step 3-1.

[0044] Steps 3-6: Comparison And the maximum curvature value of the last process feature attribute, assign the larger value to the variable. ;Compare And the minimum curvature value of the last process feature attribute, assign the smaller value to the variable. The curvature deviation was recalculated. .like Then the axis region Add to the last process feature, which means updating the end position of the last process feature. Update the maximum curvature attribute of the last process feature to Update the curvature minimum property of the last feature to .make Proceed to Step 3-1. ; If Then the new axis area This is a process feature of the non-linear stable segment type, and its initial position is... The termination position is The maximum curvature attribute is The minimum curvature attribute is ,make Proceed to Step 3-1.

[0045] Steps 3-7: (as follows) Figure 2 As shown, the stable interval of the transition section is found in reverse. The curvature deviation is calculated. Obtain the axis curvature of position ,in ,like Then the curvature deviation is recalculated. ;like curvature deviation .if Based on the above situation, give again or Assignment And update the termination position of the last process feature to .make The above method was used to re-determine the axis. Whether the position belongs to the current stable interval, until ;like Then the new axis area This is a process feature of the non-linear stable segment type, and its initial position is... The termination position is The maximum curvature attribute is The minimum curvature attribute is .make Proceed to Step 3-1.

[0046] Step 3-8: Obtain the last identified process feature. If the process feature type is a straight line, add a new axis region. This is a process feature of the transition section type, and its initial position is... The termination position is ,make Proceed to Step 3-1; if the process feature type is a transition section, then the axial region... Add to the last process feature, which updates the termination point position of that process feature. .make If the last process feature type is a non-linear stable segment, jump to step 3-9.

[0047] Steps 3-9: (as follows) Figure 3 As shown, the stable interval of the transition interval is found in a forward search. The maximum curvature attribute of the last process feature is obtained. and curvature minimum value property Calculate curvature deviation Obtain the axis curvature of position ,in ,like Then the curvature deviation is recalculated. ;like curvature deviation .if Based on the above situation, give again or Assignment And update the termination position of the last process feature to The maximum curvature is The minimum curvature is .make The above method was used to re-determine the axis. Whether the position belongs to the current stable interval, until ;like Then the new axis area This is a process feature of the transition section type, and its initial position is... The termination position is curvature Proceed to Step 3-1.

[0048] Step 3-10: Identify the results according to the above method as follows Figure 4 As shown. Further identification of circular arcs and spirals within the non-linear stability segment. Determination that the torsion value at each location point within the non-linear stability segment is less than or equal to the maximum torsion limit. Number of ; and the torsion values ​​at each location point in the non-linear stable segment are greater than the maximum torsion limit. Number of .like If the non-linear stable segment exhibits a circular arc characteristic, then the non-linear stable segment exhibits a spiral characteristic; otherwise, the non-linear stable segment exhibits a spiral characteristic.

[0049] Step 4: Based on the features identified in Step 3, analyze the process feature parameters. According to the starting and ending point positions of the process features, the arc length of each process feature can be obtained. The average curvature of the data points between the starting and ending points of the process feature is taken as the curvature of the process feature segment. The average deflection of the data points between the starting and ending points of the process feature is taken as the deflection of the process feature segment.

[0050] The method for identifying the process features of three-dimensional free bending forming of pipes provided in this application has the following beneficial effects: 1) A method for identifying the process features of three-dimensional free bending forming of pipes is proposed, which can accurately identify the process features of the measurement model and provide data support for pipe forming error analysis and forming parameter adjustment.

[0051] 2) A method is proposed to identify stable segments (circular arcs, spirals) and transition segments by using a moving judgment interval, thereby improving the accuracy of identifying the process features of three-dimensional free bending forming of pipes.

[0052] Corresponding to the exception-driven database multi-component diagnosis and tuning method described in the above embodiments, this application also provides an exception-driven database multi-component diagnosis and tuning system, which includes: The axis extraction module is used to extract the axis of the pipe surface model; The data acquisition module is used to acquire point data on the axis at equal steps according to the discrete density, including the coordinates of the point on the axis and the curvature and torsion of the axis at that point; The feature recognition module is used to identify process features based on the curvature and deflection of points on the axis, and to analyze the length, curvature, and deflection according to the type of process feature.

[0053] It should be noted that the information interaction and execution process between the above modules / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0054] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0055] This application also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the pipe three-dimensional free bending forming process feature recognition method provided in the first aspect.

[0056] In applications, terminal devices may include, but are not limited to, processors and memory. These are merely examples of terminal devices and do not constitute a limitation on them. They may include more or fewer components, combinations of certain components, or different components, such as input / output devices and network access devices. Input / output devices may include cameras, audio capture / playback devices, displays, etc. Network access devices may include network modules for wireless network communication with external devices.

[0057] In applications, the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0058] In applications, the memory may be an internal storage unit of the terminal device in some embodiments, such as the hard drive or RAM of the terminal device. In other embodiments, the memory may be an external storage device of the terminal device, such as a plug-in hard drive, a smart media card (SMC), or a flash card. The memory may also include both internal and external storage units of the terminal device. The memory is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of a computer program. The memory can also be used to temporarily store data that has been output or will be output.

[0059] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0060] This application implements all or part of the processes in the methods of the above embodiments, which can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0061] Those skilled in the art will recognize that the device and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0062] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the device may be indirectly coupled or communicated, and may be electrical, mechanical, or other forms.

[0063] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for recognizing a feature of a pipe 3D free-form bending process, characterized in that, include: Extract the axis lines from the pipe surface model; Based on the discrete density, point data is obtained at equal steps along the axis, including the coordinates of the points on the axis and the curvature and torsion of the axis at that point; Process features are identified based on the curvature and deflection of points on the axis, and length, curvature, and deflection are analyzed according to the type of process feature.

2. The tube 3D free-bending forming process feature recognition method of claim 1, wherein, The extraction of the axis from the pipe surface model includes: According to the pipe material measurement curved surface model Acquiring an axis .

3. The tube 3D free-bending forming process feature recognition method of claim 1, wherein, The step of acquiring point data on the axis at equal steps based on discrete density includes the coordinates of the point on the axis and the curvature and torsion of the axis at that point, including: axis of calculation length of the axis of calculation determining a step size , N is the discrete density; from the axis end point according to a step size , the point data on the acquisition axis with equal step size, 、 respectively represent the curvature and torsion of the curve at the position point, where the axis starts, i.e. the end point position .

4. The method for identifying the process features of three-dimensional free bending forming of pipes as described in claim 1, characterized in that, Before identifying process features based on the curvature and torsion of points on the axis, the method further includes: The identified process feature attributes are defined as follows: feature type, the position of the feature start point in the axis point data, the position of the feature end point in the axis point data, the maximum value of feature curvature in each judgment interval, and the minimum value of feature curvature.

5. The method for identifying the process features of three-dimensional free bending forming of pipes as described in claim 1, characterized in that, The identification of process features based on the curvature and torsion of points on the axis includes: Straight lines are identified based on the maximum curvature limit; stable and transitional segments are identified based on the judgment interval and the maximum curvature deviation limit; and circular arcs and spirals are identified based on the maximum deflection limit.

6. The method for identifying the process features of three-dimensional free bending forming of pipes as described in claim 5, characterized in that, The method of identifying arcs and spirals based on maximum deflection limits includes: The deflection values ​​at each location point in the non-linear stable segment are found to be less than or equal to the maximum deflection limit. Number of And the torsion values ​​at each location point in the non-linear stable segment are greater than the maximum torsion limit. Number of ; like If the non-linear stable segment exhibits a circular arc characteristic, then the non-linear stable segment exhibits a spiral characteristic; otherwise, the non-linear stable segment exhibits a spiral characteristic.

7. The method for identifying the process features of three-dimensional free bending forming of pipes as described in claim 1, characterized in that, The process of analyzing length, curvature, and deflection based on process feature type includes: Based on the starting and ending point positions of the process features, the arc length of each process feature is calculated. The average curvature of the data points between the starting and ending points of the process feature is taken as the curvature of the process feature segment. The average value of the deflection of the data points between the starting point and the ending point of the process feature is taken as the deflection of the process feature segment.

8. A three-dimensional free bending forming process feature recognition system for pipes, characterized in that, include: The axis extraction module is used to extract the axis of the pipe surface model; The data acquisition module is used to acquire point data on the axis at equal steps according to the discrete density, including the coordinates of the point on the axis and the curvature and torsion of the axis at that point; The feature recognition module is used to identify process features based on the curvature and deflection of points on the axis, and to analyze the length, curvature, and deflection according to the type of process feature.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for identifying the process features of three-dimensional free bending forming of pipes as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for identifying the process features of three-dimensional free bending forming of pipes as described in any one of claims 1 to 7.

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