KR102193410B1 - Method for 3d printing-based maintenance for partial breakage of part considering smoothing damaged surface - Google Patents

Abstract

The present invention relates to an apparatus and method for searching for and repairing parts, and to a system for maintaining parts based on 3D printing. According to an embodiment of the present invention, the parts search and repair apparatus includes: a point group data input unit for receiving point group data obtained by three-dimensional scanning of a damaged part, which has been pretreated, by polishing a surface of a damaged part; A 3D model search unit for searching for an original 3D model corresponding to the damaged part in a parts database based on the damaged part point group data; A shape error calculation unit that calculates a shape error between the damaged part point group data and the original part 3D model; A partial three-dimensional model generation unit for generating a partial three-dimensional model of the pre-processed damaged portion of the damaged part based on the shape error; And an output unit that outputs information on the partial 3D model.

Description

Partial damage maintenance method of parts based on 3D printing considering pretreatment of damaged parts {METHOD FOR 3D PRINTING-BASED MAINTENANCE FOR PARTIAL BREAKAGE OF PART CONSIDERING SMOOTHING DAMAGED SURFACE}

The present invention relates to a partial damage maintenance method for parts based on 3D printing in consideration of the pretreatment of the damaged area.

3D printing, which creates three-dimensional articles using three-dimensional drawing data, is used not only in manufacturing industries such as aviation and automobiles, but also in various fields such as medical, construction, retail, food, and clothing industries. In general, 3D printers use plastic materials as their main material, but various materials such as rubber, metal, and ceramics are used in addition to plastic materials while paying attention to the possibility of using 3D printers in various industries.

In this way, 3D printing can be used in all fields that produce and utilize 3D objects.

An object of the present invention is to provide a method for maintaining partial damage of parts based on 3D printing in consideration of pre-treatment of damaged parts for maintaining parts that are partially damaged using 3D printing.

The embodiment of the present invention is to maintain partial damage of parts based on 3D printing considering pre-treatment of damaged parts to quickly maintain parts damaged by 3D printing equipment when parts are damaged in a remote location without parts manufacturing facilities or devices. It aims to provide a repair method.

Further, it is an object of the present invention to provide a method for maintaining partial damage of parts based on 3D printing in consideration of pre-treatment of damaged parts for maintenance of parts having a curved surface.

Another object of the present invention is to provide a method for maintaining partial damage of parts based on 3D printing in consideration of pre-treatment of damaged parts in order to accurately measure shape errors.

According to an embodiment of the present invention, the parts search and repair apparatus includes: a point group data input unit for receiving point group data obtained by three-dimensional scanning of a damaged part, which has been pretreated, by polishing a surface of a damaged part; A 3D model search unit for searching for an original 3D model corresponding to the damaged part in a parts database based on the damaged part point group data; A shape error calculation unit that calculates a shape error between the damaged part point group data and the original part 3D model; A partial three-dimensional model generation unit for generating a partial three-dimensional model of the pre-processed damaged portion of the damaged part based on the shape error; And an output unit that outputs information on the partial 3D model.

The parts search and repair device further includes: a user input unit for receiving classification system information of the damaged part from a user, and the 3D model search unit: corresponding to the damaged part in the parts database according to the classification system information You can search for a 3D model of the original part.

The 3D model search unit: acquires a first correlation between points included in the damaged part point group data, generates a first histogram based on the first correlation, and is stored in the first histogram and the parts database. The difference between the second histograms for the original part 3D model is calculated, the second histogram is generated based on a second correlation between sample points obtained by sampling the original part 3D model stored in the parts database, and Based on the difference, a 3D model of an original part having a shape similar to that of the damaged part may be searched in the parts database.

The 3D model search unit: generates a first image viewed from at least one direction of the damaged part point group data, extracts a first image gradient from the first image, and obtains a first direction distribution of the first image gradient And, comparing the first direction distribution with the second direction distribution of the original part 3D model stored in the parts database, and searching for an original part 3D model similar in shape to the damaged part in the parts database, and the second direction The distribution may be a direction distribution of a second image gradient extracted from a second image viewed from at least one direction of the original part 3D model stored in the parts database.

The user input unit: receives the damaged part point group data or a position to calculate a shape error in the original part 3D model from a user, and the shape error calculation unit: the damaged part point group data and the original part 3 at the input position Shape errors between dimensional models can be calculated.

The user input unit: receives two or more positions in the damaged part point group data or the original part 3D model from a user, and the shape error calculation unit: may further calculate a dimension between the received positions.

The shape error calculation unit: obtains original part point group data by point sampling the original part 3D model, and calculates a distance between a point belonging to the original part point group data and a point belonging to the damaged part point group data.

The shape error calculation unit determines the main axis of the damaged part point group data and the main axis of the original part point group data before calculating the distance, and the damaged part so that the main axes of the damaged part point group data and the original part point group data coincide. Move and rotate at least one of the point group data and the original part point group data, and move at least one of the damaged part point group data and the original part point group data so that an error between the damaged part point group data and the original part point group data is minimized. And can be rotated.

The partial 3D model generation unit: generates a 3D model of a damaged part, which is a 3D model of the damaged part, based on the point group data of the damaged part, and in the object area occupied by the original part 3D model in a 3D space, the The partial 3D model may be generated by removing an object area occupied by the broken 3D model.

The partial 3D model generation unit: identifies the damaged part point group data whose distance exceeds a preset allowable value from the damaged part point group data, and based on the damaged part part point group data and the original part 3D model You can create a three-dimensional model.

The partial 3D model generation unit: determines a first point included in the damaged part partial point group data and a second point closest to the first point on the original part 3D model, and the first and second points are The partial 3D model may be generated by calculating a 3D model positioned on the boundary surface.

A method for searching and repairing parts according to an embodiment of the present invention includes the steps of: receiving a point group data of a damaged part obtained by three-dimensional scanning of a damaged part in which the damaged part is pretreated by polishing the surface of the damaged part; Searching an original part 3D model corresponding to the damaged part in a parts database based on the damaged part point group data; Calculating a shape error between the damaged part point group data and the original part 3D model; Generating a partial 3D model of the pretreated damaged part of the damaged part based on the shape error; And outputting information on the partial 3D model.

The step of searching for the original 3D model of a part may include: obtaining a first correlation between points included in the damaged part point group data; Generating a first histogram based on the first correlation; Calculate a difference between the first histogram and a second histogram with respect to the original part 3D model stored in the parts database, wherein the second histogram is a difference between sample points obtained by sampling the original part 3D model stored in the parts database. 2 generated based on the correlation; And searching for a 3D model of an original part having a shape similar to that of the damaged part in the parts database based on the difference.

The step of searching for the original 3D model of the part may include: generating a first image of the damaged part point group data viewed from at least one direction; Extracting a first image gradient from the first image; Obtaining a first direction distribution of the first image gradient; Comparing the first direction distribution with a second direction distribution of the original part 3D model stored in the parts database, and searching for an original part 3D model similar in shape to the damaged part in the parts database, wherein the first The two-way distribution may be a direction distribution of a second image gradient extracted from a second image viewed from at least one direction of the original part 3D model stored in the parts database.

The calculating of the shape error may include: obtaining original part point group data by point sampling the original part 3D model; And calculating a distance between a point belonging to the original part point group data and a point belonging to the damaged part point group data.

The calculating of the shape error may include determining a main axis of the damaged part point group data and a main axis of the original part point group data before calculating the distance; Moving and rotating at least one of the damaged part point group data and the original part point group data so that the main axes of the damaged part point group data and the original part point group data coincide; And moving and rotating at least one of the damaged part point group data and the original part point group data so that an error between the damaged part point group data and the original part point group data is minimized.

The step of generating the partial 3D model may include: generating a 3D model of the broken part, which is a 3D model of the broken part, based on the data of the broken part point group; And removing the object area occupied by the damaged part 3D model from the object area occupied by the original part 3D model in the 3D space.

The step of generating the partial 3D model may include: identifying partial point group data of the damaged part whose distance exceeds a preset allowable value from the point group data of the damaged part; And generating the partial 3D model based on the damaged part partial point group data and the original 3D model.

Generating a partial 3D model based on the damaged part partial point group data and the original part 3D model comprises: a first point included in the damaged part partial point group data, and the first point on the original part 3D model Determining a second point closest to and; And calculating a 3D model in which the first and second points are located on the boundary surface.

The parts search and repair method according to an embodiment of the present invention may be implemented as a program to be executed by a computer and recorded in a computer-readable recording medium.

3D printing-based parts maintenance system according to an embodiment of the present invention comprises a 3D scanner for generating point group data of damaged parts by three-dimensional scanning of the damaged parts pretreated by polishing the surface of the damaged parts; Part 3 for the pre-processed damaged part of the damaged part based on the damaged part point group data and the original part 3D model by receiving the damaged part point group data and searching for an original part 3D model corresponding to the damaged part Parts search and repair device that provides a dimensional model; And a 3D printer for repairing the damaged part by 3D printing according to the partial 3D model, wherein the parts search and repair device: point group data for receiving the damaged part point group data obtained by 3D scanning the damaged part Input unit; A 3D model search unit for searching for the original 3D model corresponding to the damaged part in a parts database based on the damaged part point group data; A shape error calculation unit that calculates a shape error between the damaged part point group data and the original part 3D model; A partial three-dimensional model generation unit that generates the partial three-dimensional model of the pre-processed damaged portion of the damaged part based on the shape error; And an output unit that outputs information on the partial 3D model.

According to an embodiment of the present invention, it is possible to easily maintain a partially damaged part by using a 3D printer even in a remote location without parts manufacturing facilities or equipment.

According to an embodiment of the present invention, even a user who does not have specialized knowledge about a part can easily search for a 3D model of an original part and quickly maintain a partial damaged part of the part.

According to an embodiment of the present invention, it is possible to maintain a partially damaged portion having a curved surface.

According to an embodiment of the present invention, it is possible to accurately measure a shape error.

1 is a schematic diagram of a 3D printing-based component maintenance system according to an embodiment of the present invention.
2 is an exemplary block diagram of a parts search and repair apparatus according to an embodiment of the present invention.
3 is an exemplary view showing first and second histograms used to search for a 3D model of an original part having a similar shape to a damaged part according to an embodiment of the present invention.
4 is an exemplary diagram showing an image gradient used to search for a 3D model of an original part having a shape similar to a damaged part according to another embodiment of the present invention and a distribution of its direction.
FIG. 5 is an exemplary diagram showing a position at which a shape error is to be calculated and two positions input to calculate a dimension according to an embodiment of the present invention.
6 is an exemplary diagram for explaining a process of generating a partial 3D model of a pretreated damaged area according to an embodiment of the present invention.
FIG. 7 is an exemplary diagram for explaining a process of generating a partial 3D model of a pretreated damaged area according to another embodiment of the present invention.
8 is an exemplary flowchart of a method for searching and repairing parts according to an embodiment of the present invention.
9 is an exemplary flowchart illustrating a process of searching for an original part 3D model corresponding to a damaged part according to another embodiment of the present invention.
10 is an exemplary flowchart illustrating a process of searching for an original part 3D model corresponding to a damaged part according to another embodiment of the present invention.
11 is an exemplary flowchart illustrating a process of calculating a shape error between a damaged part point group data and an original part 3D model according to an embodiment of the present invention.
12 is an exemplary flow chart for explaining a process of generating a partial 3D model for a pre-processed damaged area according to an embodiment of the present invention.
13 is an exemplary flowchart for explaining a process of generating a partial 3D model for a pre-processed damaged portion according to another embodiment of the present invention.
14 is an exemplary flowchart illustrating a process of generating a partial 3D model based on partial point group data of a damaged part and a 3D model of an original part according to an embodiment of the present invention.

Other advantages and features of the present invention, and a method of achieving them will become apparent with reference to embodiments to be described later in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only this embodiment is intended to complete the disclosure of the present invention, and to provide ordinary knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims.

Even if not defined, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by universal technology in the prior art to which this invention belongs. Terms defined by general dictionaries may be construed as having the same meaning as the related description and/or the text of this application, and not conceptualized or excessively formalized, even if not clearly defined herein. Won't.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification,'includes' and/or various conjugated forms of this verb, for example,'includes','includes','includes','includes', etc. refer to the mentioned composition, ingredient, component, Steps, operations and/or elements do not preclude the presence or addition of one or more other compositions, components, components, steps, operations and/or elements. In the present specification, the term'and/or' refers to each of the listed components or various combinations thereof.

Meanwhile, terms such as'~ unit','~ group','~ block', and'~ module' used throughout this specification may refer to a unit that processes at least one function or operation. For example, it can mean software, hardware components such as FPGAs or ASICs. However,'~bu','~gi','~block', and'~module' are not limited to software or hardware. The'~ unit','~ group','~ block', and'~ module' may be configured to be in an addressable storage medium, or may be configured to reproduce one or more processors.

Therefore, as an example,'~ unit','~ group','~ block', and'~ module' are components such as software components, object-oriented software components, class components, and task components. S, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays and Include variables. The functions provided in the components and'~Boo','~Gi','~Block', and'~Module' include a smaller number of elements and'~Boo','~Gi','~Block. It may be combined into','~modules' or further separated into additional components and'~unit','~group','~block', and'~module'.

In an embodiment of the present invention, the damaged part of the damaged part may be pretreated through grinding, sanding, and polishing using sandpaper and an abrasive in advance.

Accordingly, irregular scratches and irregularities formed on the surface of the damaged portion can be removed by grinding, and the surface of the damaged portion can be made smooth.

In addition, by removing irregular scratches and irregularities formed in the damaged portion, there is an effect that it is possible to accurately measure the shape error of the damaged part.

Hereinafter, the damaged part according to the embodiment of the present invention is preferably pretreated by polishing the surface of the damaged part, and an embodiment of the present invention will be described in detail with reference to the accompanying drawings in the present specification.

1 is a schematic diagram of a 3D printing-based component maintenance system 10 according to an embodiment of the present invention.

Referring to FIG. 1, the 3D printing-based parts maintenance system 10 includes a 3D scanner 100, a part search and repair device 200, and a 3D printer 300.

The 3D scanner 100 3D scans the damaged part to generate point group data of the damaged part. The parts search and repair device 200 receives the damaged part point group data, searches for an original part 3D model corresponding to the damaged part, and preprocessed damage of the damaged part based on the damaged part point group data and the original part 3D model. Provides a partial 3D model of the area. The 3D printer 300 repairs damaged parts by 3D printing according to the partial 3D model.

In the 3D printing-based parts maintenance system 10 according to an embodiment of the present invention, the damaged part is scanned in 3D with the 3D scanner 100, and the damaged part is pretreated with the part search and repair device 200. By creating a partial 3D model for the 3D printer 300, it is possible to repair the pretreated damaged part of the damaged part.

In addition, the 3D printing-based parts maintenance system 10 may further include a parts database 400 that stores a 3D model of an original part. In this case, the parts search and repair apparatus 200 may search for an original part 3D model corresponding to the damaged part in the parts database 400.

2 is an exemplary block diagram of a part search and repair apparatus 200 according to an embodiment of the present invention.

2, the parts search and repair device 200 includes a point group data input unit 210, a 3D model search unit 220, a shape error calculation unit 230, a partial 3D model generation unit 235, and It includes an output unit 240.

The point group data input unit 210 receives point group data obtained by three-dimensional scanning of the damaged part. The 3D model search unit 220 searches for an original 3D model of an original component corresponding to the damaged component in the component database 400 based on the damaged component point group data. The shape error calculation unit 230 calculates a shape error between the damaged part point group data and the original part 3D model. The partial 3D model generation unit 235 generates a partial 3D model of the preprocessed damaged part of the damaged part based on the shape error. The output unit 240 outputs information on the partial 3D model.

The parts search and repair apparatus 200 is a computer including a processor and a memory, receives point group data of damaged parts from the 3D scanner 100, searches for an original part 3D model, and performs partial 3D for the preprocessed damaged part. A model is generated and provided to the 3D printer 300, and a shape error between the damaged part point group data and the original part 3D model is calculated, and a program for generating a partial 3D model is executed.

First, the point group data input unit 210 receives the point group data of the damaged part obtained by three-dimensional scanning the damaged part with the 3D scanner 100. In addition, the 3D model search unit 220 searches for an original 3D model corresponding to the damaged part in the parts database 400 based on the damaged part point group data.

According to an embodiment of the present invention, the parts search and repair apparatus 200 further includes a user input unit 250 for receiving information on a classification system of damaged parts from a user. In addition, the 3D model search unit 220 searches for an original 3D model of an original part corresponding to the damaged part in the parts database 400 according to the classification system information.

The parts database 400 stores a 3D model of parts according to a predetermined classification system. For example, the parts database 400 mainly stores a 3D model using a data dictionary method. The data dictionary includes a classification tree containing component categories and hierarchical information between categories, and a list of attributes of parts belonging to a specific category. Semantic information for each category is defined separately, and semantic information for each attribute is also defined separately.

According to this embodiment, a user can search for a part using a classification tree and attribute information for each part category. The user may select a desired category (eg, press-fit guide post) through the user input unit 250 and search for a 3D model of a part belonging thereto. For a more detailed search, the user may search for a 3D model of a part that satisfies the corresponding condition by entering an allowable value (eg, the attribute value of the post diameter is 50 or more) in the attribute of the corresponding category.

According to another embodiment of the present invention, the 3D model search unit 220 may search for a 3D model having a shape similar to that of a damaged part.

Specifically, the 3D model search unit 220 acquires a first correlation between points included in the damaged part point group data, generates a first histogram based on the first correlation, and generates a first histogram and a parts database. The difference between the second histogram of the original part 3D model stored in 400 is calculated, and the second histogram is a second correlation between sample points obtained by sampling the original part 3D model stored in the parts database 400. It is generated as a basis, and based on the difference, a 3D model of an original part having a shape similar to that of the damaged part may be searched in the parts database 400.

Here, the correlation between the points may be a distance between the points. When a distance is obtained from the points included in the damaged part point group data as a first correlation, the 3D model search unit 220 generates a first histogram with a distance as a variable and a predetermined class interval. Similarly, the 3D model search unit 220 calculates a second correlation between sample points obtained by sampling the original 3D model of the parts stored in the parts database 400, for example, the distance between the sample points, and the calculated distance Based on the distance, a second histogram having a predetermined class interval may be generated.

Then, the 3D model search unit 220 calculates the difference between the first histogram and the second histogram, and based on the difference, searches for a 3D model of an original part having a shape similar to the damaged part in the parts database 400 do.

3 is an exemplary view showing first and second histograms used to search for a 3D model of an original part having a similar shape to a damaged part according to an embodiment of the present invention.

As shown in FIG. 3, in the first and second histograms, the variance on the horizontal axis is the distance d between points.

According to an embodiment of the present invention, the 3D model search unit 220 calculates an absolute value of the frequency difference between corresponding classes in the first and second histograms, and included in the first and second histograms. The difference between the first and second histograms may be calculated by summing the absolute values of the frequency differences for at least one class.

In addition, the 3D model search unit 220 determines that the damaged part corresponding to the first histogram and the original part 3D model corresponding to the second histogram are similar to each other as the difference is smaller, and the larger the difference is, the more the first histogram is It may be determined that the corresponding damaged part and the original part 3D model corresponding to the second histogram are dissimilar to each other.

According to this embodiment, the 3D model search unit 220 retrieves a 3D model in which the difference between the first and second histograms is smaller than the preset reference difference among the 3D models of the original parts stored in the parts database 400. It can be determined as a 3D model of the original part having a similar shape to and output as a search result.

According to another embodiment of the present invention, the 3D model search unit 220 may determine a similarity of a shape based on a view of the damaged part point group data and the original part 3D model from one direction.

Specifically, the 3D model search unit 220 generates a first image viewed from at least one direction of the point group data of the damaged part, extracts first image gradients from the first image, and performs a first image gradient. The first direction distribution is obtained, and the original part 3D having a similar shape to the damaged part in the parts database 400 by comparing the first direction distribution with the second direction distribution of the original part 3D model stored in the parts database 400 The model is searched, but the second direction distribution may be a direction distribution of the second image gradient extracted from the second image viewed from at least one direction of the original part 3D model stored in the parts database 400.

4 is an exemplary diagram showing an image gradient used to search for a 3D model of an original part having a shape similar to a damaged part according to another embodiment of the present invention and a distribution of its direction.

First, the 3D model search unit 220 generates a first image viewed from one or more directions of the point group data of the damaged part obtained by 3D scanning the damaged part. In this case, the direction in which the first point group data is viewed may not be toward the damaged part of the part.

Then, the 3D model search unit 220 extracts a first image gradient as shown on the left side of FIG. 4 from the first image. After that, the 3D model search unit 220 adds the first image gradient to obtain a first direction distribution as shown on the right side of FIG. 4. Similarly, the 3D model search unit 220 generates a second image viewed from at least one direction of the original parts 3D model stored in the parts database 400, and extracts a second image gradient from the second image Directional distribution can be obtained.

In addition, the 3D model search unit 220 compares the first direction distribution of the damaged part and the second direction distribution of the original part 3D model, and the original part 3 having a similar shape to the damaged part in the parts database 400 You can search for dimensional models.

Such an embodiment may be useful when one of the components is severely damaged and the overall shape is significantly different from the original shape.

When an original part 3D model having a similar shape to the damaged part is searched, the shape error calculation unit 230 calculates a shape error between the damaged part point group data and the original part 3D model.

According to an exemplary embodiment of the present invention, the user input unit 250 may receive a location for calculating a shape error in the damaged part point group data or the original part 3D model from the user. In addition, the shape error calculation unit 230 may calculate a shape error between the damaged part point group data and the original part 3D model at the received position.

Furthermore, the user input unit 250 may receive two or more locations from the user in the point group data of the damaged part. In addition, the shape error calculation unit 230 may further calculate a dimension between the input positions.

FIG. 5 is an exemplary diagram illustrating a position P _e for which a shape error is to be calculated and two positions P ₁ and P ₂ input to calculate a dimension according to an embodiment of the present invention.

As shown in FIG. 5, when the original part 3D model corresponding to the damaged part is searched, the user may input the position P _e to calculate the shape error in the original part 3D model through the user input unit 250. In this case, the shape error calculation unit 230 calculates a shape error between the damaged part point group data and the original part 3D model at the input position P _e .

In addition, the user may input point group data of damaged parts or positions P ₁ and P ₂ to calculate dimensions in the original part 3D model through the user input unit 250. In this case, the shape error calculation unit 230 may further calculate a dimension h (ie, height) between the input positions P ₁ and P ₂ .

The shape error calculation unit 230 quantitatively calculates a geometric difference between the damaged part point group data and the original part 3D model.

To this end, the shape error calculation unit 230 obtains original part point group data by point sampling the original part 3D model, and calculates a distance between a point belonging to the damaged part point group data and a point belonging to the original part point group data.

According to an embodiment of the present invention, the shape error calculation unit 230 may first filter and simplify the point group data of the damaged part. Filtering the damaged part point cloud data removes noise included in the damaged part point cloud data generated through 3D scanning of the damaged part. Simplification of the broken part point cloud data reduces the number of point cloud data within a range that does not affect an error from the point cloud data containing an excessive number of points.

Thereafter, the shape error calculation unit 230 converts the original part 3D model into a triangular network method and samples a point for each triangle of the transformed triangular network in order to point-sample the original part 3D model. Here, the number of points sampled for each triangle may be proportional to the area of the triangle.

Then, the shape error calculation unit 230 determines the main axis of the damaged part point group data and the main axis of the original part point group data before calculating the distance between the point belonging to the damaged part point group data and the point belonging to the original part point group data. , Move and rotate at least one of the damaged part point group data and the original part point group data so that the main axes of the damaged part point group data and the original part point group data are aligned, and the error between the damaged part point group data and the original part point group data is minimized. At least one of the point cloud data and the original component point cloud data may be moved and rotated.

Specifically, since the damaged part point group data and the original part 3D model scanned with the 3D scanner 100 are expressed in different coordinate systems, the shape error calculation unit 230 can express the two data in the same coordinate system. . To this end, in an embodiment of the present invention, the shape error calculation unit 230 finds the main axis of the point group data of the damaged part and the main axis of the original part point group data obtained by point sampling the original part 3D model, and the damaged part point group data so that the two main axes coincide. And either or both of the original component point cloud data can be moved and rotated.

After that, the shape error calculation unit 230 moves and rotates either or both of the damaged part point group data and the original part point group data so that the error between the damaged part point group data and the original part point group data matched with the main axis is minimized. Let it. In this process, the shape error calculation unit 230 may repeatedly move and rotate the point group data so that a minimum error occurs between the two point group data.

Based on the damaged part point group data and the original part point group data arranged to minimize the error as described above, the shape error calculation unit 230 calculates the distance between a point belonging to the damaged part point group data and a point belonging to the original part point group data. It is possible to calculate the shape error between the damaged part point group data and the original part 3D model.

The partial 3D model generation unit 235 generates a partial 3D model of the preprocessed damaged part of the damaged part based on the shape error.

6 is an exemplary diagram for explaining a process of generating a partial 3D model of a pretreated damaged area according to an embodiment of the present invention.

As shown in FIG. 6, according to an embodiment of the present invention, the partial 3D model generation unit 235 generates a 3D model of a damaged part, which is a 3D model of the damaged part, based on point group data of the damaged part, The partial 3D model may be generated by removing the object area occupied by the damaged 3D model from the object area occupied by the original 3D model in the 3D space.

For example, the partial 3D model generation unit 235 converts the point group data of the damaged part into a solid form having a volume to generate a 3D model of the damaged part, and the difference between the original part 3D model and the damaged part 3D model The volume area corresponding to is can be estimated through a Boolean operation.

According to another embodiment of the present invention, the partial three-dimensional model generating unit 235 is the point group data of the broken part part where the distance calculated by the shape error calculation part 230 from the point group data of the broken part exceeds a preset tolerance. May be identified, and the partial 3D model may be generated based on the damaged part partial point group data and the original part 3D model.

FIG. 7 is an exemplary diagram for explaining a process of generating a partial 3D model of a pretreated damaged area according to another embodiment of the present invention.

7, the portion of the three-dimensional model generation unit 235 has a first point (P ₁ to P _5), and (P ₁ to a first point on the original components three-dimensional model included in the broken part section point clouds P ₅ ) and the closest second point (Q ₁ to Q ₅ ) can be determined.

Then, the partial 3D model generation unit 235 calculates a 3D model in which the first points P ₁ to P ₅ and the second points Q ₁ to Q ₅ are located on the boundary surface, You can create a dimensional model.

In this embodiment, the first points P ₁ to P ₅ are some or all of the points included in the damaged part partial point group data. The partial 3D model generation unit 235 determines second points (Q ₁ to Q ₅ ) closest to the first points (P ₁ to P ₅ ) on the surface of the original part 3D model, and then the first and By modeling a 3D model in which the second point is located on the surface, a partial 3D model for the pretreated damaged area may be generated.

The output unit 240 outputs information on the partial 3D model. The output unit 240 may transmit data related to a partial 3D model of the pre-processed damaged portion to the 3D printer 300.

When the 3D printer 300 receives data on the partial 3D model of the preprocessed damaged part from the parts search and repair device 200, the 3D printer 300 generates a tool movement path for 3D printing for the partial 3D model Part material can be ejected along the path to fill in the pretreated damage.

According to such an embodiment of the present invention, it is possible to easily and quickly perform maintenance on a partly damaged part of a component having a free-form surface using the 3D printer 300.

8 is an exemplary flowchart of a part search and repair method 1000 according to an embodiment of the present invention.

The parts search and repair method 1000 may be executed by the parts search and repair apparatus 200 according to the embodiment of the present invention described above.

Referring to FIG. 8, in the part search and repair method 1000, the step of receiving damaged part point group data obtained by three-dimensional scanning of a damaged part (S1100), and damage in the parts database 400 based on the damaged part point group data. Searching for the original part 3D model corresponding to the part (S1200), calculating the shape error between the damaged part point group data and the original part 3D model (S1300), the preprocessed damaged part of the damaged part based on the shape error And generating a partial 3D model for (S1400), and outputting information on the partial 3D model (S1500).

9 is an exemplary flowchart illustrating a process (S1200) of searching for an original part 3D model corresponding to a damaged part according to another embodiment of the present invention.

According to an embodiment of the present invention, the step of searching for the original part 3D model (S1200) is the step of obtaining a first correlation between points included in the damaged part point group data (S1210), based on the first correlation Generating a first histogram (S1220), calculating a difference between the first histogram and the second histogram of the original part 3D model stored in the parts database 400 (S1230), and a parts database based on the difference It may include a step (S1240) of searching for a 3D model of the original part having a shape similar to that of the damaged part (400).

Here, the second histogram is generated based on a second correlation between sample points obtained by sampling the original part 3D model stored in the parts database 400.

10 is an exemplary flowchart for explaining a process of searching for an original part 3D model corresponding to a damaged part (S1200) according to another embodiment of the present invention.

According to another embodiment of the present invention, the step of searching for the original part 3D model (S1200) is the step of generating a first image viewed from at least one direction of the damaged part point group data (S1250), a first image from the first image. 1 extracting an image gradient (S1260), obtaining a first direction distribution of the first image gradient (S1270), and a first direction distribution and a second direction of the original part 3D model stored in the parts database 400 Comparing with the distribution, the search for a 3D model of the original part having a shape similar to that of the damaged part in the parts database 400 (S1280) may be included.

Here, the second direction distribution is the direction distribution of the second image gradient extracted from the second image of the original part 3D model stored in the parts database 400 viewed from at least one direction.

11 is an exemplary flowchart illustrating a process (S1300) of calculating a shape error between the damaged part point group data and the original part 3D model according to an embodiment of the present invention.

Referring to FIG. 11, the step of calculating a shape error between the damaged part point group data and the original part 3D model (S1300) is a step of obtaining original part point group data by point sampling the original part 3D model (S1310), and A step of calculating a distance between a point belonging to the original part point group data and a point belonging to the damaged part point group data (S1350) may be included.

According to an embodiment of the present invention, the step of calculating the shape error (S1300) includes determining the main axis of the point group data of the damaged part and the main axis of the original part point group data before the step of calculating the distance (S1350) (S1320). ), moving and rotating at least one of the damaged part point group data and the original part point group data so that the main axes of the damaged part point group data and the original part point group data match (S1330), and the error between the damaged part point group data and the original part point group data It may include moving and rotating at least one of the damaged part point group data and the original part point group data so that is minimized (S1340).

12 is an exemplary flowchart for explaining a process (S1400) of generating a partial 3D model for a pre-processed damaged portion according to an embodiment of the present invention.

According to an embodiment of the present invention, the step of generating a partial 3D model for the preprocessed damaged part of the damaged part based on the shape error (S1400) is a 3D model of the damaged part based on the damaged part point group data. Generating a damaged part 3D model (S1410), and removing an object area occupied by the damaged part 3D model from an object area occupied by the original part 3D model in the 3D space (S1420). .

13 is an exemplary flowchart for explaining a process (S1400) of generating a partial 3D model for a pretreated damaged area according to another embodiment of the present invention.

According to another embodiment of the present invention, the step of generating a partial 3D model for the preprocessed damaged part of the damaged part based on the shape error (S1400) is a damage in which a distance exceeds a preset allowable value in the damaged part point group data. It may include identifying the part partial point group data (S1430), and generating a partial 3D model based on the damaged part partial point group data and the original part 3D model (S1440).

14 is an exemplary flowchart illustrating a process (S1440) of generating a partial 3D model based on partial point group data of a damaged part and a 3D model of an original part according to an embodiment of the present invention.

Referring to FIG. 14, the step of generating a partial 3D model based on the damaged part partial point group data and the original part 3D model (S1440) includes first points P ₁ to P ₅ included in the damaged part partial point group data. ) And determining the second point (Q ₁ to Q ₅ ) closest to the first point on the 3D model of the original part (S1450), and calculating a 3D model in which the first point and the second point are located on the boundary surface It may include a step (S1460).

The parts search and repair method 1000 according to an embodiment of the present invention may be produced as a program for execution in a computer and stored in a computer-readable recording medium. The computer-readable recording medium includes all types of storage devices that store data that can be read by a computer system. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tapes, floppy disks, and optical data storage devices. In addition, the part search and repair method 1000 according to an embodiment of the present invention may be implemented as a computer program stored in a medium in order to be combined with a computer and executed.

In the above, the present invention has been described through the embodiments, but the above embodiments are merely for explaining the spirit of the present invention and are not limited thereto. One of ordinary skill in the art will understand that various modifications may be made to the above-described embodiments. The scope of the present invention is defined only through interpretation of the appended claims.

10: 3D printing-based parts maintenance system
100: 3D scanner
200: parts search and repair unit
210: Point cloud data input unit
220: 3D model search unit
230: shape error calculation unit
235: partial 3D model generation unit
240: output
250: user input unit
300: 3D printer
400: parts database

Claims (21)

A point group data input unit for receiving point group data obtained by three-dimensional scanning of the damaged part, on which the damaged part is pretreated by grinding the surface of the damaged part;
A 3D model search unit for searching for an original 3D model corresponding to the damaged part in a parts database based on the damaged part point group data;
A shape error calculation unit that calculates a shape error between the damaged part point group data and the original part 3D model;
A partial three-dimensional model generation unit for generating a partial three-dimensional model of the pre-processed damaged portion of the damaged part based on the shape error; And
Including an output unit for outputting information on the partial three-dimensional model,
The partial 3D model generation unit,
Generates a 3D model of a broken part, which is a 3D model of the broken part, based on the data of the broken part point group,
A parts search and repair apparatus for generating the partial 3D model by removing an object area occupied by the damaged 3D model from an object area occupied by the original 3D model in a 3D space. The method according to claim 1,
The parts search and repair device is:
Further comprising a user input unit receiving the classification system information of the damaged part from the user,
The 3D model search unit:
A parts search and repair apparatus for searching for an original part 3D model corresponding to the damaged part in the parts database according to the classification system information. The method according to claim 1,
The 3D model search unit:
Obtaining a first correlation between points included in the broken part point group data,
Generate a first histogram based on the first correlation,
Calculate a difference between the first histogram and a second histogram with respect to the original part 3D model stored in the parts database, and the second histogram is a difference between sample points obtained by sampling the original part 3D model stored in the parts database 2 is created based on correlation,
A parts search and repair device for searching for a 3D model of an original part having a shape similar to that of the damaged part in the parts database based on the difference. The method according to claim 1,
The 3D model search unit:
Generating a first image viewed from at least one direction of the damaged part point group data,
Extracting a first image gradient from the first image,
Obtaining a first direction distribution of the first image gradient,
The first direction distribution is compared with the second direction distribution of the original part 3D model stored in the parts database to search for an original part 3D model similar in shape to the damaged part in the parts database, the second direction distribution A parts search and repair apparatus, which is a direction distribution of a second image gradient extracted from a second image viewed from at least one direction of an original part 3D model stored in the parts database. The method according to claim 2,
The user input unit:
The damaged part point group data or the position to calculate the shape error in the original part 3D model is input from the user,
The shape error calculation unit:
A part search and repair device for calculating a shape error between the damaged part point group data and the original part 3D model at the input location. The method according to claim 2,
The user input unit:
Two or more locations in the damaged part point group data or the original part 3D model are input by a user,
The shape error calculation unit:
A part search and repair device that further calculates the dimensions between the input positions. The method according to claim 1,
The shape error calculation unit:
Point sampling the original part 3D model to obtain the original part point group data,
A parts search and repair apparatus for calculating a distance between a point belonging to the original part point group data and a point belonging to the damaged part point group data. The method of claim 7,
Before the shape error calculation unit calculates the distance,
Determine the main axis of the damaged part point group data and the main axis of the original part point group data,
Moving and rotating at least one of the damaged part point group data and the original part point group data so that the main axes of the damaged part point group data and the original part point group data coincide,
A parts search and repair device for moving and rotating at least one of the damaged part point group data and the original part point group data so that an error between the damaged part point group data and the original part point group data is minimized. delete The method of claim 8,
The partial 3D model generation unit:
In the broken part point group data, identify the broken part part point group data whose distance exceeds a preset tolerance,
A part search and repair apparatus for generating the partial 3D model based on the damaged part partial point group data and the original 3D model. The method of claim 10,
The partial 3D model generation unit:
Determining a first point included in the damaged part partial point group data and a second point closest to the first point on the original part 3D model,
A parts search and repair device for generating the partial 3D model by calculating a 3D model in which the first and second points are located on an interface. Receiving a point group data of a damaged part obtained by three-dimensional scanning of the damaged part, which has been pretreated by polishing the surface of the damaged part;
Searching an original part 3D model corresponding to the damaged part in a parts database based on the damaged part point group data;
Calculating a shape error between the damaged part point group data and the original part 3D model;
Generating a partial 3D model of the pretreated damaged part of the damaged part based on the shape error; And
Including the step of outputting information about the partial three-dimensional model,
Generating the partial three-dimensional model comprises:
Generating a 3D model of the damaged part, which is a 3D model of the damaged part, based on the data of the damaged part point group; And
And removing the object area occupied by the damaged part 3D model from the object area occupied by the original 3D model in a 3D space. The method of claim 12,
The step of searching for the original part 3D model includes:
Obtaining a first correlation between points included in the damaged part point group data;
Generating a first histogram based on the first correlation;
Calculate a difference between the first histogram and a second histogram with respect to the original part 3D model stored in the parts database, and the second histogram is a difference between sample points obtained by sampling the original part 3D model stored in the parts database 2 generated based on the correlation; And
And searching for an original part 3D model having a shape similar to that of the damaged part in the parts database based on the difference. The method of claim 12,
The step of searching for the original part 3D model includes:
Generating a first image of the damaged part point group data viewed from at least one direction;
Extracting a first image gradient from the first image;
Obtaining a first direction distribution of the first image gradient;
Comparing the first direction distribution with a second direction distribution of the original part 3D model stored in the parts database, and searching for an original part 3D model similar in shape to the damaged part in the parts database, wherein the first The two-way distribution is a method for searching and repairing parts, which is a direction distribution of a second image gradient extracted from a second image of an original part 3D model stored in the parts database viewed from at least one direction. The method of claim 12,
The step of calculating the shape error is:
Obtaining original part point group data by point sampling the original part 3D model; And
And calculating a distance between a point belonging to the original part point group data and a point belonging to the damaged part point group data. The method of claim 15,
The step of calculating the shape error is before the step of calculating the distance,
Determining a main axis of the damaged part point group data and a main axis of the original part point group data;
Moving and rotating at least one of the damaged part point group data and the original part point group data so that the main axes of the damaged part point group data and the original part point group data coincide; And
And moving and rotating at least one of the damaged part point group data and the original part point group data so that an error between the damaged part point group data and the original part point group data is minimized. delete The method of claim 16,
Generating the partial three-dimensional model comprises:
Identifying damaged part point group data in which the distance exceeds a preset allowable value from the damaged part point group data; And
And generating the partial 3D model based on the damaged part partial point group data and the original 3D model. The method of claim 18,
Generating a partial 3D model based on the damaged part partial point cloud data and the original 3D model includes:
Determining a first point included in the damaged part part point group data and a second point closest to the first point on the original part 3D model; And
And calculating a three-dimensional model in which the first and second points are located on an interface. In a computer-readable recording medium,
A recording medium in which a program for executing the part search and repair method according to claim 12 with a computer is recorded. A 3D scanner that polishes the surface of the damaged part and scans the damaged part pretreated with the damaged part in 3D to generate point group data of the damaged part;
Part 3 for the pre-processed damaged part of the damaged part based on the damaged part point group data and the original part 3D model by receiving the damaged part point group data and searching for an original part 3D model corresponding to the damaged part Parts search and repair device that provides a dimensional model; And
Including a 3D printer for repairing the damaged part by 3D printing according to the partial three-dimensional model,
The parts search and repair device is:
A point group data input unit for receiving the point group data of the damaged parts obtained by 3D scanning the damaged parts;
A 3D model search unit for searching for the original 3D model corresponding to the damaged part in a parts database based on the damaged part point group data;
A shape error calculation unit that calculates a shape error between the damaged part point group data and the original part 3D model;
A partial three-dimensional model generation unit that generates the partial three-dimensional model of the pre-processed damaged portion of the damaged part based on the shape error; And
Including an output unit for outputting information on the partial 3D model,
The partial 3D model generation unit,
Generates a 3D model of a broken part, which is a 3D model of the broken part, based on the data of the broken part point group,
3D printing-based parts maintenance system for generating the partial 3D model by removing the object area occupied by the damaged 3D model from the object area occupied by the original 3D model in 3D space.

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