作者：刘静静, 金永, 宁泓淘, 范晨, 孙煜雅

作者单位：中北大学信息与通信工程学院，山西 太原 030051

关键词：固体火箭发动机;点云切片;凹包分割;Delaunay三角剖分;容积测量

摘要：

为实现固体火箭发动机(SRM)内腔容积的精确测量，提出基于凹包分割的Delaunay三角剖分容积测量方法。首先按照特定的方向和切片宽度等间隔切割点云数据，提取一系列点云切片，将其投影到XOY平面上得到投影轮廓线。利用计算向量旋转角的方法在轮廓线上搜寻凹点，将相邻凹点视为1个凹包，根据凹包匹配规则确定分割点对进行切片分割。然后利用Delaunay三角剖分算法对分割后的切片构建三角网，根据三角形面积公式计算分割后的切片面积，将其累加得到整个切片面积。最后利用切片面积与切片宽度计算出各部分容积，累加得到固体火箭发动机内腔容积。结果表明：该文提出的容积测量算法相对误差为2.34%，相比于像素法的4.01%，可提高测量精度。可见，该文方法是一种更为精确的固体火箭发动机容积测量方法。

Research on measurement method of solid rocket motor cavity volume based on laser point cloud
LIU Jingjing, JIN Yong, NING Hongtao, FAN Chen, SUN Yuya
School of Information and Communication Engineering, North University of China, Taiyuan 030051, China
Abstract: In order to accurately measure the volume of solid rocket motor (SRM), a Delaunay triangulation volume measurement method based on concave package split was proposed. First, a series of point cloud slices were extracted at equal intervals according to the specific direction and slice width, and then projected onto XOY plane to obtain the projected contour. The method of calculating the rotation Angle of vectors was used to search for concave points on the contour, and the adjacent concave points were regarded as one concave packet, the segmentation point pairs were determined for slice segmentation according to the matching rules of concave packets. Then Delaunay triangulation algorithm was used to construct a triangulation network for the segmented slices, and the area of the segmented slices was calculated according to the triangle area formula , and added it up to get the area of the entire point cloud slice. Finally, the volume of each part is calculated by using the slice area and slice width, and the volume of the solid rocketmotor cavity is obtained by adding them. The results show that the relative error of the volume measurement algorithm proposed in this paper is 2.34%, compared with 4.01% of the pixel method, which improves the measurement accuracy. It can be seen the method proposed in this paper is a more accurate SRM volume measurement method.
Keywords: solid rocket motor;point cloud slice;concave package split;Delaunay triangulation;volume measurement
2022, 48(4):42-46  收稿日期: 2021-07-26;收到修改稿日期: 2021-09-29
基金项目: 山西省自然科学基金（201901D111155）
作者简介: 刘静静（1993-），女，河南周口市人，硕士研究生，专业方向为点云数据处理及几何测量的研究
参考文献
[1] 王大帅. 基于S-CLSVOF 方法的固体火箭发动机装药燃面计算[D]. 哈尔滨: 哈尔滨工程大学, 2016.
[2] PARK D J, KIM J H. 3D hand-eye robot vision system using a cone shaped structured light for the SICE-ICASE International Joint Conference 2006 [C]//SICE-ICASE International Joint Confrence , 2006: 2975-2980.
[3] 郑浩. 一种改进的弹体药室容积音频检测仪[J]. 仪器仪表学报, 2006, 27(6): 238-239
[4] 冯忠伟, 徐春光, 肖定国, 等. 基于环形结构光的药室容量技术[J]. 仪器仪表报, 2009, 30(6): 1169-1174
[5] 韩跃平, 韩焱. 一种基于弹体外形尺寸的药室容积超声测量方法[J]. 导弹与制导学报, 2013, 33(1): 77-80
[6] 董立宙. 固体火箭发动机内腔容积测量方法研究[D]. 太原: 中北大学, 2019.
[7] 张崇军, 郑德华, 熊欢欢. 迭代切片算法在点云曲面拟合中的应用[J]. 地理空间信息, 2018, 16(1): 74-76
[8] 张开源, 郑德华, 张崇军. 基于点云切片技术的曲面拟合方法研究[J]. 地理空间信, 2018, 16(12): 35-39
[9] 邹永贵, 张涛. 改进的平面域 Delaunay 三角网生成算法[J]. 计算机工程与应用, 2013, 49(20): 171-174
[10] 王平, 陶德威. 基于凹点匹配的黏连车辆图像分割方法[J]. 南昌大学学报(理科版), 2017, 41(5): 433-436
[11] 冯宇, 南卓江, 李楠, 等. 基于线结构激光的滚柱表面参数测量系统[J]. 中国测试, 2020, 46(5): 77-81
[12] 朱俊锋, 胡翔云, 张祖勋. 多尺度点云噪声检测的密度分析法[J]. 测绘学报, 2015, 44(3): 282-291
[13] 刘江, 张旭, 朱继文, 等. 一种基于 K-D 树优化的 ICP 三维点云配准方法[J]. 测绘工程, 2016, 25(6): 15-18
[14] 庄仁诚, 陈鹏, 傅瑶, 等. 列车车轮三维结构光检测中的点云处理研究[J]. 中国测试, 2021, 47(2): 20-25
[15] 邓博文, 王召巴, 金永. 拟万有引力定律三维激光点云数据精简方法[J]. 中国测试, 2018, 44(5): 108-112