叶片数字化检测中的模型配准技术及应用研究
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摘要
配准技术是当今数字化检测领域的一项关键基础技术，最早出现于医疗诊断和图像处理领域，目前已在无损检测、逆向工程、虚拟现实、机器人和柔性装配等领域得到广泛应用。模型配准是实现零件检测、模型评估、误差分析以及数据拼合等的前提条件。模型配准的精度和速度是衡量其有效性的两个主要指标。因此，快速精确配准问题的研究对提高数字化检测精度和效率、促进相关领域的发展具有重要的理论意义和工程应用价值。
针对这一问题，本文结合航空发动机的涡轮叶片类零件的加工定位、无损检测以及无损评价的应用需求，研究了轮廓控制点优化提取问题、基于约束区域的配准算法、配准过程中的加速算法、匹配偏差模型建立方法等关键技术，并开发了相应的软件原型系统。论文的主要研究内容和成果如下：
(1) 针对轮廓线控制点的优化提取问题，从形状理论和估计理论出发，提出二次提取法来进行优化提取。该方法与均匀取点法和多边形逼近法相比，能够有效地提取叶片轮廓中的典型特征部分(例如前缘和后缘)，克服了传统算法丢失部分特征点的缺点；同时有效地消除了数据冗余问题；最后通过逼近模型评估了轮廓控制点与原始形状的逼近性。通过二次提取法得到的轮廓控制点有利于提高后续的配准精度与配准速度。
(2) 针对模型配准定位的准确性问题，采用初始配准与精确配准相结合的两步配准策略。其中，初始配准可有效地缩小模型坐标系间的差异，为精确配准作准备。在精确配准阶段，本文提出了约束区域的概念以及基于约束区域的配准算法。该算法综合运用多种优化算法，巧妙地将六元优化问题降元为三元优化问题；在引入约束区域权因子基础上，提出了一种“双目标函数”优化策略；并提出了一种匹配结果的确定性分析方法，从而实现精确配准。实验表明：该算法配准精度明显优于经典的配准算法，并具有很高的适用性，对于复杂模型的二、三维配准都能取得良好效果。
(3) 针对模型配准过程的实时性问题，在基于约束区域的配准算法基础上，提出了两种配准过程加速方法。首先，根据配准方法在搜索过程中的特点，提出了改进的迭代方向加速算法。该算法在加快配准过程的同时，保证了配准结果的稳定性。其次，针对基于约束区域的配准算法中最耗时的求距离计算过程，提出了基于线性八叉树的参考球法；并在算法的实现中，采用快速查找线性八叉树邻域节点的相关规则。该算法在数据点集、三角面片集以及线性八叉树之间建立起对应关系，通过参考球去除掉不必要考虑的三角面片，有效地解决了配准过程中快速求取距离的问题。最后，将两种加速方法有机结合，在不影响配准精度的条件下，取得2倍的配准加速比，有效地提高了配准速度。
Model registration is an key technique in digital measurement field. Registration appeared firstly in the medical diagnosis field and image processing field. It is widely applied to nondestructive testing, reverse engineering, virtual reality, robot and flexible assembly now. It is the precondition of part testing, model evaluation, error analysis and data integration. Registration precision and registration speed are two most important factors to scale validity, thereby fast and accurate registration research has important theory significance and engineering application value in improving digital measurement accuracy and digital measurement efficiency.
Aiming at the problem, the thesis discusses the selection of contour dominant points, the registration algorithm based on restriction region, acceleration algorithms of registration, the establishment of registration error model and other key technologies, moreover, a software prototype system is developed. This will solve the workpiece's localization, nondestructive testing and nondestructive evaluation on the turbine blade of aeroengine. The main research contents and contributions in the thesis are as follows:
(1) According to shape theory and estimation theory, second selection algorithm is put forward in order to extract contour dominant points. Compared with symmetrical extraction algorithm and polygonal approximation algorithm, the algorithm can extract contour's typical character of the blade effectively, for example, leading edge and trailing edge. The algorithm also avoids the traditional algorithm's disadvantage that some characteristic points are lost. Furthermore, redundant data can be removed. At last, approximation attribute between contour dominant points and original shape is evaluated by approximation model. Contour dominant points obtained by second selection algorithm are advantageous to improve the following registration precision and registration speed.
(2) Aiming at accuracy of model registration, it is adopted that initial registration and accuracy registration are combined. Initial registration can reduce the difference between models availably and make preparations for accuracy registration. In the process of accuracy registration, the notion of restriction region and the registration algorithm based on restriction region are proposed. The algorithm integrates the virtues of other registration algorithms and change six variables' optimization to three variables' optimization, then restriction region weight factor is imported and two object functions are proposed, finally confirmation analysis method is proposed and accuracy registration is realized. The experiments show this algorithm has better registration accuracy than traditional registration algorithms, moreover, it has great adaptability and can solve 2D/3D registration well.
(3) Aiming at the real time performance of model registration, the thesis adopts two methods to accelerate the registration for the registration algorithm based on restriction region. Improved iterative directional acceleration algorithm is presented
针对这一问题，本文结合航空发动机的涡轮叶片类零件的加工定位、无损检测以及无损评价的应用需求，研究了轮廓控制点优化提取问题、基于约束区域的配准算法、配准过程中的加速算法、匹配偏差模型建立方法等关键技术，并开发了相应的软件原型系统。论文的主要研究内容和成果如下：
(1) 针对轮廓线控制点的优化提取问题，从形状理论和估计理论出发，提出二次提取法来进行优化提取。该方法与均匀取点法和多边形逼近法相比，能够有效地提取叶片轮廓中的典型特征部分(例如前缘和后缘)，克服了传统算法丢失部分特征点的缺点；同时有效地消除了数据冗余问题；最后通过逼近模型评估了轮廓控制点与原始形状的逼近性。通过二次提取法得到的轮廓控制点有利于提高后续的配准精度与配准速度。
(2) 针对模型配准定位的准确性问题，采用初始配准与精确配准相结合的两步配准策略。其中，初始配准可有效地缩小模型坐标系间的差异，为精确配准作准备。在精确配准阶段，本文提出了约束区域的概念以及基于约束区域的配准算法。该算法综合运用多种优化算法，巧妙地将六元优化问题降元为三元优化问题；在引入约束区域权因子基础上，提出了一种“双目标函数”优化策略；并提出了一种匹配结果的确定性分析方法，从而实现精确配准。实验表明：该算法配准精度明显优于经典的配准算法，并具有很高的适用性，对于复杂模型的二、三维配准都能取得良好效果。
(3) 针对模型配准过程的实时性问题，在基于约束区域的配准算法基础上，提出了两种配准过程加速方法。首先，根据配准方法在搜索过程中的特点，提出了改进的迭代方向加速算法。该算法在加快配准过程的同时，保证了配准结果的稳定性。其次，针对基于约束区域的配准算法中最耗时的求距离计算过程，提出了基于线性八叉树的参考球法；并在算法的实现中，采用快速查找线性八叉树邻域节点的相关规则。该算法在数据点集、三角面片集以及线性八叉树之间建立起对应关系，通过参考球去除掉不必要考虑的三角面片，有效地解决了配准过程中快速求取距离的问题。最后，将两种加速方法有机结合，在不影响配准精度的条件下，取得2倍的配准加速比，有效地提高了配准速度。
Model registration is an key technique in digital measurement field. Registration appeared firstly in the medical diagnosis field and image processing field. It is widely applied to nondestructive testing, reverse engineering, virtual reality, robot and flexible assembly now. It is the precondition of part testing, model evaluation, error analysis and data integration. Registration precision and registration speed are two most important factors to scale validity, thereby fast and accurate registration research has important theory significance and engineering application value in improving digital measurement accuracy and digital measurement efficiency.
Aiming at the problem, the thesis discusses the selection of contour dominant points, the registration algorithm based on restriction region, acceleration algorithms of registration, the establishment of registration error model and other key technologies, moreover, a software prototype system is developed. This will solve the workpiece's localization, nondestructive testing and nondestructive evaluation on the turbine blade of aeroengine. The main research contents and contributions in the thesis are as follows:
(1) According to shape theory and estimation theory, second selection algorithm is put forward in order to extract contour dominant points. Compared with symmetrical extraction algorithm and polygonal approximation algorithm, the algorithm can extract contour's typical character of the blade effectively, for example, leading edge and trailing edge. The algorithm also avoids the traditional algorithm's disadvantage that some characteristic points are lost. Furthermore, redundant data can be removed. At last, approximation attribute between contour dominant points and original shape is evaluated by approximation model. Contour dominant points obtained by second selection algorithm are advantageous to improve the following registration precision and registration speed.
(2) Aiming at accuracy of model registration, it is adopted that initial registration and accuracy registration are combined. Initial registration can reduce the difference between models availably and make preparations for accuracy registration. In the process of accuracy registration, the notion of restriction region and the registration algorithm based on restriction region are proposed. The algorithm integrates the virtues of other registration algorithms and change six variables' optimization to three variables' optimization, then restriction region weight factor is imported and two object functions are proposed, finally confirmation analysis method is proposed and accuracy registration is realized. The experiments show this algorithm has better registration accuracy than traditional registration algorithms, moreover, it has great adaptability and can solve 2D/3D registration well.
(3) Aiming at the real time performance of model registration, the thesis adopts two methods to accelerate the registration for the registration algorithm based on restriction region. Improved iterative directional acceleration algorithm is presented
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