CN105154869A - Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid - Google Patents
Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid Download PDFInfo
- Publication number
- CN105154869A CN105154869A CN201510519603.7A CN201510519603A CN105154869A CN 105154869 A CN105154869 A CN 105154869A CN 201510519603 A CN201510519603 A CN 201510519603A CN 105154869 A CN105154869 A CN 105154869A
- Authority
- CN
- China
- Prior art keywords
- section
- cross
- filtering
- solid
- uniform cross
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
Abstract
The invention discloses a method for obtaining a laser cladding scanning path for surface repairing of a uniform-section solid. Only a uniform-section picture needs to be shot and is converted into a solid section profile diagram through MATLAB, then the solid section profile diagram is guided in autocad to establish a coordinate system, and grids are divided. Accordingly, characteristic point information of a plurality of characteristic points on the solid section profile diagram is extracted, and finally all the characteristic point information is guided into a path controller of a laser cladding device. Then, automatic fitting of the characteristic point information can be achieved to form a profile curve track. A laser cladding work head works according to the profile curve track, and laser cladding of the surface of a solid component can be achieved. By means of the method, the scanning path of the to-be-repaired uniform-section solid profile can be easily and rapidly obtained with high precision.
Description
Technical field
the present invention relates to a kind of laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface.
Background technology
laser melting and coating technique due to have speed of cooling fast, be out of shape the feature such as little, cladding layer capability is excellent and be used widely, the acquisition of laser melting coating scanning pattern is then one of gordian technique of laser melting coating.At present, the acquisition methods of laser melting coating scanning pattern mainly contains teach programming, advanced programming, off-line programing and online programming, wherein teach programming and online programming are mainly for the situation without 3D model, and advanced programming and off-line programing are then mainly for the situation of existing 3D model or known curved surface profile mathematic(al) representation.In production is used, the 3D model of part to be repaired is unknown often, and teach programming has, and precision is low, the shortcoming of complex operation, online programming due to cost of development higher, be difficult to realize universal and promote, therefore how the simple curved surface cladding scanning pattern that obtains exactly becomes problem demanding prompt solution.
Summary of the invention
the object of the invention is the shortcoming in order to overcome prior art, the laser melting coating scanning pattern acquisition methods that a kind of simple and fast, precision are higher, be applicable to the reparation of uniform cross section solid object surface is provided, to improve the efficiency using laser melting coating to carry out piece surface reparation.
for achieving the above object, the technical solution used in the present invention is: a kind of laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface, treats that the object of laser melting coating is for having prismatic entity component surface, comprises the steps:
(1) solid cross-section shooting, the uniform cross section direction perpendicular to described entity component is taken, and obtains the uniform cross section entity photo of described entity component;
(2) image procossing, carries out image procossing to described uniform cross section entity photo, obtains described prismatic profile on described uniform cross section entity photo, forms solid cross-section skeleton diagram;
(3) feature point extraction, the described solid cross-section skeleton diagram obtained in step (2) to be imported in autocad and to set up system of coordinates, described system of coordinates with the scan start point of uniform cross section profile for true origin, with be parallel to described solid cross-section skeleton diagram length direction and along scanning direction for the positive dirction of X-axis, to point to perpendicular to described X-axis the positive dirction that the short transverse of described solid cross-section skeleton diagram is Y-axis, then in autocad, grid model is set up, and multiple unique point is chosen according to described prismatic profile on described solid cross-section skeleton diagram, the characteristic point information at all described unique point places is read according to described grid model, the described characteristic point information of each unique point comprises the positional information for reflecting this unique point coordinate figure, for embodying the attitude information of angle between this unique point place normal and X-axis or Y-axis,
(4) discrete point fitting of a curve, laser cladding equipment has the path controller for controlling laser cladding working head operating path, the described characteristic point information of all nodes step (3) obtained imports in described path controller, and the mode making described path controller control described laser cladding working head to approach according to track, use the characteristic point information of multiple dispersed feature point on described solid cross-section skeleton diagram to carry out matching and form profilograph track, make described laser cladding working head according to the work of described profilograph track, realize the laser melting coating to described entity component surface.
preferably, in described step (2), image procossing utilizes MATLAB image processing function to realize, and it comprises the steps:
i. photo type is changed, for the described uniform cross section entity photo obtained in step (1) to be converted to the binary map of artwork master form through gray-scale map;
iI. contours extract, the Boundary Extraction function in employing MATLAB extracts the cross section profile in described binary map;
iII. filtering process, adopts the filtering instrument in MATLAB by the noise spot elimination around the described cross section profile that extracts in step II;
iV. negate, makes it present white background black line state by negate computing in the photo after the process of step III, thus the solid cross-section skeleton diagram described in being formed.
further preferably, the Boundary Extraction function adopted in described step II is the one in Roberts operator function, Prewitt operator function, Sobel operator function, Laplacian operator function.
further preferably, the filtering mode adopted in the filtering instrument described in described step III is the one in mean filter, medium filtering and gaussian filtering.
further, in described step III, these three kinds of filtering modes of mean filter, medium filtering and gaussian filtering are selected to carry out filtering process successively, and compare the quantity of the noise in image point after three kinds of filtering mode process, determine that noise in image point is minimum after filtering process filtering mode is as final filtering mode.
due to the utilization of technique scheme, the present invention compared with prior art has following advantages: by the step such as solid cross-section shooting, MATLAB image procossing, CAD feature point extraction, discrete point fitting of a curve in the present invention, can simply, quick and precision comparatively height obtain the scanning pattern of uniform cross section physical profiles to be repaired.
Accompanying drawing explanation
fig. 1 is the schematic flow sheet of method for obtaining path of the present invention;
fig. 2 is the uniform cross section entity photo of the present invention one specific embodiment;
fig. 3 is the binary map of the black and white form of photo after type conversion of accompanying drawing 2;
fig. 4 is the schematic diagram of binary map after contours extract of accompanying drawing 3;
accompanying drawing 4 is carried out the schematic diagram after filtering process by Fig. 5;
fig. 6 is by accompanying drawing 5 negate and sets up the schematic diagram of system of coordinates;
fig. 7 is the schematic diagram that grid division and unique point are chosen.
Embodiment
below in conjunction with accompanying drawing and specific embodiment, technical scheme of the present invention is further elaborated.
being illustrated in figure 1 a kind of particular flow sheet of the laser melting coating scanning pattern acquisition methods for the reparation of uniform cross section solid object surface, wherein, treating that the object of laser melting coating is for having prismatic entity component surface.
fig. 2 to Fig. 7 is the accompanying drawings of a specific embodiment, is namely explained in detail its laser melting coating scanning pattern acquisition methods according to this embodiment below.
first, solid cross-section shooting is carried out to entity component.Uniform cross section direction perpendicular to entity component is taken, obtain the uniform cross section entity photo of this entity component, should ensure that front vertical is taken as much as possible during shooting uniform cross section photo, and make this prismatic image in photo, be in level or plumbness as far as possible, facilitate the process of subsequent step, as shown in Figure 2.
secondly, image procossing.Namely image procossing is carried out to the uniform cross section entity photo obtained, to obtain prismatic contour pattern on uniform cross section entity photo, form solid cross-section skeleton diagram.Particularly, this image processing step utilizes MATLAB image processing function to realize.This image processing step comprises the steps:
i. photo type is changed, and importing in MATLAB, first changing taking the uniform cross section entity photo obtained it by the binary map of color conversion into artwork master form through gray-scale map;
iI. contours extract, adopt the cross section profile in the Boundary Extraction function extraction binary map in MATLAB, in this step, Boundary Extraction function can select in Roberts operator function, Prewitt operator function, Sobel operator function, Laplacian operator function one or more, with the Boundary Extraction function for final choice of the border of extracting closest to actual cross-section profile, thus cross section profile is presented set up effect preferably, as shown in Figure 3;
iII. filtering process, adopts the filtering instrument in MATLAB by the noise spot elimination around the cross section profile that extracts in step II.In this step, the filtering mode adopted in filtering instrument is the one in mean filter, medium filtering and gaussian filtering.During concrete operations, these three kinds of filtering modes of mean filter, medium filtering and gaussian filtering are selected to carry out filtering process successively, and compare the quantity of the noise in image point after three kinds of filtering mode process, determine that noise in image point is minimum after filtering process filtering mode is as final filtering mode.Image after filtering process presents as shown in Figure 4;
iV. negate, makes it present white background black line state by negate computing in the photo after the process of step III, thus the solid cross-section skeleton diagram described in being formed, as shown in Figure 5.
again, feature point extraction is carried out to solid cross-section skeleton diagram.In this step, first the solid cross-section skeleton diagram obtained through preceding step to be imported in autocad and to set up system of coordinates, this system of coordinates using the scan start point of uniform cross section profile as true origin, be parallel to solid cross-section skeleton diagram length direction and along scanning direction for the positive dirction of X-axis, with perpendicular to X-axis and the short transverse pointing to solid cross-section skeleton diagram for Y-direction, as shown in Figure 6.Then in autocad, grid model is set up again, and multiple unique point is chosen according to prismatic profile on solid cross-section skeleton diagram, the characteristic point information at all unique point places is read according to grid model, each characteristic point information comprises the positional information for reflecting unique point coordinate figure, and for embodying the attitude information of this unique point place normal and X-axis or Y-axis angle.In the choosing of this grid model, should be determined according to the characteristic of solid cross-section skeleton diagram, when the curved transition of uniform cross section profile is larger, then need to choose the less grid of size, obtain unique point more on uniform cross section profile, and obtain the characteristic point information of these unique points, when can ensure subsequent step process like this path obtain more accurate; And when the curved transition of uniform cross section profile is less, then can choose larger-size grid, obtain unique point less on uniform cross section profile, and obtain the characteristic point information of these unique points, the process of subsequent step can be facilitated like this.In this embodiment, stress and strain model and the unique point chosen are as shown in Figure 7.
finally, to discrete point fitting of a curve.Existing laser cladding equipment is equipped with the path controller for controlling laser cladding working head operating path, the walking path curve of different fit approach fitting operations heads can be adopted in this path controller according to multiple discrete point, thus realize laser melting coating processing.To obtain on uniform cross section profile after multiple characteristic point information through above-mentioned steps, by in all characteristic point information lead-in path controllers, and make the mode that path controller control laser cladding working head approaches according to track, use the characteristic point information of multiple dispersed feature point on entity uniform cross section skeleton diagram to carry out matching and form profilograph track, make laser cladding working head according to this profilograph track work, realize the laser melting coating on entity component surface.
in above process, laser cladding working head is first along the work of profilograph track, and following path controller calculates next working trajectory, until the whole surface of part is all processed by laser melting coating automatically according to the amount of lap set and single track size.
to sum up, a kind of laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface of the present invention, wherein only need only to need shooting uniform cross section photo, then by MATLAB, these cross-section photograph are converted to solid cross-section skeleton diagram, imported again in autocad and set up system of coordinates and grid division, thus extract the characteristic point information of multiple unique point on solid cross-section profile, finally all characteristic point informations are imported in the path controller of laser cladding equipment, just its automatic Fitting can be made to form profilograph track, make laser cladding working head according to this profilograph track work, the laser melting coating to entity component surface can be realized.The method can simply, quick and precision comparatively height obtain the scanning pattern of uniform cross section physical profiles to be repaired.
above-described embodiment is only for illustrating technical conceive of the present invention and feature; its object is to person skilled in the art can be understood content of the present invention and be implemented; can not limit the scope of the invention with this; all equivalences done according to spirit of the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (5)
1., for the laser melting coating scanning pattern acquisition methods that uniform cross section solid object surface is repaired, treat that the object of laser melting coating is for having prismatic entity component surface, is characterized in that, comprises the steps:
(1) solid cross-section shooting, the uniform cross section direction perpendicular to described entity component is taken, and obtains the uniform cross section entity photo of described entity component;
(2) image procossing, carries out image procossing to described uniform cross section entity photo, obtains described prismatic profile on described uniform cross section entity photo, forms solid cross-section skeleton diagram;
(3) feature point extraction, the described solid cross-section skeleton diagram obtained in step (2) to be imported in autocad and to set up system of coordinates, described system of coordinates with the scan start point of uniform cross section profile for true origin, with be parallel to described solid cross-section skeleton diagram length direction and along scanning direction for the positive dirction of X-axis, to point to perpendicular to described X-axis the positive dirction that the short transverse of described solid cross-section skeleton diagram is Y-axis, then in autocad, grid model is set up, and multiple unique point is chosen according to described prismatic profile on described solid cross-section skeleton diagram, the characteristic point information at all described unique point places is read according to described grid model, the described characteristic point information of each unique point comprises the positional information for reflecting this unique point coordinate figure, for embodying the attitude information of angle between this unique point place normal and X-axis or Y-axis,
(4) discrete point fitting of a curve, laser cladding equipment has the path controller for controlling laser cladding working head operating path, the described characteristic point information of all nodes step (3) obtained imports in described path controller, and the mode making described path controller control described laser cladding working head to approach according to track, use the characteristic point information of multiple dispersed feature point on described solid cross-section skeleton diagram to carry out matching and form profilograph track, make described laser cladding working head according to the work of described profilograph track, realize the laser melting coating to described entity component surface.
2. the laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface according to claim 1, it is characterized in that: in described step (2), image procossing utilizes MATLAB image processing function to realize, and it comprises the steps:
I. photo type is changed, for the described uniform cross section entity photo obtained in step (1) to be converted to the binary map of artwork master form through gray-scale map;
II. contours extract, the Boundary Extraction function in employing MATLAB extracts the cross section profile in described binary map;
III. filtering process, adopts the filtering instrument in MATLAB by the noise spot elimination around the described cross section profile that extracts in step II;
IV. negate, makes it present white background black line state by negate computing in the photo after the process of step III, thus the solid cross-section skeleton diagram described in being formed.
3. the laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface according to claim 2, is characterized in that: the Boundary Extraction function adopted in described step II is the one in Roberts operator function, Prewitt operator function, Sobel operator function, Laplacian operator function.
4. the laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface according to claim 2, is characterized in that: the filtering mode adopted in the filtering instrument described in described step III is the one in mean filter, medium filtering and gaussian filtering.
5. the laser melting coating scanning pattern acquisition methods repaired for uniform cross section solid object surface according to claim 4, it is characterized in that: in described step III, these three kinds of filtering modes of mean filter, medium filtering and gaussian filtering are selected to carry out filtering process successively, and compare the quantity of the noise in image point after three kinds of filtering mode process, determine that noise in image point is minimum after filtering process filtering mode is as final filtering mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510519603.7A CN105154869B (en) | 2015-08-24 | 2015-08-24 | A kind of laser melting coating scanning pattern acquisition methods repaired for uiform section solid object surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510519603.7A CN105154869B (en) | 2015-08-24 | 2015-08-24 | A kind of laser melting coating scanning pattern acquisition methods repaired for uiform section solid object surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105154869A true CN105154869A (en) | 2015-12-16 |
| CN105154869B CN105154869B (en) | 2017-08-11 |
Family
ID=54795904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510519603.7A Active CN105154869B (en) | 2015-08-24 | 2015-08-24 | A kind of laser melting coating scanning pattern acquisition methods repaired for uiform section solid object surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105154869B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112214864A (en) * | 2020-08-04 | 2021-01-12 | 沈阳工业大学 | Method for predicting size of multi-channel multi-layer laser cladding layer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004287894A (en) * | 2003-03-24 | 2004-10-14 | Mitsubishi Electric Corp | Cutting path creation device and cutting path creation method |
| CN101214582A (en) * | 2008-01-14 | 2008-07-09 | 北京紫色光激光技术有限公司 | Mobile laser repairing equipment and repairing method thereof |
| CN101709468A (en) * | 2009-12-10 | 2010-05-19 | 南昌航空大学 | Method for rapidly preparing gradient metal ceramic composite material by laser induction hybrid cladding |
| CN104674210A (en) * | 2013-12-02 | 2015-06-03 | 齐欢 | Workpiece laser automatic repair method |
-
2015
- 2015-08-24 CN CN201510519603.7A patent/CN105154869B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004287894A (en) * | 2003-03-24 | 2004-10-14 | Mitsubishi Electric Corp | Cutting path creation device and cutting path creation method |
| CN101214582A (en) * | 2008-01-14 | 2008-07-09 | 北京紫色光激光技术有限公司 | Mobile laser repairing equipment and repairing method thereof |
| CN101709468A (en) * | 2009-12-10 | 2010-05-19 | 南昌航空大学 | Method for rapidly preparing gradient metal ceramic composite material by laser induction hybrid cladding |
| CN104674210A (en) * | 2013-12-02 | 2015-06-03 | 齐欢 | Workpiece laser automatic repair method |
Non-Patent Citations (1)
| Title |
|---|
| 蔡道生 等: ""SLS快速成形系统扫描路径优化方法的研究"", 《锻压机械》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112214864A (en) * | 2020-08-04 | 2021-01-12 | 沈阳工业大学 | Method for predicting size of multi-channel multi-layer laser cladding layer |
| CN112214864B (en) * | 2020-08-04 | 2024-02-09 | 沈阳工业大学 | Multichannel multilayer laser cladding layer size prediction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105154869B (en) | 2017-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104252558B (en) | A kind of non-standard construction fender member digital control processing preprocess method based on BIM platform | |
| CN105063615B (en) | A kind of laser melting coating scanning pattern acquisition methods for free form surface surface reconditioning | |
| CN105354880A (en) | Line laser scanning-based sand blasting robot automatic path generation method | |
| CN108335309B (en) | Stripe cloth detecting, positioning and cutting method based on image, system and storage medium thereof | |
| CN104647377B (en) | A kind of industrial robot based on cognitive system and control method thereof | |
| CN109376586B (en) | Road boundary line interactive automatic extraction method based on laser point cloud | |
| CN106056648B (en) | A kind of image drawing method and system of intelligent robot | |
| CN113741426B (en) | Robot machining path planning method based on local point cloud curve fitting | |
| CN111008423A (en) | Optimal design method for double-curved-surface curtain wall | |
| CN109724988B (en) | PCB defect positioning method based on multi-template matching | |
| CN104385640A (en) | High-precision repairing method for three-dimensional printed product | |
| CN103480534A (en) | Robot spray workpiece surface modeling method | |
| CN104251670A (en) | Multi-view raster 3D (three-dimensional) scanner | |
| CN106203726A (en) | Precision component surface defect repair system and restorative procedure | |
| CN111055021A (en) | Visual positioning method of laser marking software | |
| CN102540976B (en) | Entity-based milling simulating method for efficiently extracting cutting angle range | |
| CN105154869A (en) | Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid | |
| CN104966302A (en) | Detecting and positioning method for laser cross at any angle | |
| CN108710341A (en) | A kind of rapid registering method based on magnanimity scanning point cloud simplification segmentation | |
| CN104217078A (en) | Method for optimized blanking of irregular curved surface | |
| CN113435412B (en) | Cement distribution area detection method based on semantic segmentation | |
| CN115415694A (en) | Welding method, system and device for sheet metal process | |
| CN114719772B (en) | Method and system for acquiring inclined angle of inclined hole | |
| CN115770988A (en) | Intelligent welding robot teaching method based on point cloud environment understanding | |
| CN115971635A (en) | Friction stir welding control method and system based on visual sensing and machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |