Method for automated flushness measurement of point cloud rivets

Abstract

A method for automated flushness measurement of point cloud rivets, including: extracting a rivet outline by adopting an RANSAC circle fitting algorithm, and determining a center, a radius and a normal vector of an outline circle; extracting point cloud of a rivet head for a single rivet outline; extracting point cloud around the rivet for the single rivet outline; and generating a distance color difference map reflecting rivet flushness according to the point cloud of the rivet head and the point cloud around the rivet. According to the present invention, the point cloud of the rivet head and the point cloud around the rivet can be respectively extracted, and the distance color difference map reflecting the rivet flushness is generated according to the point cloud of the rivet head and the point cloud around the rivet, so that the rivet flushness is rapidly and effectively measured.

Claims

1. A method for automated flushness measurement of point cloud rivets, the method for automated flushness measurement of point cloud rivets comprising: S1: extracting a rivet outline by adopting an RANSAC circle fitting algorithm, and determining the center, a radius and a normal vector of an outline circle; S2: extracting point cloud of a rivet head for a single rivet outline; S3 extracting point cloud around the rivet for the single rivet outline; and S4: generating a distance color difference map reflecting rivet flushness according to the point cloud of the rivet head and the point cloud around the rivet.

2. The method for automated flushness measurement of point cloud rivets according to claim 1, wherein in the step S2, a process of extracting point cloud of a rivet head for a single rivet outline comprises the following steps: S21: adjusting a radius size to obtain a corrected radius based on the center, the radius and the normal vector of the outline circle and according to priori knowledge of a design radius in a rivet manufacturing standard; S22: constructing an infinite length cylinder according to the center of the circle, the normal vector and the corrected radius, and extracting point cloud surrounded by the cylinder as initial point cloud of the rivet head; S23: fitting out a three-dimensional plane of the rivet head by utilizing an RANSAC-based three-dimensional plane fitting method according to the initial point cloud of the rivet head; and S24: constructing a new infinite length cylinder according to the center of the circle, the corrected radius and a corrected normal vector, and extracting point cloud surrounded by the new cylinder as final point cloud of the rivet head.

3. The method for automated flushness measurement of point cloud rivets according to claim 2, wherein in the step S21, the corrected radius r′ is obtained according to a correcting function as follows:
r′=min.sub.Ri∈S(|r−R.sub.i|) in the formula, S is a rivet manufacturing standard radius set; and r is the fitting radius.

4. The method for automated flushness measurement of point cloud rivets according to claim 2, wherein in the step S22, the infinite length cylinder is constructed according to the center O of the circle, the normal vector {right arrow over (n)} and the corrected radius r′; and the point cloud surrounded by the cylinder is extracted as the initial point cloud P.sub.h0 of the rivet head according to a formula as follows:
P.sub.h0={p∈P∥{right arrow over (p)}−{right arrow over (O)}|<r′} wherein P is original point cloud data; and {right arrow over (O)} is the center of the outline circle.

5. The method for automated flushness measurement of point cloud rivets according to claim 1, wherein in the step S3, a process of extracting point cloud around the rivet for the single rivet outline comprises the following steps: constructing an infinite length cylinder by taking the center of the outline circle as a center and taking a length that is m times of the corrected radius as a radius; and extracting point cloud surrounded by the cylinder except the point cloud of the rivet head as point cloud around the rivet.

6. The method for automated flushness measurement of point cloud rivets according to claim 1, wherein m is equal to 3.

7. The method for automated flushness measurement of point cloud rivets according to claim 1, wherein in the step S4, a process of generating a distance color difference map reflecting rivet flushness according to the point cloud of the rivet head and the point cloud around the rivet comprises the following steps: S41: fitting a three-dimensional plane of the point cloud around the rivet as a surrounding plane by adopting an RANSAC-based three-dimensional plane fitting method, and determining a normal vector of the surrounding plane; S42: calculating a distance from the point cloud of the rivet head to the surrounding plane; and S43: associating the distance with a color ratio, and generating the distance color difference map.

8. The method for automated flushness measurement of point cloud rivets according to claim 7, wherein in the step S41, the three-dimensional plane of the point cloud P.sub.s around the rivet is fitted as the surrounding plane by adopting the RANSAC-based three-dimensional plane fitting method; the normal vector {right arrow over (n)}.sub.s of the plane and a French point plan equation P.sub.1(P.sub.0,{right arrow over (n)}.sub.s):{right arrow over (n)}.sub.s.sub.x(X−p.sub.0.sub.x)+{right arrow over (n)}.sub.s.sub.y(Y−p.sub.0.sub.y)+{right arrow over (n)}.sub.s.sub.z(Z−p.sub.0.sub.z)=0 are determined, wherein p.sub.0 is a mean point of the point cloud P.sub.s around the rivet.

9. The method for automated flushness measurement of point cloud rivets according to claim 8, wherein in the step S42, the distance d from the point cloud of the rivet head to the surrounding plane is calculated by adopting a formula as follows:
d=|Prj.sub.n{right arrow over (phl.sub.ip.sub.0)}| wherein phl.sub.i is the ith point in the point cloud P.sub.h1 of the rivet head; and Prj.sub.na represents a projected vector of a in a direction of the normal vector {right arrow over (n)}.sub.s.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Drawings are not intended to be drawn according to a proportion. In the drawings, each identical or approximately identical component shown in each figure may be represented by the same label. For clarity, in each figure, not all the components are labeled. Now, various embodiments of the present invention will be described through examples and with reference to the drawings.

(2) FIG. 1 is a flow chart of a method for automated flushness measurement of rivets according to embodiments of the present invention:

(3) FIG. 2 is a schematic diagram of a point cloud image of rivets on airplane skin obtained by a three-dimensional scanning technology according to embodiments of the present invention;

(4) FIG. 3 is a flow chart of a method for extracting point cloud of a rivet head according to embodiments of the present invention;

(5) FIG. 4 is a flow chart of a method for generating a distance color difference map reflecting rivet flushness according to embodiments of the present invention: and

(6) FIG. 5 is a diagram of an outline extraction result of a rivet head according to embodiments of the present invention.

DETAILED DESCRIPTION OF THE PRESENT INVENTION

(7) In order to well understand technical contents of the present invention, the present invention is described below by illustrating specific embodiments and with reference to the drawings.

(8) In order to solve a problem that rivet flushness cannot be quantitatively measured in the prior art, the present invention provides a method for automated flushness measurement of point cloud rivets. FIG. 1 shows an optional flow chart of the automatic measurement method. Referring to FIG. 1, the measurement method includes the following steps:

(9) S1: extracting a rivet outline by adopting an RANSAC circle fitting algorithm, and determining a center, a radius and a normal vector of an outline circle;

(10) S2: extracting point cloud of a rivet head according to a single rivet outline;

(11) S3: extracting point cloud around the rivet according to the single rivet outline; and

(12) S4: generating a distance color difference map reflecting rivet flushness according to the point cloud of the rivet head and the point cloud around the rivet.

(13) Through technical solutions of the present invention, the rivet flushness can be visually represented. The rivet flushness is determined by virtue of calculation of a point cloud data set, thereby judging riveting quality of airplane skin. The measuring method in the present application is simple, convenient to realize and high in measurement accuracy. FIG. 2 shows a point cloud map of rivets on airplane skin acquired by a three-dimensional scanning technology. Referring to FIG. 2, a circular outline of the rivet may be clearly identified in the point cloud map according to point cloud distribution density.

(14) In a possible embodiment, the step S1 includes:

(15) extracting a rivet outline by adopting an RANSAC circle fitting algorithm having a threshold bandwidth of 0.5 mm and determining a circle enter O coordinate (146.044860839844, 63.193256378174, −61.237236022949), a radius r (4.05 mm) and a normal vector {right arrow over (n)} (0.033267, 0.613552, 0.788953) of the outline circle.

(16) In a possible embodiment, in combination with FIG. 3, the step S2 includes:

(17) S21: adjusting the radius size to obtain a corrected radius r′ (4.00 mm) based on the center O, the radius r and the normal vector {right arrow over (n)} of the outline circle and according to priori knowledge of a fixed radius in a rivet manufacturing standard, wherein a correcting function is as follows:
r′=min.sub.Ri∈S(|r−R.sub.i|)  (4)

(18) wherein S is a rivet manufacturing standard radius set; and r is the fitting radius.

(19) S22: constructing an infinite length cylinder according to the center O of the circle, the normal vector {right arrow over (n)} and the corrected radius r′, and extracting point cloud surrounded by the cylinder as initial point cloud P.sub.h0 of the rivet head:
P.sub.h0=({p∈P∥{right arrow over (p)}−{right arrow over (O)}|<r′}  (5)

(20) wherein P is original point cloud data; and {right arrow over (O)} is the center of the outline circle.

(21) S23: fitting out a three-dimensional plane of the rivet head by utilizing an RANSAC-based three-dimensional plane fitting method according to the initial point cloud of the rivet head, thereby obtaining a normal vector of the plane as a corrected normal vector {right arrow over (n)}′ (0.028, 0.059, 0.810), wherein a correction angle is about 3°.

(22) S24: constructing a new infinite length cylinder according to the center O of the circle, the corrected radius r′ and the corrected normal vector {right arrow over (n)}′, and extracting point cloud surrounded by the new cylinder as final point cloud P.sub.h1 of the rivet head according to (5).

(23) In a possible embodiment, the step S3 includes:

(24) constructing an infinite length cylinder by taking the center O of the outline circle as a center and taking a length that is 3 times of the corrected radius r′ as a radius; and extracting point cloud surrounded by the cylinder except the point cloud of the rivet head as point cloud P.sub.s around the rivet.

(25) In a possible embodiment, referring to FIG. 4, the step S4 includes:

(26) S41: fitting a three-dimensional plane of the point cloud P.sub.s around the rivet as a surrounding plane by adopting an RANSAC-based three-dimensional plane fitting method (having a threshold bandwidth of 1 mm), and determining a normal vector {right arrow over (n)} of the plane and a plane equation P.sub.1: {right arrow over (PP)}o.Math.{right arrow over (n.sub.s)}=0, wherein p.sub.0 is a mean point of the point cloud P.sub.s around the rivet;

(27) S42: calculating a distance d from the point cloud of the rivet head to the surrounding plane:
d=|Prj.sub.n{right arrow over (phl.sub.ip.sub.0)}|  (6)

(28) wherein phl.sub.i is the ith point in the point cloud P.sub.h1 of the rivet head.

(29) S43: associating the distance with a color ratio, and generating the distance color difference map, wherein a distance interval is [0.00, 0.30].

(30) In the present invention, various aspects of the present invention are described with reference to the drawings. Many described embodiments are illustrated in the drawings. The embodiments of the present invention should not be defined in all the aspects including the present invention. It should be understood that, multiple concepts and embodiments introduced above and those concepts and embodiments described below in detail may be implemented in any of manners because the concepts and the embodiments disclosed by the present invention are not limited to any embodiment. In addition, some aspects disclosed by the present invention may be used alone, or be optionally appropriately combined with other aspects disclosed by the present invention for use.

(31) Although the present invention has been disclosed above through preferred embodiments, the embodiments are not used for limiting the present invention. Various changes and modifications may be made by those skilled in the art in the present invention without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be defined by the claims.