CN112241810B - In-situ deburring path generation method for aircraft blade ceramic core based on local point cloud matching - Google Patents
In-situ deburring path generation method for aircraft blade ceramic core based on local point cloud matching Download PDFInfo
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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, the uneven deformation and the inconsistent clamping pose in the machine tool fixture on the deburring path precision, and can meet the requirements.
Description
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 index of the airplane, the development of the aircraft engine towards 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 after 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 aircraft blade 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 finding and playback method"), a 2D machine vision method (z.lai, r.xiong, h.wu, and y.guard, "Integration of Visual Information and Robot offset planning System for Improving Automatic Deburring Process"), and a CAD/CAM-based method (m.rajaraman, m.dawson-hash, k.shimada, and d.bourene, "Automated Deburring logic correction method" are applicable to simple structures, and there is no deformation of parts, and there is no requirement for new methods, and there is no need to provide a new method for deformation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method for generating an in-place deburring path of a ceramic core of a aviation blade based on local point cloud matching, and the method can meet the requirements by considering 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.
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 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 positions of the ceramic core to be deburred, and recording as IE = { IE = 1 ，Ie 2 ，…，Ie n The value of n is 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 O s X s Y s Z s The machine tool fixture coordinate system is marked as O f X f Y f Z f Calibrating the slave 3D scanner coordinate system O s X s Y s Z s To machine tool fixture coordinate system O f X f Y f Z f The 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 and the ceramic core point cloud data: utilizing the rigid body transformation matrix T1 calibrated in the step 2), and enabling the ceramic core CAD model and the ideal tool path IE = { IE ] of the ceramic core CAD model generated in the step 1) 1 ，Ie 2 ，…，Ie n Coarsely aligning the point cloud data of the ceramic core obtained in the step 3), and aligning IE = { IE after coarse alignment 1 ，Ie 2 ，…，Ie n Notation CE = { Ce } 1 ,Ce 2 ,…,Ce n }；
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) 1 ,Ce 2 ,…,Ce n Dividing the point cloud data of the ceramic core to obtain n point cloud blocks, and recording as PB = { Pb } 1 ,Pb 2 ,…,Pb n }; dividing the CAD model of the ceramic core after rough alignment in the step 4) to obtain n ideal blocks, and recording as IB = { Ib = { (Ib) } 1 ,Ib 2 ,…,Ib n }；
6) Fine matching of local point cloud: n "cloud blocks of dots" PB = { PB) obtained in step 5) 1 ,Pb 2 ,…,Pb n And n "ideal blocks" IB = { Ib) 1 ,Ib 2 ,…,Ib n Executing local point cloud fine matching respectively correspondingly between points, and recording the point cloud fine matching result as T2= { T2= 1 ,T2 2 ,…,T2 n }；
7) The ceramic core deburring path is generated: combining the point cloud fine matching result T2= { T2) obtained in the step 6) 1 ,T2 2 ,…,T2 n And CE in step 4) = { CE = 1 ,Ce 2 ,…,Ce n Creating a deburring path for the ceramic core and recording the deburring path for the ceramic core as PE = { Pe = 1 ,Pe 2 ,…,Pe n }。
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 O s Coinciding with the optical center of a left camera of the 3D scanner, wherein the X axis and the Y axis are respectively parallel to the X direction and the Y direction of the left camera image plane, 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 area of the upper surface of the clamp, the surface B being perpendicular to the axis of the cylindrical surface A, and a surface C being perpendicular to the surface B; origin O of machine tool fixture coordinate system f 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 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 = { IE ] of the ceramic core CAD model generated in the step 1) is used for matching the ceramic core CAD model with the ideal tool path IE = { IE = 1 ，Ie 2 ，…，Ie n And (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), thereby realizing coarse 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, ce i CE = { Ce) obtained in step 4) 1 ,Ce 2 ,…,Ce n A part of (i.e. Ce) } is i (i＝1,2,…,n)∈CE，e i Is Ce i At one point of (1) with e i Constructing 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 points i Taking the set of all candidate points as a point cloud block and recording as Pb i (ii) a By dividingThe method can obtain n point cloud blocks of the point cloud data of the ceramic core, and the point cloud blocks are marked as PB = { Pb = } 1 ,Pb 2 ,…,Pb n }; obtaining n ideal blocks of the ceramic core CAD model roughly aligned in the step 4) by using the same segmentation method as the ceramic core point cloud data, and marking as IB = { Ib = 1 ,Ib 2 ,…,Ib n }。
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 ,T2 2 ,…,T2 n Respectively corresponding CE = { Ce } in step 4) 1 ,Ce 2 ,…,Ce n Is transformed, the transformed CE will act as a deburring path for the ceramic core, i.e. PE = { PE = { PE } 1 ,Pe 2 ,…,Pe n }＝{T2 i (Ce i ) L i =1,2, \8230 |, n }, where T2 i (Ce i ) Represents Ce i Passing through matrix T2 i And (5) performing conversion.
The beneficial effects of the invention are as follows:
(1) Because the ceramic core deburring path is generated by means of the ideal cutter path of the ceramic core CAD model, the edge of the generated ceramic core deburring path is smooth, and the precision is higher;
(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, 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 fixture 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 coordinate systems of the 3D scanner and the machine tool holder 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 the CAD model segmentation of a ceramic core 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 total number of the positions to be deburred on the ceramic core is 46, so IE is further divided into 46 independent deburring paths which are marked as IE = { IE = 1 ，Ie 2 ，…，Ie 46 Results 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 O s X s Y s Z s The machine tool fixture coordinate system is marked as O f X f Y f Z f (ii) a The 3D scanner coordinate system is defined as follows: origin O s Coinciding with the optical center of a left camera of the 3D scanner, wherein the X axis and the Y axis are respectively parallel to the X direction and the Y direction of the left camera image plane, 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 area of the upper surface of the clamp, the surface B being perpendicular to the axis of the cylindrical surface A, and a surface C being perpendicular to the surface B; origin O of machine tool fixture coordinate system f The 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 perpendicular to the plane C, and the Y axis can be determined by a right-hand rule; then calibrating the slave 3D scanner coordinate system O s X s Y s Z s To machine tool fixture coordinate system O f X f Y f Z f The 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 = { IE ] of the ceramic core CAD model generated in the step 1) and the ceramic core CAD model 1 ，Ie 2 ，…，Ie 46 Converting the rigid matrix T1 calibrated in the step 2) to enable the ceramic core CAD model to be basically overlapped with the ceramic core point cloud data acquired in the step 3), and converting IE = { IE = } 1 ，Ie 2 ,…,Ie 46 Notation CE = { Ce = } 1 ,Ce 2 ,…,Ce 46 At 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 ceramic core point cloud data generated in the step 3) comprises the following steps of Ce i Is CE = { Ce = 1 ,Ce 2 ,…,Ce 46 A part of (i.e. Ce) } or i (i＝1,2,…,46)∈CE，e i Is Ce i At one point of (1) with e i Constructing a sphere for the center of the sphere and r =1.7mm as the radius, taking the point cloud data of the ceramic core in the sphere as candidate points, and traversing Ce i Taking the set of all candidate points as a point cloud block and recording as Pb i (ii) a 46 point cloud blocks of the point cloud data of the ceramic core can be obtained by the method and are marked as PB = { Pb = } 1 ,Pb 2 ,…,Pb 46 FIG. 5 shows the segmentation results; obtaining 46 ideal blocks of the ceramic core CAD model after rough alignment in the step 4) by using the same segmentation method as the point cloud data of the ceramic core, and recording the ideal blocks as IB = { Ib = { (Ib) } 1 ,Ib 2 ,…,Ib 46 FIG. 6 shows the segmentation results;
6) Fine matching of local point cloud: 46 "cloud blocks of dots" PB = { PB) obtained in step 5) 1 ,Pb 2 ,…,Pb 46 And 46 "ideal blocks" IB = { IB = } 1 ,Ib 2 ,…,Ib 46 Executing local point cloud fine matching correspondingly among the points, wherein Pb i (i =1,2, \ 8230;, 46) remains fixed, ib i (i =1,2, \ 8230;, 46) is movable; 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= { T2= { (T2) } 1 ,T2 2 ,…,T2 46 }；
7) And (3) generating a deburring path of the ceramic core: utilizing the point cloud fine matching result T2= { T2) obtained in the step 6) 1 ,T2 2 ,…,T2 46 Respectively corresponding CE = { Ce } in step 4) 1 ,Ce 2 ,…,Ce 46 Converting, wherein the converted CE is used as a deburring path of the ceramic core; if the ceramic core is to be inserted the deburring path is marked as PE = { Pe = 1 ,Pe 2 ,…,Pe 46 }, then PE = { Pe 1 ,Pe 2 ,…,Pe 46 }＝{T2 i (Ce i ) L i =1,2, \8230 |, 46}, where T2 i (Ce i ) Represents Ce i Passing through matrix T2 i And (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 mold through the tool path planning function of computer-aided manufacturing software, and simultaneously generating corresponding tool position textA member; 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 positions of the ceramic core to be deburred, and recording as IE = { IE = 1 ，Ie 2 ，…，Ie n Taking 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 O s X s Y s Z s The machine tool fixture coordinate system is marked as O f X f Y f Z f Calibrating the slave 3D scanner coordinate system O s X s Y s Z s To machine tool fixture coordinate system O f X f Y f Z f The 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 ceramic core CAD model and the ideal tool path IE = { IE ] of the ceramic core CAD model generated in the step 1) 1 ，Ie 2 ，…，Ie n Coarsely aligning the point cloud data of the ceramic core obtained in the step 3), and aligning IE = { IE after coarse alignment 1 ，Ie 2 ，…，Ie n Notation CE = { Ce } 1 ,Ce 2 ,…,Ce n At 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) 1 ,Ce 2 ,…,Ce n Dividing the point cloud data of the ceramic core to obtain n point cloud blocks, and recording as PB = { Pb } 1 ,Pb 2 ,…,Pb n }; dividing the ceramic core CAD model after the rough alignment in the step 4) to obtainn "ideal blocks" and is denoted as IB = { IB = { (IB) } 1 ,Ib 2 ,…,Ib n }；
6) Fine matching of local point cloud: n "cloud blocks of dots" PB = { PB) obtained in step 5) 1 ,Pb 2 ,…,Pb n And n "ideal blocks" IB = { Ib) 1 ,Ib 2 ,…,Ib n Executing local point cloud fine matching respectively correspondingly between points, and recording the point cloud fine matching result as T2= { T2= 1 ,T2 2 ,…,T2 n }；
7) The ceramic core deburring path is generated: combining the point cloud fine matching result T2= { T2) obtained in the step 6) 1 ,T2 2 ,…,T2 n And CE = { Ce } in step 4) 1 ,Ce 2 ,…,Ce n Creating a deburring path for the ceramic core, and recording the deburring path for the ceramic core as PE = { Pe = 1 ,Pe 2 ,…,Pe n }。
2. The in-situ deburring path generation method for the aircraft blade ceramic core based on local point cloud matching as claimed in claim 1, characterized in that: 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 O s The 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 system f 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 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 ceramic core CAD model and the ceramic core in the step 4)The method for roughly aligning the point cloud data 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 = { IE ] of the ceramic core CAD model generated in the step 1) is used for matching the ceramic core CAD model with the ideal tool path IE = { IE = 1 ，Ie 2 ，…，Ie n And (3) converting the rigid matrix T1 calibrated in the step 2) to ensure that the ceramic core CAD model is basically superposed with the ceramic core point cloud data acquired in the step 3), thereby realizing coarse 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, ce i CE = { Ce } obtained in step 4) 1 ,Ce 2 ,…,Ce n A part of (i.e. Ce) } or i (i＝1,2,…,n)∈CE，e i Is Ce i At one point of (1) with e i Constructing 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 points i Taking the set of all candidate points as a point cloud block and recording as Pb i (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 = { Pb = } 1 ,Pb 2 ,…,Pb n }; obtaining n ideal blocks of the ceramic core CAD model roughly aligned in the step 4) by using the same segmentation method as the ceramic core point cloud data, and marking as IB = { Ib = 1 ,Ib 2 ,…,Ib n }。
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 ,T2 2 ,…,T2 n Respectively corresponding CE = { Ce } in step 4) 1 ,Ce 2 ,…,Ce n Is transformed, the transformed CE will be the deburring path for the ceramic core, i.e. PE = { PE = } 1 ,Pe 2 ,…,Pe n }＝{T2 i (Ce i ) L i =1,2, \8230 |, n }, where T2 i (Ce i ) Represents Ce i Passing through matrix T2 i And (5) performing conversion.
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