CN114281022A - Method and system for calculating error of pipeline control point - Google Patents
Method and system for calculating error of pipeline control point Download PDFInfo
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Abstract
The invention discloses a method for calculating errors of control points of a pipeline, which comprises the following steps: s1, reading coordinates of an end point and a node of the pipeline under a measurement coordinate system M, and initializing a coordinate Ps _ M of the clamp point under the measurement coordinate system M; s2, calculating a pose transformation system matrix T _ M _ C and a registration error of the measurement coordinate system M relative to the design coordinate system C based on the coordinates of all control points of the pipeline under the design coordinate system C and the measurement coordinate system M; s3, finding a clamp point Ps _ M which is most matched with a clamp point Qs _ C in a design coordinate system C in the measurement coordinate system M, and updating a coordinate Ps _ M of the clamp point under the measurement coordinate system M; and S4, detecting whether the difference value of the current registration error and the last matching error is larger than an error change threshold value, if so, executing the step S2, and if not, calculating the measurement errors of all the control points. The existing pipeline measuring equipment can realize the calculation and error evaluation of all control points of the pipeline.
Description
Technical Field
The invention belongs to the technical field of pipeline measurement, and particularly relates to a method and a system for calculating errors of a pipeline control point.
Background
The pipeline is an important component of electromechanical products in the industries of automobiles, ships, aerospace and the like, and a pipeline system takes fluids such as gas, liquid and the like as working media to realize the functions of running, controlling, manipulating and the like of the products. The reasonable layout design, the accurate manufacture and the reliable construction of the pipeline are directly related to the quality, the reliability and the service life of the electromechanical product. The production and processing of the pipeline mainly adopt manual or numerical control processing of the pipe bender, and the pipe bending and forming are a complex process integrating material nonlinearity, geometric nonlinearity and boundary condition nonlinearity, and the influence factors of the process are very complex, so that the pipeline forming quality is difficult to control, quality defects such as springback of the pipe after bending and forming are easily caused, and a large shape error exists between the formed pipeline and the design requirement.
The assembly precision of the pipeline has an extremely important influence on the overall service performance of the equipment, and the main factor influencing the assembly precision of the pipeline is the shape error of the pipeline. On the design drawing of the pipeline, the shape error control of the pipeline is mainly controlled by the tolerance of a pipeline control point. Control points for a pipeline generally include three types: one is that the pipeline end points, such as the starting point and the end point of the pipeline, are usually provided with nuts, sealing elements and the like at the control points, and are used for directly connecting the pipeline with external equipment, the tolerance of the end points is minimum, and if the typical value of the tolerance of the end points of the automobile brake pipe is 1.0mm, serious problems such as transmission medium leakage, pressure drop and the like easily occur when the position error of the pipeline end points is too large; the other is a clamping point, the clamping point of the pipeline is mainly matched with external equipment, so that the pipeline is fixed on the external equipment to prevent the pipeline from swinging in the use process, and the typical tolerance value of the clamping point is 1.5mm for an automobile brake pipe; and the third is a pipeline node, namely a virtual intersection point between the axes of two adjacent cylindrical sections of the pipeline, the tolerance setting of the control points is large, and the typical value of the tolerance is 2.0mm for the automobile brake pipe. As shown in fig. 1, in a certain pipeline design drawing, a control point 1 and a control point 15 are pipeline end points, control points 2 to 14 are pipeline nodes, and control points befp.1 to befp.4 are pipeline clamp points. In the processing process of the pipeline, the qualified pipeline can be produced by setting proper bend technological parameters and ensuring the positioning error of the pipeline control point within the design tolerance range.
However, in the process of mass production of pipelines, the forming quality of the pipelines fluctuates due to the changes of the performance of the pipe bender, the components of the pipes and the like, so the forming quality of the pipelines needs to be detected in the process of pipeline production. At present, the measurement of the space geometric shape after the pipeline is machined and formed at home and abroad is mainly carried out by adopting a robot measuring machine, a three-dimensional surface structure optical sensor is integrated at the tail end of an industrial robot to form a flexible measuring system, the flexible measuring system has the remarkable advantages of high measuring precision and wide measuring range, the pipeline end points and the nodes can be solved by measuring the axes of all cylindrical sections of the pipeline in a non-contact manner, and the quantitative measurement of the pipeline end points and the nodes can be realized. Compared with qualitative measurement, quantitative measurement can give out specific numerical values of errors and guide adjustment of process parameters of pipe bending machines, and is gradually becoming the mainstream measurement means of pipeline production enterprises. The existing quantitative measurement method mainly measures the end point and the middle node of a pipeline, aligns the end point and the middle node with a pipeline design drawing, and calculates the error between the end point and the node of the pipeline; for a cylindrical section of a pipeline with a clamp point, the clamp point has no obvious geometric characteristics on the pipeline, so that the measurement of the clamp point and the calculation of an error of the clamp point cannot be realized.
Disclosure of Invention
The invention provides a method for calculating errors of a pipeline control point, aiming at solving the problems.
The invention is realized in this way, a method for calculating the error of a control point of a pipeline, which specifically comprises the following steps:
s1, reading coordinates of an end point and a node of the pipeline under a measurement coordinate system M, and initializing a coordinate Ps _ M of the clamp point under the measurement coordinate system M;
s2, calculating a pose matrix T _ M _ C and a registration error of the measurement coordinate system M relative to the design coordinate system C based on the coordinates of all control points of the pipeline under the design coordinate system C and the measurement coordinate system M;
s3, finding and designing a clamping point Q in a coordinate system C in a measurement coordinate system MsC most matched clamp point PsM, updating the clamp point under the measurement coordinate system MCoordinate P ofs_M；
And S4, detecting whether the difference value of the current registration error and the last registration error is larger than an error change threshold value, if so, executing the step S2, and if not, calculating the measurement errors of all the control points.
Further, the initialization method of the clamp point coordinates Ps _ M is specifically as follows:
obtaining a clamp point Q in a design coordinate system CsTwo-end adjacent node Qn、QmCalculating node QnTo the point of clamping QsDistance d of1And a clamp point QsTo node QmDistance d of2Obtaining the distance d1And a distance d2The ratio a of (A);
obtaining a clamp point P in a measurement coordinate system MsAdjacent node P of two endsn、PmDetermining a clamp point P based on the ratio asAt node PnNode PmAt the position of the line segment, i.e. the point of clamping PsCoordinates P in the measurement coordinate system Ms_M。
Further, the pose matrix T _ M _ C is obtained by the following specific method:
initializing weights W of all control points of the pipeline, inputting coordinates and control point weights W of all control points of the pipeline under a design coordinate system C and a measurement coordinate system M into a point set weight rigid body registration algorithm, and acquiring a pose matrix T _ M _ C of the design coordinate system M relative to the measurement coordinate system C;
the weight of a control point is inversely proportional to the drawing tolerance of the corresponding point.
Further, the method for updating the clamp point coordinates Ps _ M specifically includes:
will measure the adjacent nodes P at the two ends of the clamp point in the coordinate system Mn_M、PmConverting the M to the design coordinate system C to obtain Pn_C、PmC is in Pn_C、PmSearching a hoop point Q in the design coordinate system C from a straight line segment where-C is locatedsC nearest point PsC, point PsC is converted into a measurement coordinate system M to obtain PsM is the updated clamp point coordinate Ps_M。
Further, the method for calculating the measurement error of the control point specifically comprises the following steps:
the currently updated clamp point coordinate PsTaking the _Mas the coordinate of the clamp point in the current measurement coordinate system, acquiring a pose matrix T _ M _ C of the measurement coordinate system M relative to the design coordinate system C based on the step S2, converting all control points P _ M in the measurement coordinate system into the design coordinate system based on the pose matrix T _ M _ C, and acquiring a coordinate P _ C, wherein the coordinate error accumulation between the P _ C and the Q _ C is the measurement error of all the control points;
wherein Q _ C represents the coordinates of the control point Q in the pipeline in the design coordinate system C, and P _ M represents the coordinates of the control point P in the pipeline in the measurement coordinate system M.
The invention is thus embodied, a system for calculating a pipeline control point error, the system comprising:
the pipeline measuring equipment is used for measuring the coordinates of the pipeline end points and the nodes in the measuring coordinate system and sending the coordinates to the processing unit;
the storage unit stores a pipeline design drawing and the coordinates of the pipeline control points in a design coordinate system;
and the processing unit is used for calculating the coordinates of the clamp point in the measurement coordinate system based on the pipeline control point error calculation method so as to obtain the measurement error of the pipeline control point.
The method can realize the calculation and error evaluation of all control points of the pipeline based on the existing pipeline measuring equipment, and then, the method sets the registration weight, so that the measurement error of the control points with high tolerance requirement of the pipeline can be properly reduced, the error of the control points with low tolerance requirement of the pipeline can be properly amplified, and the probability of misjudgment of qualified pipelines can be reduced.
Drawings
Fig. 1 is a schematic diagram of control point distribution of a pipeline according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calculating a measurement error of a control point of a pipeline according to an embodiment of the present invention;
fig. 3 is a schematic diagram of distribution of control points of a portion of pipelines in a design coordinate system and a measurement coordinate system according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The pipeline control point includes: end points, nodes and clamp points, the control points being represented by the character Q in the design coordinate system C, by the character P in the measurement coordinate system M, e.g. the ith control point in a pipeline, and by Q in the design coordinate system CiIs represented by the coordinate QiC, with P in the measurement coordinate system MiIs shown with the coordinate PiM, assuming that the pose matrix of the measurement coordinate system M relative to the design coordinate system C is T _ M _ C, then P will beiM to P for coordinates obtained in the design coordinate System CiAnd _Crepresents that the pose matrix of the design coordinate system C relative to the measurement coordinate system M is T _ C _ M, and the pose matrix is T _ C _ M which is the inverse matrix of the pose matrix T _ M _ C.
Fig. 2 is a flowchart of a method for calculating a measurement error of a control point of a pipeline according to an embodiment of the present invention, where the method specifically includes the following steps:
s1, reading the coordinates of the end point and the node of the pipeline under the measurement coordinate system M, and initializing the coordinate P of the clamp point under the measurement coordinate system Ms_M；
In an embodiment of the invention, the coordinates P of the clamp point in the measurement coordinate system MsThe initialization method of _Mis as follows:
obtaining a clamp point Q in a design coordinate system CsTwo-end adjacent node Qn、QmCalculating node Qn to clamp point QsDistance d of1And a clamp point QsTo node QmDistance d of2Obtaining the distance d1And a distance d2The ratio a of (A);
obtaining a clamp point P in a measurement coordinate system MsAdjacent node P of two endsn、PmDetermining a clamp point P based on the ratio asAt node PnNode PmLine segment of the positionIn a position of, i.e. the point of clamping PsCoordinates P in the measurement coordinate system Ms_M。
S2, calculating a pose matrix T _ M _ C and a registration error e of the measurement coordinate system M relative to the design coordinate system C based on the coordinates of all the control points of the pipeline under the design coordinate system C and the measurement coordinate system M;
in the embodiment of the present invention, the method for acquiring the pose matrix T _ M _ C specifically includes:
initializing weights W of all control points of the pipeline, inputting coordinates of all control points of the pipeline under a design coordinate system C and a measurement coordinate system M and the weights W of the control points into a point set weight rigid body registration algorithm, and acquiring a pose matrix T _ M _ C of the design coordinate system M relative to the measurement coordinate system C, wherein the weights of the control points are in inverse proportion to drawing tolerances of corresponding points, and the drawing tolerances of different types of control points are different.
Coordinate P of all control points of the pipeline under a measurement coordinate system M based on a pose matrix T _ M _ CiConverting M to a designed coordinate system C to obtain a coordinate PiC, coordinate PiC and coordinate QiThe cumulative distance deviation of C is the registration error e.
S3, finding and designing a clamping point Q in a coordinate system C in a measurement coordinate system MsC most matched clamp point PsM, i.e. updating the coordinates P of the clamp point in the measuring coordinate system Ms_M；
In the embodiment of the invention, the clamp point has the coordinate P under the measurement coordinate system MsThe updating method of _Mis specifically as follows:
will measure the adjacent nodes P at the two ends of the clamp point in the coordinate system Mn_M、PmConverting the M to the design coordinate system C to obtain Pn_C、PmC is in Pn_C、PmSearching a hoop point Q in the design coordinate system C from a straight line segment where-C is locatedsC nearest point PsC, point PsC is converted into a measurement coordinate system to obtain Ps_M。
And S4, detecting whether the difference value between the current registration error e and the last registration error is larger than an error change threshold value, if so, executing the step S2, and if not, calculating the measurement errors of all the control points.
In the embodiment of the present invention, the method for calculating the measurement error specifically includes:
the currently updated clamp point coordinate PsTaking _Mas the coordinates of the current clamp point in the measurement coordinate system, acquiring a pose matrix T _ M _ C of the measurement coordinate system M relative to the design coordinate system C based on the step S2, converting all control points P _ M in the measurement coordinate system into the design coordinate system based on the pose matrix T _ M _ C, and obtaining P _ C, wherein the coordinate error accumulation between P _ C and Q _ C is the measurement error of all control points, and the measurement error can be understood as the convergence value of the registration error e.
The invention also provides a system for calculating the error of the control point of the pipeline, which comprises:
the pipeline measuring equipment is used for measuring the coordinates of the pipeline end points and the nodes in the measuring coordinate system and sending the coordinates to the processing unit;
the storage unit stores a pipeline design drawing and the coordinates of the pipeline control points in a design coordinate system;
and the processing unit is used for calculating the coordinates of the clamp point in the measurement coordinate system based on the pipeline control point error calculation method so as to obtain the measurement error of the pipeline control point.
The invention specifically describes the method for calculating the measurement error of the pipeline control point by combining with fig. 3, and the description is as follows:
endpoint Q1C and Q5C is the position of the center of the end of the pipeline in the design coordinate system C, and the node Q2C and Q4C is the intersection point of the axes of the adjacent cylindrical sections and a clamping point Q3C is located somewhere on the 2 nd segment cylindrical segment axis, and under the design coordinate system C, these 5 control points have definite three-dimensional coordinates and position tolerance requirements. The endpoint P may be measured by a line measurement device (e.g., the line measurement device of patent application No. 201610580132.5, or other line quantitative measurement device)1M and P5M, node P2M and P4M, but the clamp point cannot be directly measured because no obvious geometric characteristics exist on the cylindrical section of the pipeline; in addition, measureControl point P for measuring equipment1、P2、P4And P5In the measurement coordinate system M, the error of the control point cannot be directly compared with the design coordinate system, and the control point must be aligned by registration, the measurement control point is converted into the design coordinate system C, and then the error of the control point is calculated.
Step 1: and (5) initializing. 1) Initialization clip point P3M coordinates, P needs to be given before iterative registration calculation3An initial coordinate of M, where an initialization method is provided, i.e. the clamp point Q on the design drawing3C to node Q2Distance of _ C and node Q2C and Q4C, presuming a clamp point P3Coordinates of _ M such that P3M to P2Distance of _ M and P2M to P4The distance ratio of _Mis equal to the above ratio, and then P can be obtained3An initial value of _M. And secondly, initializing the weights W of all the control points, wherein the weights of all the control points are inversely proportional to the drawing tolerance of the control points, namely the smaller the drawing tolerance is, the larger the weight setting is, the better the setting is compared with the equal weight setting, and the control points with smaller tolerance have smaller errors after registration alignment. Third, a maximum allowable registration error change threshold E is initialized.
Step 2: and (5) registering, and calculating registration errors. Initialization of the Clamp Point P by step 13After the coordinates of M, all the 5 control point coordinates P under the measurement coordinate system M are obtained1_M～P5M, obtaining the weight W of 5 control points through the step 1; reading coordinates Q of 5 control points in the design coordinate system C1_C～Q5And C, calculating a pose matrix T _ M _ C of the measurement coordinate system M relative to the design coordinate system C and a registration error e through a point set weight rigid body registration algorithm.
And step 3: renewing the dog point P3M. According to the pose matrix T _ M _ C between the measurement coordinate system M and the design coordinate system C calculated in the step 2, the control point P under the measurement coordinate system M is used2M and P4Converting M to a design coordinate system C to obtain P2C and P4C, at this time, is at a temperature of from P2C and P4Linear segment of C compositionNovel clip point P3C makes it apart from the clamp point Q of the design coordinate system3C is closest to C, and finally, a clamp point P under a coordinate system is designed3C rotates to the position coordinate system M according to the pose matrix T _ M _ C calculated in the step 2 to obtain the clamp point coordinate P in the measurement coordinate system M3_M。
And 4, step 4: calculating the variation of the current registration error and the last registration error, if the variation of the registration error is smaller than a set variation threshold E, exiting the iteration loop, otherwise continuing the iteration, namely turning to the step 2, and calculating the clamp point P according to the step 33M, reuse P1_M～P5_M、Q1_C～Q5C and the weight W are used for carrying out registration and registration error calculation;
and 5: and calculating the control point error. Coordinate P of clamp point at the end of cycle3M as measurement P of the Clamp Point3M, again according to the control point coordinate P in the measurement coordinate system M1_M～P5M, control point weight W and control point coordinate Q under design coordinate system C1_C～Q5C, calculating a final pose matrix T _ M _ C of the measurement coordinate system M relative to the design coordinate system C, and measuring a control point P under the coordinate system M1_M～P5Converting the M value to a design coordinate system C to obtain a control point P1_C～P5C, calculating P1C and Q1Coordinate error between C as control point P1And the like to calculate the error of all other control points.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (6)
1. A method for calculating an error of a control point of a pipeline is characterized by comprising the following steps:
s1, reading coordinates of an end point and a node of the pipeline under a measurement coordinate system M, and initializing a coordinate Ps _ M of the clamp point under the measurement coordinate system M;
s2, calculating a pose matrix T _ M _ C and a registration error of the measurement coordinate system M relative to the design coordinate system C based on the coordinates of all control points of the pipeline under the design coordinate system C and the measurement coordinate system M;
s3, finding and designing a clamping point Q in a coordinate system C in a measurement coordinate system MsC most matched clamp point PsM, updating the coordinate P of the clamp point in the measurement coordinate system Ms_M；
And S4, detecting whether the difference value of the current registration error and the last registration error is larger than an error change threshold value, if so, executing the step S2, and if not, calculating the measurement errors of all the control points.
2. The method for calculating the error of the control point of the pipeline according to claim 1, wherein the initialization method of the clamp point coordinates Ps _ M is as follows:
obtaining a clamp point Q in a design coordinate system CsTwo-end adjacent node Qn、QmCalculating node QnTo the point of clamping QsDistance d of1And a clamp point QsTo node QmDistance d of2Obtaining the distance d1And a distance d2The ratio a of (A);
obtaining a clamp point P in a measurement coordinate system MsAdjacent node P of two endsn、PmDetermining a clamp point P based on the ratio asAt node PnNode PmAt the position of the line segment, i.e. the point of clamping PsCoordinates P in the measurement coordinate system Ms_M。
3. The pipeline control point error calculation method of claim 1, wherein the pose matrix T _ M _ C is obtained by the following method:
initializing weights W of all control points of the pipeline, inputting coordinates and control point weights W of all control points of the pipeline under a design coordinate system C and a measurement coordinate system M into a point set weight rigid body registration algorithm, and acquiring a pose matrix T _ M _ C of the design coordinate system M relative to the measurement coordinate system C;
the weight of a control point is inversely proportional to the drawing tolerance of the corresponding point.
4. The method for calculating the error of the control point of the pipeline according to claim 1, wherein the clamp point coordinates Ps _ M are updated as follows:
will measure the adjacent nodes P at the two ends of the clamp point in the coordinate system Mn_M、PmConverting the M to the design coordinate system C to obtain Pn_C、PmC is in Pn_C、PmSearching a hoop point Q in the design coordinate system C from a straight line segment where-C is locatedsC nearest point PsC, point PsC is converted into a measurement coordinate system M to obtain PsM is the updated clamp point coordinate Ps_M。
5. The method for calculating the error of the control point of the pipeline according to claim 1, wherein the method for calculating the measurement error of the control point comprises the following steps:
the currently updated clamp point coordinate PsTaking the _Mas the coordinate of the clamp point in the current measurement coordinate system, acquiring a pose matrix T _ M _ C of the measurement coordinate system M relative to the design coordinate system C based on the step S2, converting all control points P _ M in the measurement coordinate system into the design coordinate system based on the pose matrix T _ M _ C, and acquiring a coordinate P _ C, wherein the coordinate error accumulation between the P _ C and the Q _ C is the measurement error of all the control points;
wherein Q _ C represents the coordinates of the control point Q in the pipeline in the design coordinate system C, and P _ M represents the coordinates of the control point P in the pipeline in the measurement coordinate system M.
6. A pipeline control point error calculation system, the system comprising:
the pipeline measuring equipment is used for measuring the coordinates of the pipeline end points and the nodes in the measuring coordinate system and sending the coordinates to the processing unit;
the storage unit stores a pipeline design drawing and the coordinates of the pipeline control points in a design coordinate system;
the processing unit calculates coordinates of the clamp point in a measurement coordinate system based on the pipeline control point error calculation method of any one of claims 1 to 5, and further obtains a measurement error of the pipeline control point.
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