A four-dimensional space-time sensing method for free-bending pipeline detection and point cloud completion in large scenes

Abstract

The invention discloses a four-dimensional space-time sensing large scene free bending pipeline detection and point cloud completion method, uniformly obtains three-dimensional sampling points in the three-dimensional point cloud of the scene to be inspected and establishes a spherical support domain, which is constructed in the three-dimensional point cloud block Point-to-type cylindrical feature set, based on feature clustering to make two-type decision-making, realize automatic detection of feature points on the surface of three-dimensional pipelines; establish a parametric geometric model of the pipeline and a timing parameter estimation model in the four-dimensional space-time domain, and solve the characteristic points of the pipeline according to the geometric model The axis of the local pipeline section is used as the initial state in the time domain. Combined with the time series parameter estimation model, iteratively estimates the parameters of the pipeline section at both ends of the axis at the initial time, and obtains a 3D free bending that combines 3D geometric information and time domain related information. The point cloud of the pipeline surface and its geometric parameters; the point cloud of the pipeline surface is reconstructed according to the geometric model and iteratively optimized to complete the pipeline point cloud in the original scene. The invention has the characteristics of high calculation efficiency and resistance to point cloud noise.

Description

technical field [0001] The invention relates to a feature detection and point cloud completion method of a free-bending pipeline facing a three-dimensional point cloud of a large scene, belonging to the field of industrial vision, in particular to the field of three-dimensional vision. Background technique [0002] In the field of industrial manufacturing and assembly, it is often faced with large-scale operation objects, such as aeroengines. The surface structure of the airframe is complex, and the types and quantities of parts are numerous and densely distributed. Each part plays an important role in the operation quality and safety of the airframe. The pipeline is an important part of the aero-engine. It is densely and staggeredly distributed in the aero-engine body. It mainly transports media such as oil and gas for the engine and the aircraft to ensure the stable operation of the engine. [0003] Due to the influence of temperature and pressure in the operating environ...

AI Technical Summary

Problems solved by technology

[0005] The technology of the present invention solves the problem: Aiming at the detection of three-dimensional free-bending pipelines on the body surface of industrial large-scale manufacturing parts, a large-scene free-bending pipeline detection and point cloud completion method with four-dimensional perception in time-space domain is provided, which can be adapted to be distributed in Pipelines with different thickness and bending degrees in complex large scenes can overcome the pipeline partition caused by pipeline connectors, realize the complete detection of multiple pipelines and complete the pipeline point cloud

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