基于点云数据的管路几何特征统一自动提取方法及应用

doi:10.11996/JG.j.2095-302X.2026040812

摘要/Abstract

摘要：

针对管路产品在制造过程中上游设计数据格式不统一，无法高效获取关键几何特征完成精准加工与装配的问题，提出一种将不同格式管路数模转换为点云数据后统一自动提取关键几何特征的方法。首先，将不同格式的管路设计模型点云化，与实物扫描模型完成数据统一；其次，设计基于边界提取与点云分割的方法获得模型中的边界圆特征，并优化中心点坐标与半径参数；最后根据边界圆尺寸自适应调整后续点云处理算法中的阈值参数，通过区域生长与局部中值迭代提取出管路模型骨架，并结合圆柱分割完成优化，输出轴线特征参数。实验结果表明，相较于普通的骨架生成与几何分割算法，该设计的特征提取方法具有更广泛地应用范围与相对较高的精度，针对具有多个分支的管路设计模型与质量较差的点云模型均能提取出完整的关键几何特征，满足航空管路的焊前装配中工装控制命令解算的精度需求。

关键词: 管路装配, 点云, 数据格式转换, 特征提取, 轴线生成

Abstract:

To address the issue that upstream design data formats in the manufacturing process of pipeline products are inconsistent, making it difficult to efficiently extract key geometric features for precise processing and assembly, a method was proposed that converted pipeline models in different formats into point-cloud data and then uniformly extracted key geometric features. First, design models in various formats were converted into point clouds to unify the data with physically scanned models. Second, a method based on boundary extraction and point-cloud segmentation was designed to obtain the boundary-circle features in the model, and the center point coordinates and radius parameters were optimized. Finally, the threshold parameters in the subsequent point-cloud processing algorithm were adaptively adjusted according to the size of the boundary circle. The pipeline model skeleton was extracted through region growing and local median iteration, and the optimization was completed in combination with cylindrical segmentation to output the axis feature parameters. Experimental results showed that compared with common skeleton-generation and geometric-segmentation algorithms, the proposed feature-extraction scheme had a wider range of applications and relatively higher accuracy. It could extract complete key geometric features from both pipeline design models with multiple branches and low-quality point-cloud models, meeting the precision requirements for calculating tooling-control commands in aviation pipeline pre-welding assembly.

Key words: pipeline assembly, point cloud, data format conversion, feature extraction, axis generation

中图分类号:

TP391

张智博, 郑联语. 基于点云数据的管路几何特征统一自动提取方法及应用[J]. 图学学报, 2026, 47(4): 812-819.

ZHANG Zhibo, ZHENG Lianyu. Unified automatic extraction method for pipeline geometric features based on point cloud data and its application[J]. Journal of Graphics, 2026, 47(4): 812-819.

图/表 16

图1 管路模型统一自动特征提取流程

Fig. 1 Unified feature extraction process for pipeline models

图2 CAD模型数据转换流程((a) CATIA设计模型；(b) STL模型；(c) 采样点云模型；(d) 滤波后点云模型)

Fig. 2 CAD model data conversion process ((a) CATIA design model; (b) STL model; (c) Sampled point cloud; (d) Filtered point cloud)

图3 边界圆提取流程

Fig. 3 Boundary circle extraction process

图4 边界圆提取结果(1~4：设计模型转换；5~8：扫描模型)

Fig. 4 Boundary circle extraction results (1-4: Converted from design models; 5-8: Scanned models)

图5 普通L1中值法生成的轴线点及插补轴线

Fig. 5 Axis points generated by ordinary L1 median method and interpolated axis

图6 管路模型区域生长分割结果与主体轴线

Fig. 6 Region growing segmentation results and main axis of pipeline model

图7 部分感知所补全的管路轴线

Fig. 7 Pipeline axis completed by part-aware

图8 RANSAC分割出的圆柱点集

Fig. 8 Cylindrical point cloud segmented by RANSAC

图9 改进圆柱分割方法的柱段轴线提取结果

Fig. 9 Axis extraction results of cylindrical segments by improved cylinder segmentation method

图10 管路轴线提取全流程

Fig. 10 Axis extraction process of pipeline

图11 不同管路模型轴线提取结果

Fig. 11 Axis extraction results of different pipeline models

图12 特殊管路模型轴线提取结果

Fig. 12 Axis extraction results of special pipeline models

图13 边界圆特征参数误差((a) 距离误差；(b) 角度误差)

Fig. 13 Boundary circle feature parameter errors ((a) Distance error; (b) Angular error)

表1 轴线点距离误差/mm

Table 1 Points of axis distance errors/mm

序号	提取算法	平均误差	极误差值	均方根误差
1	圆柱分割插补	3.158	24.133/0.638	4.571
1	L1中值骨架	4.955	19.330/1.104	4.620
1	改进方法	3.412	7.196/0.147	2.247
3	圆柱分割插补	3.110	10.128/0.586	2.015
3	L1中值骨架	4.350	8.926/1.261	2.374
3	改进方法	3.002	6.931/0.654	1.962

图14 仿真验证与现场应用

Fig. 14 Simulation verification and field application

表2 仿真试验定位误差

Table 2 Simulation positioning error

管路序号	支撑位置	距离误差/mm	角度误差/(°)
1	管接头1	1.902	0
1	管接头2	0.698	0.513
1	管接头3	0.411	0.412
1	直管段1中心	1.214	0.725
1	直管段2中心	1.627	0.818
3	管接头1	1.154	0.106
3	管接头2	0.800	0.073
3	直管段1中心	1.541	0.701
3	直管段2中心	1.711	0.418

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