CN112132160A - Method, apparatus and computer-readable storage medium for repairing damaged parts - Google Patents
Method, apparatus and computer-readable storage medium for repairing damaged parts Download PDFInfo
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- CN112132160A CN112132160A CN202010929421.8A CN202010929421A CN112132160A CN 112132160 A CN112132160 A CN 112132160A CN 202010929421 A CN202010929421 A CN 202010929421A CN 112132160 A CN112132160 A CN 112132160A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000003860 storage Methods 0.000 title claims abstract description 11
- 230000008439 repair process Effects 0.000 claims abstract description 147
- 239000000463 material Substances 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 3
- 238000005253 cladding Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 7
- 230000001788 irregular Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
- B23P6/04—Repairing fractures or cracked metal parts or products, e.g. castings
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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Abstract
The invention provides a method and equipment for repairing a damaged part and a computer-readable storage medium. The method for repairing the damaged part comprises the following steps: scanning the damaged part to obtain point cloud data of the damaged part; acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part; acquiring an external damaged contour and an internal broken contour according to the damaged contour; repairing the internal fracture area according to the internal fracture profile; and repairing the external damaged area according to the external damaged outline. The repair method of the damaged part provided by the invention can restore the part to the shape of the part when the part is not damaged, so that the part can be reused, the cost caused by replacing the part is reduced, the influence on the precision of the equipment caused by the damage of the part is reduced, and the precision of the equipment is ensured under the condition of not wasting the damaged part.
Description
Technical Field
The invention relates to the technical field of part repair, in particular to a method and equipment for repairing a damaged part and a computer-readable storage medium.
Background
At present, parts can be damaged in the using process, and particularly for cutters of some large-scale machining equipment, the machining precision of the machining equipment can be directly influenced after the cutters are damaged.
In the related art, the cost of a tool of a large-scale processing device is usually high, if the tool is damaged, resource waste can be caused by replacing the tool, and the processing precision of the processing device can be influenced if the tool is not replaced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the present invention proposes a method of repairing a damaged part.
A second aspect of the present invention proposes a repair apparatus for a damaged part.
A third aspect of the invention proposes a computer-readable storage medium.
In view of the above, a first aspect of the present invention provides a method for repairing a damaged part, including: scanning the damaged part to obtain point cloud data of the damaged part; acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part; acquiring an external damaged contour and an internal broken contour according to the damaged contour; repairing the internal fracture area according to the internal fracture profile; and repairing the external damaged area according to the external damaged outline.
The method for repairing the damaged part provided by the invention compares the shape of the damaged part with the shape of the part when the part is not damaged, and further obtains the damaged area of the part; and obtaining a damaged contour of the damaged part by fitting the point cloud data of the damaged part shape and the point cloud data of the undamaged part shape, wherein the damaged contour is a contour of a damaged area, and the damaged contour comprises an external damaged contour and an internal fracture contour. After the external damaged contour and the internal broken contour are obtained, the internal broken region of the part is repaired according to the internal broken contour, after the internal broken region of the part is repaired, the external damaged region of the part is repaired according to the external damaged contour, so that the part can be restored to the shape of the part when the part is not damaged, the part can be reused, the cost caused by part replacement is reduced, the influence on the precision of the equipment due to part damage is reduced, and the precision of the equipment is ensured under the condition that the damaged part is not wasted.
The damaged contour of the damaged part is obtained by fitting the point cloud data of the shape of the damaged part and the point cloud data of the shape of the undamaged part, and the repairing equipment can more accurately acquire the shape of the damaged area of the part no matter whether the damaged area is a regular shape or not, so that the repairing error caused by the irregular damaged area is reduced, and the repairing precision of the part is improved.
The damaged area of part is repaired successively according to the inside profile of splitting and the damaged profile of outside of damaged part, and the repair process is repaired according to the damaged area of part for the repair process of part possesses stronger pertinence, and then promotes the repair precision to the part.
The point cloud data of the original part is prestored in a database.
In addition, the method for repairing a damaged part in the above technical solution provided by the present invention may further have the following additional technical features:
in one aspect of the present invention, obtaining the external damaged contour and the internal fractured contour according to the damaged contour includes: acquiring an outer contour surface of the original part according to the point cloud data of the original part; acquiring a dividing surface of the damaged outline according to the outer outline surface and the damaged outline of the original part; and acquiring an external damaged contour and an internal broken contour according to the damaged contour and the dividing surface.
In the technical scheme, the damaged area of the part is divided into the external damaged contour and the internal broken contour by establishing the dividing surface, so that the internal broken contour and the external damaged contour can be respectively repaired, the repair of the part is more targeted, and the repair quality of the part is improved.
In one aspect of the present invention, a dividing surface for obtaining a damaged contour from an outer contour surface and a damaged contour of an original part includes: establishing a plurality of planes to the internal fracture area by taking the outer contour surface of the original part as a reference, wherein adjacent planes in the plurality of planes are separated by a first preset distance; and one plane which is in contact with the internal fracture area and is closest to the outer contour surface of the original part is a dividing plane.
In this aspect, in the damaged region of the component, parallel surfaces are established to the internal fracture region with reference to the outer contour surface of the original component, gaps between the parallel surfaces are equal, and the parallel surface that first comes into contact with the internal fracture region can be used as a dividing surface, thereby realizing division of the damaged region.
After the part is damaged, the inner broken area and the outer broken area have no clear limit, or the limit of the inner broken area and the outer broken area is an irregular curved surface, so that the damaged outline of the part is divided into the outer broken outline and the inner broken outline by the dividing surface, and the part is more convenient to repair.
The gap between the plurality of parallel planes may be determined according to the thickness of a repair layer that the laser apparatus may form.
In one aspect of the present invention, repairing the internal fracture region according to the internal fracture profile includes: acquiring an outer contour surface of the original part according to the point cloud data of the original part; acquiring a first point on the internal fracture contour according to the internal fracture contour, wherein the distance between the first point and the outer contour surface of the original part is the largest; adjusting the position of the damaged part so that the normal direction of the internal fracture profile at the first point is in the vertical direction; establishing a plurality of first repairing surfaces so as to divide an internal fracture area below the dividing surface into a plurality of internal repairing areas; and sequentially repairing a plurality of internal repairing areas from bottom to top.
In the technical scheme, the damaged profile is divided into the external damaged profile and the internal fracture profile through the dividing surface, the internal fracture area is repaired according to the internal fracture profile, when the internal fracture area is repaired, the first point which is farthest away from the original part outer profile surface is obtained on the internal fracture profile, the damaged part is driven to the normal direction of the internal fracture profile at the first point through the driving device, the laser emitted by the laser device can be irradiated to any position of the internal fracture area, the repair blind area in the internal fracture area is avoided, and the repair effect on the wear area is improved.
After the damaged part moves to the position where the normal direction of the internal fracture contour at the first point is the vertical direction, the internal fracture area is repaired in sequence from the inside of the internal fracture area to the outside of the internal fracture area, namely, a plurality of internal repair areas are repaired in sequence from bottom to top.
When the internal fracture area is repaired, the internal fracture area is repaired until the position of the cutting surface is repaired, and after the internal fracture area is repaired, the top wall of the cladding layer is the cutting surface.
The repair material is the same material as the part.
In one embodiment of the present invention, before sequentially repairing a plurality of internal repair regions from bottom to top, repairing the internal fracture region according to an internal fracture profile further includes: dividing the internal repair area into a plurality of annular repair areas which are sequentially sleeved according to the boundary of one internal repair area in the plurality of internal repair areas; acquiring a first distance between a laser device and a boundary of one of a plurality of annular repair regions; and controlling the laser device to melt the repair material in one of the plurality of annular repair areas according to the first distance so that the repair material is filled in the one of the plurality of annular repair areas.
In the technical scheme, the internal repair area of each layer is divided into a plurality of annular repair areas which are sequentially sleeved, and when the internal repair area of the layer is repaired, the internal repair area of the layer is sequentially repaired from outside to inside along an annular path.
When repairing the internal fracture area, the internal fracture contour is divided into a plurality of layers of internal repair areas, each layer of internal repair area is divided into a plurality of annular repair areas which are sequentially sleeved, each annular repair area is sequentially repaired from the outside to the inside along the annular repair areas, then the repair of the lowest layer of internal repair area is completed, and then the internal repair areas of the next second layer are repaired by the same steps and directly repaired to the cutting surface. The internal fracture area is repaired through the repairing path, so that the repaired cladding layer has higher strength and toughness, and the repairing effect on the internal repairing area is improved.
The height of the internal repair area of each layer is determined by the repair capability of the laser device or by the distance of the dividing plane to the first point on the internal fracture profile.
In one aspect of the present invention, repairing the external damaged area according to the external damaged contour includes: adjusting the laser emission angle of the laser device according to the normal direction of the dividing surface; acquiring an external repair area according to the external damaged contour and the segmentation surface; repairing the external repair area.
In this technical scheme, set up the normal direction of cutting apart the face into laser equipment's transmission direction, and then make the laser that laser equipment launches shine to the optional position of outside damaged profile, avoid appearing the restoration blind area in the outside damaged area, promote the restoration effect to outside damaged area.
In one aspect of the present invention, repairing the external repair area includes: and according to a second distance between the laser device and the boundary of the external repair area, controlling the laser device to melt the repair material in the external repair area according to the second distance so as to fill the repair material in the external repair area.
According to the technical scheme, after the repair of the internal fracture area is completed, the external fracture area is repaired on the basis of the cladding layer of the internal fracture area, and then the repair of the damaged part is realized.
In one aspect of the present invention, between repairing the internal fractured region according to the internal fracture profile and repairing the external fractured region according to the external fracture profile, the method for repairing the damaged part further includes: detecting the flatness of the dividing surface; judging whether the repair of the internal fracture area is finished or not according to the flatness of the dividing surface; under the condition that the repair of the internal fracture area is finished, repairing the external damage area according to the external damage outline; in the case where the repair of the internal fracture area is not completed, the internal fracture area is repaired again according to the internal fracture profile.
According to the technical scheme, the repair quality of the internal fracture area can be effectively judged by judging the flatness of the cladding layer of the internal fracture area at the dividing surface.
Under the condition that the repair of the internal fracture area does not reach the standard, the internal fracture area is repaired again, the situation that the internal fracture area cannot be repaired again after the repair of the external damaged area is completed is avoided, and the repair quality of the damaged part is further ensured.
A second aspect of the present invention provides a damaged part repairing apparatus including: a memory and a processor, the memory configured to store executable instructions; the processor is configured to execute the stored instructions to implement the method for repairing a damaged part according to any one of the above-mentioned technical solutions, and therefore the apparatus for repairing a damaged part has all the advantages of the method for repairing a damaged part according to any one of the above-mentioned technical solutions.
A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method for repairing a damaged part according to any one of the above-mentioned aspects, and therefore the computer-readable storage medium has all the advantageous effects of the method for repairing a damaged part according to any one of the above-mentioned aspects.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a flow diagram of a method of repairing a damaged part according to one embodiment of the invention;
FIG. 2 shows a flow diagram of a method of repairing a damaged part according to another embodiment of the invention;
FIG. 3 shows a schematic view of an inner fracture zone and an outer failure zone according to one embodiment of the present invention;
FIG. 4 shows a flow chart of a method of repairing a broken part according to yet another embodiment of the invention;
FIG. 5 shows a flow chart of a method of repairing a broken part according to yet another embodiment of the invention;
FIG. 6 shows a schematic view of an internal fracture region according to an embodiment of the present invention;
FIG. 7 shows a flow chart of a method of repairing a broken part according to yet another embodiment of the invention;
FIG. 8 is a top view of the internal fracture area shown in FIG. 6 in accordance with one embodiment of the present invention;
FIG. 9 shows a flow chart of a method of repairing a broken part according to yet another embodiment of the invention;
FIG. 10 shows a flow chart of a method of repairing a broken part according to yet another embodiment of the invention;
FIG. 11 shows a flow chart of a method of repairing a damaged part according to yet another embodiment of the invention.
Wherein, the correspondence between the reference numbers and the component names in fig. 3, 6 and 8 is:
102 internal fracture area, 104 external damaged area, 106 split plane, 108 first repair plane, 110 internal repair area, 112 annular repair area.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Methods, apparatuses, and computer-readable storage media for repairing a damaged part according to some embodiments of the present invention are described below with reference to fig. 1 through 11.
The first embodiment is as follows:
as shown in fig. 1, the present invention provides a method for repairing a damaged part, comprising:
104, acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part;
and step 110, repairing the external damaged area according to the external damaged outline.
In this embodiment, the shape of the part after breakage is compared with the shape of the part when the part is not broken, and a broken region of the part is obtained; and obtaining a damaged contour of the damaged part by fitting the point cloud data of the damaged part shape and the point cloud data of the undamaged part shape, wherein the damaged contour is a contour of a damaged area, and the damaged contour comprises an external damaged contour and an internal fracture contour. After the external damaged contour and the internal broken contour are obtained, the internal broken region of the part is repaired according to the internal broken contour, after the internal broken region of the part is repaired, the external damaged region of the part is repaired according to the external damaged contour, so that the part can be restored to the shape of the part when the part is not damaged, the part can be reused, the cost caused by part replacement is reduced, the influence on the precision of the equipment due to part damage is reduced, and the precision of the equipment is ensured under the condition that the damaged part is not wasted.
The damaged contour of the damaged part is obtained by fitting the point cloud data of the shape of the damaged part and the point cloud data of the shape of the undamaged part, and the repairing equipment can more accurately acquire the shape of the damaged area of the part no matter whether the damaged area is a regular shape or not, so that the repairing error caused by the irregular damaged area is reduced, and the repairing precision of the part is improved.
The damaged area of part is repaired successively according to the inside profile of splitting and the damaged profile of outside of damaged part, and the repair process is repaired according to the damaged area of part for the repair process of part possesses stronger pertinence, and then promotes the repair precision to the part.
The point cloud data of the original part is prestored in a database.
Example two:
as shown in fig. 2, the method for repairing a damaged part includes:
and step 214, repairing the external damaged area according to the external damaged outline.
In the embodiment, the damaged area of the part is divided into the external damaged contour and the internal broken contour by establishing the dividing surface, so that the internal broken contour and the external damaged contour can be respectively repaired, the repair of the part is more targeted, and the repair quality of the part is improved.
As shown in fig. 3, the inner fracture area 102 of the broken component is defined by the dividing surface 106 and the inner broken outline, and the outer broken area 104 is defined by the dividing surface 106 and the outer broken outline.
Example three:
as shown in fig. 4, the method for repairing a damaged part includes:
and step 314, repairing the external damaged area according to the external damaged outline.
In this embodiment, in the damaged region of the component, parallel surfaces are established to the internal fracture region with reference to the outer contour surface of the original component, gaps between the parallel surfaces are equal, and the parallel surface first contacting the internal fracture region can be used as a dividing surface, thereby realizing division of the damaged region.
After the part is damaged, the inner broken area and the outer broken area have no clear limit, or the limit of the inner broken area and the outer broken area is an irregular curved surface, so that the damaged outline of the part is divided into the outer broken outline and the inner broken outline by the dividing surface, and the part is more convenient to repair.
The gap between the plurality of parallel planes may be determined according to the thickness of a repair layer that the laser apparatus may form.
Example four:
as shown in fig. 5, the method for repairing a damaged part includes:
step 404, acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part;
and step 422, repairing the external damaged area according to the external damaged outline.
In this embodiment, when the damaged profile is divided into the external damaged profile and the internal fracture profile by the dividing surface, the internal fracture area is repaired according to the internal fracture profile, when the internal fracture area is repaired, the first point which is farthest away from the external profile surface of the original part is obtained on the internal fracture profile, and the damaged part is driven to the normal direction of the internal fracture profile at the first point by the driving device, so that the laser emitted by the laser device can be irradiated to any position of the internal fracture area, a repair blind area in the internal fracture area is avoided, and the repair effect on the worn area is improved.
After the damaged part moves to the position where the normal direction of the internal fracture contour at the first point is the vertical direction, the internal fracture area is repaired in sequence from the inside of the internal fracture area to the outside of the internal fracture area, namely, a plurality of internal repair areas are repaired in sequence from bottom to top.
When the internal fracture area is repaired, the internal fracture area is repaired until the position of the cutting surface is repaired, and after the internal fracture area is repaired, the top wall of the cladding layer is the cutting surface.
The repair material is the same material as the part.
As shown in fig. 6, the plurality of first repair faces 108 divide the internal fracture area into a plurality of internal repair areas 110, and the intervals H between the plurality of first repair faces 108 are equal.
Example five:
as shown in fig. 7, the method for repairing a damaged part includes:
step 504, acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part;
in step 528, the outer damaged area is repaired based on the outer damaged contour.
In this embodiment, the inner repair area of each layer is divided into a plurality of annular repair areas which are sequentially sleeved, and when the inner repair area of the layer is repaired, the inner repair area of the layer is sequentially repaired from the outside to the inside along the annular path.
As shown in fig. 6 and 8, that is, when repairing the internal fracture area 102, the internal fracture contour is first divided into a plurality of internal repair areas 110, each internal repair area 110 is divided into a plurality of annular repair areas 112 which are sequentially sleeved, each annular repair area 112 is sequentially repaired from the outside to the inside along the annular repair area 112, and then the repair of the internal repair area of the lowest layer is completed, and then the internal repair areas of the second layer are repaired in the same step and directly repaired to the dividing surface 106. The internal fracture area is repaired through the repairing path, so that the repaired cladding layer has higher strength and toughness, and the repairing effect on the internal repairing area is improved.
The height of the internal repair area of each layer is determined by the repair capability of the laser device or by the distance of the dividing plane to the first point on the internal fracture profile.
Example six:
as shown in fig. 9, the method for repairing a damaged part includes:
step 604, acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part;
In this embodiment, set up the normal direction of cutting apart the face into laser equipment's transmission direction, and then make the laser that laser equipment launches shine to the optional position of outside damaged profile, avoid appearing repairing the blind area in the outside damaged area, promote the repair effect to outside damaged area.
When the position of the damaged part is adjusted, the damaged part can be driven to move through the mechanical arm, and the laser equipment can also be driven to move through the mechanical arm.
Example seven:
as shown in fig. 10, the method for repairing a damaged part includes:
step 704, acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part;
step 710, obtaining an external damaged contour and an internal broken contour according to the damaged contour and the dividing surface;
714, acquiring a first point on the internal fracture contour according to the internal fracture contour, wherein the distance between the first point and the outer contour surface of the original part is the largest;
and 726, controlling the laser device to melt the repair material in the external repair area according to the second distance between the laser device and the boundary of the external repair area, so that the repair material is filled in the external repair area.
In this embodiment, after the repair of the internal fractured region is completed, the external fractured region is repaired on the basis of the cladding layer of the internal fractured region, thereby realizing the repair of the damaged part.
Example eight:
as shown in fig. 11, the method for repairing a damaged part includes:
808, acquiring a dividing surface of the damaged contour according to the outer contour surface and the damaged contour of the original part;
in the event that the repair of the internal fracture region is not complete, the process returns to step 812 to repair the internal fracture region again according to the internal fracture profile.
In the event that repair of the internal fracture region is complete, step 818, the external damage region is repaired based on the external damage profile.
In this embodiment, by judging the flatness of the cladding layer of the internal fracture region at the dividing plane, the repair quality of the internal fracture region can be effectively judged.
Under the condition that the repair of the internal fracture area does not reach the standard, the internal fracture area is repaired again, the situation that the internal fracture area cannot be repaired again after the repair of the external damaged area is completed is avoided, and the repair quality of the damaged part is further ensured.
Example nine:
the present invention provides a repair apparatus for a damaged part, comprising: a memory and a processor, the memory configured to store executable instructions; the processor is configured to execute the stored instructions to implement the method for repairing a damaged part according to any of the above-described embodiments, and therefore the apparatus for repairing a damaged part has all the advantages of the method for repairing a damaged part according to any of the above-described embodiments.
Example ten:
the present invention provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the method for repairing a damaged part as in any of the above embodiments, and therefore the computer-readable storage medium has all the advantageous effects of the method for repairing a damaged part of any of the above embodiments.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of repairing a damaged part, comprising:
scanning a damaged part to obtain point cloud data of the damaged part;
acquiring a damaged outline of the damaged part according to the point cloud data of the original part and the point cloud data of the damaged part;
obtaining an external damaged contour and an internal broken contour according to the damaged contour;
repairing an internal fracture area according to the internal fracture profile;
and repairing the external damaged area according to the external damaged outline.
2. The method of repairing a damaged part according to claim 1, wherein said obtaining an external damaged contour and an internal fracture contour from said damaged contour comprises:
acquiring an outer contour surface of the original part according to the point cloud data of the original part;
acquiring a dividing surface of the damaged contour according to the outer contour surface of the original part and the damaged contour;
and acquiring the external damage contour and the internal fracture contour according to the damage contour and the dividing surface.
3. The method of repairing a damaged part according to claim 2, wherein the obtaining of the split surface of the damaged contour from the outer contour surface of the original part and the damaged contour includes:
establishing a plurality of planes to the internal fracture area by taking the outer contour surface of the original part as a reference, wherein adjacent planes in the plurality of planes are separated by a first preset distance;
and one plane which is in contact with the internal fracture area and is closest to the outer contour surface of the original part is the splitting surface.
4. The method of repairing a damaged part according to claim 2, wherein repairing an internal fracture area according to the internal fracture profile comprises:
acquiring an outer contour surface of the original part according to the point cloud data of the original part;
acquiring a first point on the internal fracture contour according to the internal fracture contour, wherein the distance between the first point and the outer contour surface of the original part is the largest;
adjusting the position of the damaged part so that the normal to the internal fracture profile at the first point is in a vertical direction;
establishing a plurality of first repairing surfaces so as to divide an internal fracture area below the dividing surface into a plurality of internal repairing areas;
and sequentially repairing a plurality of internal repairing areas from bottom to top.
5. The method of repairing a damaged part according to claim 4, wherein before said sequentially repairing a plurality of internal repair regions from bottom to top, said repairing an internal fracture region according to said internal fracture profile further comprises:
dividing the internal repair area into a plurality of annular repair areas which are sequentially sleeved according to the boundary of one of the plurality of internal repair areas;
acquiring a first distance between a laser device and a boundary of one of a plurality of annular repair regions;
and controlling the laser device to melt the repair material in one of the annular repair areas according to the first distance so that the repair material is filled in the one of the annular repair areas.
6. The method of repairing a damaged part of claim 4, wherein repairing an external damaged area according to the external damaged contour comprises:
adjusting the laser emission angle of the laser equipment according to the normal direction of the dividing surface;
acquiring an external repair area according to the external damage outline and the dividing surface;
repairing the external repair area.
7. The method of repairing a damaged part of claim 6, wherein said repairing an external repair area comprises:
and controlling the laser equipment to melt the repair material in the external repair area according to a second distance between the laser equipment and the boundary of the external repair area so as to fill the repair material in the external repair area.
8. The method of repairing a damaged part according to any one of claims 2 to 7, wherein between the repairing of an internal damaged area according to the internal damaged contour and the repairing of an external damaged area according to the external damaged contour, the method of repairing a damaged part further comprises:
detecting the flatness of the dividing surface;
judging whether the internal fracture area is repaired or not according to the flatness of the dividing surface;
repairing the external damaged area according to the external damaged contour when the repair of the internal fractured area is completed;
and under the condition that the repair of the internal fracture area is not finished, repairing the internal fracture area according to the internal fracture contour.
9. An apparatus for repairing a damaged part, comprising:
a memory configured to store executable instructions;
a processor configured to execute stored instructions to implement a method of repairing a damaged part according to any one of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of repairing a damaged part according to any one of claims 1 to 8.
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