CN112241810A - Method for generating in-place deburring path of ceramic core of aircraft blade based on local point cloud matching - Google Patents

Method for generating in-place deburring path of ceramic core of aircraft blade based on local point cloud matching Download PDF

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CN112241810A
CN112241810A CN202011113853.8A CN202011113853A CN112241810A CN 112241810 A CN112241810 A CN 112241810A CN 202011113853 A CN202011113853 A CN 202011113853A CN 112241810 A CN112241810 A CN 112241810A
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梅雪松
黄旺旺
姜歌东
凡正杰
孙涛
运侠伦
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Xian Jiaotong University
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Abstract

A method for generating an in-place deburring path of a ceramic core of a shipping blade based on local point cloud matching comprises the steps of firstly generating an ideal cutter path of a ceramic core CAD model, then calibrating a rigid body transformation matrix from a 3D scanner coordinate system to a machine tool fixture coordinate system to obtain point cloud data of the ceramic core, roughly aligning the ceramic core CAD model and the ideal cutter path of the ceramic core CAD model with point cloud data of the ceramic core through matrix transformation, then segmenting the point cloud data of the ceramic core and the ceramic core CAD model after rough alignment, and then carrying out local rigid body or non-rigid body point cloud fine matching to obtain a point cloud fine matching matrix; respectively transforming the ideal tool paths of the roughly aligned ceramic core CAD model through a point cloud fine matching matrix, and taking the transformation result as a deburring path of the ceramic core; the invention simultaneously considers the influence of the complex structure and the uneven deformation of the ceramic core and the inconsistent clamping pose in the machine tool clamp on the deburring path precision, and can meet the requirements.

Description

Method for generating in-place deburring path of ceramic core of aircraft blade based on local point cloud matching
Technical Field
The invention belongs to the technical field of industrial part deburring, and particularly relates to a method for generating an in-situ deburring path of a ceramic core of a navigation blade based on local point cloud matching.
Background
With the continuous improvement of the design indexes of the airplane, the development of the aircraft engine towards the directions of high thrust, high thrust-weight ratio, low oil consumption and the like is correspondingly required, and the improvement of the temperature of the front inlet of the turbine is one of the most important ways for improving the thrust-weight ratio. The thrust-weight ratio of the fifth-generation aero-engine reaches 15, the temperature before the turbine reaches 1830-1930 ℃, and therefore the high-temperature resistance of the turbine blade, particularly the high-pressure turbine blade, must be increased. The method for casting the hollow air cooling blade by adopting the near-net-shaped investment precision casting is one of important technologies for solving the contradiction between the front inlet gas temperature of a turbine and the limit temperature of an alloy material in the design of an engine, and the key for casting the hollow air cooling blade is to manufacture a ceramic core capable of forming a complex inner cavity of the blade.
At present, a ceramic core is formed by a casting mode, but the ceramic core subjected to pressing and roasting has the defects of flash, burr, hole blockage and the like, the service performance of the aircraft blade is seriously influenced, and the ceramic core needs to be modified to meet the service requirement of an aircraft engine. At present, domestic aerospace units mostly adopt manual repair, so that the problems of poor ceramic core profile precision, irregular micro structure, low yield (18%), low processing efficiency and the like are caused, and the development of the aeroengine in China is also restricted. As the ultrafast laser processing technology has obvious advantages in the aspects of non-contact and material universality, the ceramic core is subjected to automatic modification by combining ultrafast laser with a multi-axis machine tool. Due to the fact that the ceramic core is complex in structure, the problems of uneven shrinkage deformation, inconsistent clamping pose in a clamp and the like exist after casting forming, and the generation of a deburring path of the ceramic core is one of the most important and challenging technologies in the whole laser automatic deburring task.
The Deburring path generating methods proposed at present mainly include a teaching method (c.li, c.park, j.kyung, g.chung, and c.han, "Study on machining path reconstruction algorithm based on direct teaching and playback method"), a 2D machine vision method (z.lai, r.xiong, h.wu, and y.guard, "Integration of Visual Information and Robot engineering System for Improving Automatic Deburring Process"), and a CAD/CAM-based method (m.rajaraman, m.dawson-hash, k.shida, and d.bourne, "Automatic machining logic localization method for zero deformation", but these methods are not applicable to zero deformation methods, and cannot meet the requirements for simple shape and shape.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the method for generating the in-place deburring path of the ceramic core of the aviation blade based on local point cloud matching, simultaneously considers the influence of the complex structure and the uneven deformation of the ceramic core and the inconsistent clamping pose in a machine tool clamp on the deburring path precision, and can meet the requirement.
In order to achieve the purpose, the invention adopts the technical scheme that:
the method for generating the in-place deburring path of the ceramic core of the aviation blade based on local point cloud matching is characterized by comprising the following steps of:
1) generating an ideal tool path of the CAD model of the ceramic core: performing simulation machining along the parting surface of the ceramic core mold through the tool path planning function of computer-aided manufacturing software, and simultaneously generating corresponding tool position files(ii) a Extracting tool location points in the moving process of the tool from the tool location file, and taking all the tool location points as ideal tool paths of the CAD model of the ceramic core and recording as IE; dividing IE into n independent deburring paths according to different parts of the ceramic core to be deburred, and recording IE as { IE ═ IE1，Ie2，…，IenTaking the value of n as the total number of the parts to be deburred;
2) calibrating the relationship between the 3D scanner and the machine tool fixture: let the coordinate system of the 3D scanner be OsXsYsZsThe machine tool fixture coordinate system is marked as OfXfYfZfCalibrating the slave 3D scanner coordinate system OsXsYsZsTo machine tool fixture coordinate system OfXfYfZfThe rigid body transformation matrix T1;
3) acquiring point cloud data of a ceramic core: clamping a ceramic core in a machine tool fixture, obtaining a plurality of pieces of point cloud data of the ceramic core through the cooperation of a 3D scanner and a machine tool rotary table, and combining the plurality of pieces of point cloud data into complete point cloud data of the ceramic core through a point cloud matching algorithm;
4) roughly aligning the ceramic core CAD model with the point cloud data of the ceramic core: utilizing the rigid body transformation matrix T1 calibrated in the step 2), and enabling the ideal tool path IE ═ IE of the ceramic core CAD model generated in the step 1) and the ceramic core CAD model1，Ie2，…，IenCoarsely aligning the point cloud data of the ceramic core obtained in the step 3), and aligning the coarsely aligned IE (IE) to the point cloud data of the ceramic core1，Ie2，…，IenDenoted as CE ═ Ce1,Ce2,…,Cen}；
5) Dividing the point cloud data of the ceramic core and the ceramic core CAD model after rough alignment: using CE ═ CE obtained in step 4) { CE1,Ce2,…,CenDividing the ceramic core point cloud data to obtain n point cloud blocks, and recording as PB (point cloud block) ═ Pb (point cloud block)1,Pb2,…,Pbn}; dividing the ceramic core CAD model after the rough alignment in the step 4) to obtain n ideal blocks, and recording as IB ═ Ib1,Ib2,…,Ibn}；
6) Fine matching of local point cloud: n "point cloud blocks" PB ═ { PB) obtained in step 5)1,Pb2,…,PbnWith n "ideal blocks" IB ═ IB1,Ib2,…,IbnExecuting local point cloud fine matching respectively correspondingly, and recording the point cloud fine matching result as T2 ═ T21,T22,…,T2n}；
7) The ceramic core deburring path is generated: combining the point cloud fine matching result T2 ═ { T2) obtained in the step 6)1,T22,…,T2nAnd CE ═ CE in step 4) } and { CE ═ CE1,Ce2,…,CenCreating a deburring path for the ceramic core, and recording the deburring path for the ceramic core as PE ═ PE1,Pe2,…,Pen}。
The specific defining method of the coordinate systems of the 3D scanner and the machine tool clamp in the step 2) comprises the following steps: the 3D scanner coordinate system is defined as follows: origin OsThe optical center of the left camera of the 3D scanner is coincided, the X axis and the Y axis are respectively parallel to the X direction and the Y direction of the image plane of the left camera, and the Z axis is parallel to the optical axis of the left camera;
the machine tool fixture coordinate system is defined as follows: defining a surface A as a cylindrical surface with the largest area in the clamp, a surface B as a plane with the largest surface area on the clamp, the plane being vertical to the axis of the cylindrical surface A, and a surface C being vertical to the surface B; origin O of machine tool fixture coordinate systemfIs the intersection point of the axis of the cylindrical surface A and the plane B, the Z axis is the axis of the cylindrical surface and the direction is upward, the X axis is vertical to the plane C, and the Y axis is determined by the right-hand rule.
The method for roughly aligning the point cloud data of the ceramic core CAD model and the ceramic core in the step 4) comprises the following steps: the design coordinate system of the ceramic core CAD model is coincided with the 3D scanner coordinate system, and the ideal tool path IE of the ceramic core CAD model generated in the step 1) is equal to { IE { (IE) }1，Ie2，…，IenAnd (3) converting the rigid matrix T1 calibrated in the step 2) to ensure that the ceramic core CAD model is basically superposed with the point cloud data of the ceramic core acquired in the step 3) to realize rough alignment.
The ceramic core point cloud data in the step 5) and the ceramic core CAD model after rough alignment are divided by the following steps: the method for segmenting the point cloud data of the ceramic core generated in the step 3) comprises the following steps, CeiIs CE ═ Ce obtained in step 4) { Ce ═1,Ce2,…,CenA part of (i.e. Ce) } isi(i＝1,2,…,n)∈CE，eiIs CeiAt one point of (1) with eiConstructing a sphere by taking the sphere center and the radius as r, traversing Ce by taking point cloud data of a ceramic core in the sphere as candidate pointsiTaking the set of all candidate points as a point cloud block and recording as Pbi(ii) a N point cloud blocks of the ceramic core point cloud data can be obtained by a segmentation method, and are marked as PB ═ Pb1,Pb2,…,Pbn}; obtaining n ideal blocks of the ceramic core CAD model after the rough alignment in the step 4) by using the same segmentation method as the point cloud data of the ceramic core, and recording as IB ═ Ib1,Ib2,…,Ibn}。
The precise matching of the local point clouds in the step 6) is as follows: the local point cloud fine matching method specifically comprises a point cloud rigid body and non-rigid body matching method, wherein the rigid body matching method mainly comprises translation transformation and rigid body transformation, the non-rigid body transformation mainly comprises similarity transformation and affine transformation, the selection principle is to compare a ceramic core deburring path generated by different rigid body and non-rigid body point cloud fine matching methods with an ideal deburring path, and the point cloud fine matching method with the highest precision is selected to be used for generating the ceramic core deburring path.
The method for generating the deburring path of the ceramic core in the step 7) comprises the following steps: utilizing the point cloud fine matching result T2 ═ T2 obtained in the step 6)1,T22,…,T2nRespectively corresponding CE ═ Ce in the step 4)1,Ce2,…,CenThe converted CE will serve as a deburring path for the ceramic core, i.e., PE ═ PE }1,Pe2,…,Pen}＝{T2i(Cei) 1,2, …, n, where T2i(Cei) Represents CeiThrough a matrix T2iAnd (6) carrying out transformation.
The invention has the beneficial effects that:
(1) according to the invention, the ceramic core deburring path is generated by means of the ideal cutter path of the ceramic core CAD model, so that the generated ceramic core deburring path has smooth edge and higher precision;
(2) the method has the advantages of high speed and high efficiency because the point cloud data of the ceramic core and the CAD model of the ceramic core are segmented and only the data useful for generating the deburring path of the ceramic core is reserved;
(3) according to the invention, the point cloud data of the ceramic core and the CAD model of the ceramic core are segmented, and then the deburring paths of the ceramic core are generated by adopting a local precise matching strategy, so that the change of the relative position and the posture between the micro structures caused by the non-uniform deformation of the ceramic core is considered, namely the change of the relative position and the posture between the deburring paths of the micro structures is considered;
(4) because the invention adopts the local precise matching strategy to realize the deburring path generation of a plurality of parts on the ceramic core, the invention can be applied to the application of parts with complex shape and structure and more deburring parts;
(5) according to the invention, firstly, the point cloud data of the ceramic core CAD model and the ceramic core are roughly aligned, so that the overall optimal solution of the subsequent local fine matching process is ensured, and the application of the fine matching method considers the influence of the uneven shrinkage deformation of the ceramic core on the deburring path precision on one hand and the error caused by the inconsistent clamping pose of the ceramic core in a machine tool clamp on the other hand;
(6) because the invention adopts the point cloud precise matching method of the rigid body and the non-rigid body locally, the invention considers the deformation of the micro structure caused by the uneven deformation of the ceramic core, namely the deformation of the deburring path of the micro structure.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 shows a portion of a ceramic core to be deburred in accordance with an embodiment of the present invention.
FIG. 3 shows an ideal tool path of a CAD model of a ceramic core and its segmentation results according to an embodiment of the present invention.
Fig. 4 is a definition of a coordinate system of a 3D scanner and a machine tool fixture according to an embodiment of the present invention.
FIG. 5 shows the segmentation result of the point cloud data of the ceramic core according to the embodiment of the present invention.
FIG. 6 is a representation of a ceramic core CAD model segmentation result after rough alignment according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a method for generating an in-situ deburring path of a ceramic core of a aviation blade based on local point cloud matching includes the following steps:
1) generating an ideal tool path of the CAD model of the ceramic core: the part of the ceramic core to be deburred is shown in figure 2 and mainly comprises 15 rectangular-like holes, 30 circular holes and 1 outline outer edge of the ceramic core; in order to generate an ideal cutter path of a CAD (computer-aided manufacturing) model of the ceramic core, firstly, performing simulated machining along a parting surface of a mold of the ceramic core through a cutter path planning function of Mastercam of computer-aided manufacturing (CAM) software, and simultaneously generating a corresponding cutter position file; extracting tool location points in the moving process of the tool from the tool location file, taking all the tool location points as ideal tool paths of the CAD model of the ceramic core, and recording as IE; the ceramic core has 46 parts to be deburred, so IE is further divided into 46 independent deburring paths which are marked as IE ═ IE1，Ie2，…，Ie46Results are shown in FIG. 3;
2) calibrating the relationship between the 3D scanner and the machine tool fixture: as shown in FIG. 4, the coordinate system of the 3D scanner is denoted as OsXsYsZsThe machine tool fixture coordinate system is marked as OfXfYfZf(ii) a The 3D scanner coordinate system is defined as follows: origin OsThe optical center of the left camera of the 3D scanner is coincided, the X axis and the Y axis are respectively parallel to the X direction and the Y direction of the image plane of the left camera, and the Z axis is parallel to the optical axis of the left camera; the machine tool fixture coordinate system is defined as follows: definition of surface A asThe surface B is a plane with the largest surface area on the clamp and is vertical to the axis of the cylindrical surface A, and the surface C is vertical to the surface B; origin O of machine tool fixture coordinate systemfThe axis of the cylindrical surface A is the intersection point of the axis of the cylindrical surface A and the plane B, the Z axis is the axis of the cylindrical surface and the direction is upward, the X axis is vertical to the plane C, and the Y axis can be determined by a right-hand rule; then calibrating the slave 3D scanner coordinate system OsXsYsZsTo machine tool fixture coordinate system OfXfYfZfThe rigid body transformation matrix T1;
3) acquiring point cloud data of a ceramic core: in the whole automatic laser deburring process, firstly, a ceramic core to be deburred needs to be clamped in a machine tool fixture, then a plurality of pieces of point cloud data of the ceramic core are obtained through the cooperation of a 3D scanner and a machine tool rotary table, and the plurality of pieces of point cloud data are combined into complete ceramic core point cloud data through a point cloud matching algorithm;
4) roughly aligning the ceramic core CAD model with the point cloud data of the ceramic core: the design coordinate system of the ceramic core CAD model is coincided with the 3D scanner coordinate system, and the ideal tool path IE of the ceramic core CAD model generated in the step 1) and the ideal tool path IE of the ceramic core CAD model are { IE { (IE) }1，Ie2，…，Ie46Converting the rigid matrix T1 calibrated in the step 2) to enable the ceramic core CAD model to be basically coincident with the ceramic core point cloud data acquired in the step 3), and converting IE (IE)1，Ie2,…,Ie46Denoted as CE ═ Ce1,Ce2,…,Ce46At the moment, the CE is basically overlapped with the deburring path of the ceramic core to be generated, but the CE cannot be completely overlapped with the deburring path of the ceramic core to be generated due to the fact that the ceramic core has uneven shrinkage deformation and is inconsistent in the clamping pose of a machine tool clamp;
5) dividing the point cloud data of the ceramic core and the ceramic core CAD model after rough alignment: the method for segmenting the point cloud data of the ceramic core generated in the step 3) comprises the following steps, CeiIs CE ═ Ce1,Ce2,…,Ce46A part of (i.e. Ce) } isi(i＝1,2,…,46)∈CE，eiIs CeiAt one point of (1) with eiConstructing a sphere by taking the radius of r ═ 1.7mm as the center of the sphere, taking the point cloud data of the ceramic core in the sphere as candidate points, and traversing CeiTaking the set of all candidate points as a point cloud block and recording as Pbi(ii) a 46 point cloud blocks of the ceramic core point cloud data can be obtained by the method and are marked as PB ═ Pb1,Pb2,…,Pb46FIG. 5 shows the segmentation results; obtaining 46 ideal blocks of the ceramic core CAD model after the rough alignment in the step 4) by using the same segmentation method as the point cloud data of the ceramic core, and recording as IB ═ Ib1,Ib2,…,Ib46FIG. 6 shows the segmentation results;
6) fine matching of local point cloud: 46 "point cloud blocks" PB ═ { PB) obtained in step 5)1,Pb2,…,Pb46And 46 "ideal blocks" IB ═ IB1,Ib2,…,Ib46Executing local point cloud fine matching correspondingly among the points, wherein Pb isi(i-1, 2, …,46) is held fixed, Ibi(i ═ 1,2, …,46) can be moved; the point cloud precise matching method comprises a point cloud rigid body and non-rigid body matching method, wherein the rigid body matching method mainly comprises translation transformation and rigid body transformation, and the non-rigid body transformation mainly comprises similarity transformation and affine transformation; the selection principle is that a ceramic core deburring path generated by different rigid body and non-rigid body point cloud fine matching methods is compared with an ideal deburring path, and the point cloud fine matching method with the highest precision is selected to be used for generating the ceramic core deburring path; the fine matching result of the point cloud is recorded as T2 ═ T21,T22,…,T246}；
7) The ceramic core deburring path is generated: utilizing the point cloud fine matching result T2 ═ T2 obtained in the step 6)1,T22,…,T246Respectively corresponding CE ═ Ce in the step 4)1,Ce2,…,Ce46Converting, wherein the converted CE is used as a deburring path of the ceramic core; when the deburring path of the ceramic core is expressed as PE ═ Pe1,Pe2,…,Pe46Then PE ═ Pe }1,Pe2,…,Pe46}＝{T2i(Cei) 1,2, …,46}, where T2i(Cei) Represents CeiThrough a matrix T2iAnd (6) carrying out transformation.

Claims (6)

1. The method for generating the in-place deburring path of the ceramic core of the aviation blade based on local point cloud matching is characterized by comprising the following steps of:
1) generating an ideal tool path of the CAD model of the ceramic core: performing simulation machining along the parting surface of the ceramic core mould through the tool path planning function of computer-aided manufacturing software, and simultaneously generating a corresponding tool position file; extracting tool location points in the moving process of the tool from the tool location file, and taking all the tool location points as ideal tool paths of the CAD model of the ceramic core and recording as IE; dividing IE into n independent deburring paths according to different parts of the ceramic core to be deburred, and recording IE as { IE ═ IE1，Ie2，…，IenTaking the value of n as the total number of the parts to be deburred;
2) calibrating the relationship between the 3D scanner and the machine tool fixture: let the coordinate system of the 3D scanner be OsXsYsZsThe machine tool fixture coordinate system is marked as OfXfYfZfCalibrating the slave 3D scanner coordinate system OsXsYsZsTo machine tool fixture coordinate system OfXfYfZfThe rigid body transformation matrix T1;
3) acquiring point cloud data of a ceramic core: clamping a ceramic core in a machine tool fixture, obtaining a plurality of pieces of point cloud data of the ceramic core through the cooperation of a 3D scanner and a machine tool rotary table, and combining the plurality of pieces of point cloud data into complete point cloud data of the ceramic core through a point cloud matching algorithm;
4) roughly aligning the ceramic core CAD model with the point cloud data of the ceramic core: utilizing the rigid body transformation matrix T1 calibrated in the step 2), and enabling the ideal tool path IE ═ IE of the ceramic core CAD model generated in the step 1) and the ceramic core CAD model1，Ie2，…，IenPerforming the operation with the point cloud data of the ceramic core obtained in the step 3)Coarsely aligning, and setting IE after coarse alignment to { IE1，Ie2，…，IenDenoted as CE ═ Ce1,Ce2,…,CenAt the moment, the CE is basically superposed with a deburring path of the ceramic core to be generated;
5) dividing the point cloud data of the ceramic core and the ceramic core CAD model after rough alignment: using CE ═ CE obtained in step 4) { CE1,Ce2,…,CenDividing the ceramic core point cloud data to obtain n point cloud blocks, and recording as PB (point cloud block) ═ Pb (point cloud block)1,Pb2,…,Pbn}; dividing the ceramic core CAD model after the rough alignment in the step 4) to obtain n ideal blocks, and recording as IB ═ Ib1,Ib2,…,Ibn}；
6) Fine matching of local point cloud: n "point cloud blocks" PB ═ { PB) obtained in step 5)1,Pb2,…,PbnWith n "ideal blocks" IB ═ IB1,Ib2,…,IbnExecuting local point cloud fine matching respectively correspondingly, and recording the point cloud fine matching result as T2 ═ T21,T22,…,T2n}；
7) The ceramic core deburring path is generated: combining the point cloud fine matching result T2 ═ { T2) obtained in the step 6)1,T22,…,T2nAnd CE ═ CE in step 4) } and { CE ═ CE1,Ce2,…,CenCreating a deburring path for the ceramic core, and recording the deburring path for the ceramic core as PE ═ PE1,Pe2,…,Pen}。
2. The in-place deburring path generation method for the aviation blade ceramic core based on local point cloud matching according to claim 1, characterized by comprising the following steps of: the specific defining method of the coordinate systems of the 3D scanner and the machine tool clamp in the step 2) comprises the following steps: the 3D scanner coordinate system is defined as follows: origin OsThe optical center of the left camera of the 3D scanner is coincided, the X axis and the Y axis are respectively parallel to the X direction and the Y direction of the image plane of the left camera, and the Z axis is parallel to the optical axis of the left camera;
the machine tool fixture coordinate system is defined as follows:defining a surface A as a cylindrical surface with the largest area in the clamp, a surface B as a plane with the largest surface area on the clamp, the plane being vertical to the axis of the cylindrical surface A, and a surface C being vertical to the surface B; origin O of machine tool fixture coordinate systemfIs the intersection point of the axis of the cylindrical surface A and the plane B, the Z axis is the axis of the cylindrical surface and the direction is upward, the X axis is vertical to the plane C, and the Y axis is determined by the right-hand rule.
3. The in-place deburring path generation method for the aviation blade ceramic core based on local point cloud matching according to claim 1, characterized by comprising the following steps of: the method for roughly aligning the point cloud data of the ceramic core CAD model and the ceramic core in the step 4) comprises the following steps: the design coordinate system of the ceramic core CAD model is coincided with the 3D scanner coordinate system, and the ideal tool path IE of the ceramic core CAD model generated in the step 1) is equal to { IE { (IE) }1，Ie2，…，IenAnd (3) converting the rigid matrix T1 calibrated in the step 2) to ensure that the ceramic core CAD model is basically superposed with the point cloud data of the ceramic core acquired in the step 3) to realize rough alignment.
4. The in-place deburring path generation method for the aviation blade ceramic core based on local point cloud matching according to claim 1, characterized by comprising the following steps of: the ceramic core point cloud data in the step 5) and the ceramic core CAD model after rough alignment are divided by the following steps: the method for segmenting the point cloud data of the ceramic core generated in the step 3) comprises the following steps, CeiIs CE ═ Ce obtained in step 4) { Ce ═1,Ce2,…,CenA part of (i.e. Ce) } isi(i＝1,2,…,n)∈CE，eiIs CeiAt one point of (1) with eiConstructing a sphere by taking the sphere center and the radius as r, traversing Ce by taking point cloud data of a ceramic core in the sphere as candidate pointsiTaking the set of all candidate points as a point cloud block and recording as Pbi(ii) a N point cloud blocks of the ceramic core point cloud data can be obtained by a segmentation method, and are marked as PB ═ Pb1,Pb2,…,Pbn}; for the ceramic core CAD model after rough alignment in the step 4)Obtaining n ideal blocks by the same segmentation method as the point cloud data of the ceramic core, and recording as IB ═ Ib1,Ib2,…,Ibn}。
5. The in-place deburring path generation method for the aviation blade ceramic core based on local point cloud matching according to claim 1, characterized by comprising the following steps of: the precise matching of the local point clouds in the step 6) is as follows: the local point cloud fine matching method specifically comprises a point cloud rigid body and non-rigid body matching method, wherein the rigid body matching method mainly comprises translation transformation and rigid body transformation, the non-rigid body transformation mainly comprises similarity transformation and affine transformation, the selection principle is to compare a ceramic core deburring path generated by different rigid body and non-rigid body point cloud fine matching methods with an ideal deburring path, and the point cloud fine matching method with the highest precision is selected to be used for generating the ceramic core deburring path.
6. The in-place deburring path generation method for the aviation blade ceramic core based on local point cloud matching according to claim 1, characterized by comprising the following steps of: the method for generating the deburring path of the ceramic core in the step 7) comprises the following steps: utilizing the point cloud fine matching result T2 ═ T2 obtained in the step 6)1,T22,…,T2nRespectively corresponding CE ═ Ce in the step 4)1,Ce2,…,CenThe converted CE will serve as a deburring path for the ceramic core, i.e., PE ═ PE }1,Pe2,…,Pen}＝{T2i(Cei) 1,2, …, n, where T2i(Cei) Represents CeiThrough a matrix T2iAnd (6) carrying out transformation.
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