Intelligent additive repair system and method for object defects

Abstract

The present invention provides an intelligent additive repair system and method for object defects, and the specific steps are as follows: a CAD model of an object to be repaired is acquired to generate a triangular mesh model, and triangular mesh data of a part of the object to be repaired that needs to be repaired is selected from the entire triangular mesh model; based on the triangular mesh data, an initial repair trajectory is generated using a three-dimensional repair trajectory planning algorithm, and the initial repair trajectory is adjusted in position to obtain a final repair trajectory; the final repair trajectory is converted into a repair instruction set of an industrial robot arm, and the industrial robot arm repairs the object to be repaired according to the repair instruction set; the present invention obtains the repair trajectory of the object to be repaired using a three-dimensional repair trajectory planning algorithm, which greatly improves the programming efficiency of the repair trajectory of the industrial robot arm, and the post-positioning of the repair trajectory of the industrial robot arm increases the automation level of the industrial robot arm, thereby improving the repair quality of the object to be repaired.

Description

Technical Field

[0001] The present invention belongs to the technical field of artificial intelligence and industrial robot arms, and specifically belongs to an intelligent additive repair system and method for object defects. Background Art

[0002] In industrial scenarios, object repair in additive manufacturing has higher requirements for the flexibility, printing size and accuracy of three-dimensional molding. Traditional 3D printing technology theoretically has three degrees of freedom: X, Y, and Z. Against the background of the rapid improvement of the flexibility and accuracy of industrial robotic arms, the additive repair technology combining additive manufacturing with industrial robotic arms continues to develop. However, the existing additive repair system for object defects based on industrial robotic arms only uses the degree of freedom of the Z axis and ignores the degrees of freedom of the X and Y axes. At the same time, the trajectory planning of the industrial robotic arm has always remained on the two-dimensional plane. When completing complex three-dimensional repair tasks, the method of manual layer-by-layer planning on the two-dimensional plane is not only inefficient, but also has low layering accuracy for the three-dimensional model, which can easily lead to inaccurate repairs. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides an intelligent additive repair system and method for object defects, which combines the generation of three-dimensional repair trajectories with the intelligence of industrial robotic arms, laying a foundation for the research of intelligent automation systems of industrial robotic arms in various fields.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a method for intelligent additive repair of object defects, the specific steps of which are as follows:

[0005] S1 obtains the CAD model of the object to be repaired to generate a triangular mesh model, and selects triangular mesh data of the part of the object to be repaired that needs to be repaired in the entire triangular mesh model;

[0006] S2 generates an initial repair trajectory based on triangular mesh data using a three-dimensional repair trajectory planning algorithm, and adjusts the initial repair trajectory to obtain the final repair trajectory;

[0007] S3 converts the final repair trajectory into a repair instruction set for the industrial robot arm, and the industrial robot arm repairs the object to be repaired according to the repair instruction set.

[0008] Furthermore, in step S2, the specific steps of generating the initial repair trajectory using the three-dimensional repair trajectory planning algorithm are as follows:

[0009] S2.1 obtain an optimized feature height sequence of the triangular mesh data of the object to be repaired, adjust the optimized feature height sequence using a height adjustment algorithm to obtain a final feature height sequence, and define a layered section according to the height of the final feature height sequence;

[0010] S2.2 obtaining a single-layer restoration contour according to the intersection point between the layered section and the triangular mesh data of the object to be restored;

[0011] S2.3 fills the single-layer repair contour with parallel scanning lines to obtain a filling trajectory of the single-layer repair contour;

[0012] S2.4 Repeat steps S2.1 to S2.3 to obtain the filling trajectory of each layer of the repair contour of the part to be repaired, and then fill the parallel scanning lines layer by layer in the order from low to high, so as to obtain the initial repair trajectory of the defective object;

[0013] S2.5 uses the rotation operator to adjust the posture of the initial repair trajectory to obtain the final repair trajectory.

[0014] Furthermore, in step S2.1, the steps for obtaining the final characteristic height sequence are specifically as follows:

[0015] S2.1.1 Determine the highest and lowest values ​​of the layer height based on the triangular mesh data of the part to be restored of the object to be restored;

[0016] S2.1.2 traverse the triangular mesh data of the repaired object to obtain an initial height sequence;

[0017] S2.1.3 Adaptively adjust the additive thickness Δh of the i-th layer according to the inclination angle at different positions of the triangular mesh data i , and get the optimized feature height sequence.

[0018] Furthermore, the thickness of the additive material Δh i for:

[0019]

[0020] Where d is the distance from a triangle △ABC in the triangular mesh data of the repaired part to the next layered section in the vertical direction, d = -Δh i cosθ; θ is the normal vector n(n x ,n y ,n z ) and the angle between the direction vector z of the additive direction, θ≠90°.

[0021] Furthermore, in step S2.1, the specific steps of adjusting the height of the optimized characteristic height sequence are as follows:

[0022] 1) Set the minimum additive thickness Δh min and the maximum additive thickness Δh max :

[0023] 2) When the additive thickness Δh i At the minimum additive thickness Δhmin and the maximum additive thickness Δh max The final layer height is between them;

[0024] 3) When the thickness of the additive material of the i-th layer is Δh i ≤Minimum additive thickness Δh min , then the height Δh that needs to be adjusted for the i-th layer i '=Δh min -Δh i ;

[0025] 4) When the thickness of the additive material of the i-th layer is Δh i ≥ Maximum additive thickness Δh max , use equal thickness interpolation for stratification;

[0026] 5) After all the optimized characteristic height sequences are adjusted, the corrected final characteristic height sequence is obtained.

[0027] Furthermore, in step 3), the height of the i-th layer is first adjusted by the margin between the layers lower than the i-th layer. When the layers are adjusted downward by more than 5 layers, Δh is still not satisfied. i 'When necessary, the i+1th layer is used for adjustment.

[0028] Furthermore, in step S2.2, the specific steps of obtaining the single-layer repair contour are as follows:

[0029] 1) According to the layered section height z val Divide the triangular facets in the triangular mesh data of the corresponding repaired object to be repaired, and find the highest point p of each triangular facet max and the lowest point p min , the triangular patches that satisfy the following formula are divided into the layered section:

[0030] p min ≤z val ≤p max ;

[0031] 2) Obtain the coordinates of the intersection points of the layered cross-section and the triangular facets, and connect all the intersection point coordinates in sequence to obtain the repair contour of a single layer of the object to be repaired.

[0032] Furthermore, in step S2.3, the method for obtaining the filling trajectory of the single-layer repair contour is as follows:

[0033] 1) Determine the filling distance of the repair contour of a single layer of the object to be repaired in the X direction and the Y direction to determine the repair density;

[0034] 2) performing parallel scanning on the restoration contour of a single layer of the object to be restored, and obtaining the intersection point between the parallel scanning line and the restoration contour of the single layer of the object to be restored;

[0035] 3) sorting the intersection points of the parallel scanning lines and the restoration contour of the single layer of the object to be restored;

[0036] 4) Determine the connection relationship between the intersection points to distinguish whether the intersection between the two intersection points is a solid or a cavity;

[0037] 5) The parallel scanning lines are shifted at intervals according to the connection relationship of step 4), and if there is an intersection with the repair contour of the single layer of the object to be repaired, return to step 3), otherwise end;

[0038] 6) Repeat steps 1) to 5) to obtain the filling trajectory of each layer of the repair contour of the part to be repaired.

[0039] Furthermore, in step S3, the final repair trajectory is converted into a repair instruction set for controlling the industrial robot arm according to the control strategy of the industrial robot arm.

[0040] The present invention also provides an intelligent additive repair system for object defects, comprising a repair trajectory planning module, a repair instruction generation and transmission module and an industrial robot arm, wherein:

[0041] The repair trajectory planning module is used to obtain the coordinates of the triangular mesh model generated by the intact CAD model of the object to be repaired, and obtain the coordinates of the defective part, and use the three-dimensional repair trajectory planning algorithm to generate the repair trajectory of the defective part of the object to be repaired, and transmit it to the repair instruction generation and transmission module;

[0042] The repair instruction generation and transmission module is used to convert the repair trajectory generated by the repair trajectory planning module into a repair instruction set of the industrial robot arm according to the control strategy of the industrial robot arm 2, and transmit the repair instructions to the industrial robot arm one by one;

[0043] The industrial robot arm is used to receive a repair instruction set and control an end effector to perform additive repair on a damaged object to be repaired.

[0044] Compared with the prior art, the present invention has at least the following beneficial effects:

[0045] The present invention provides an intelligent additive repair method for a damaged object, which utilizes a three-dimensional repair trajectory planning algorithm to obtain a repair trajectory of the object to be repaired, thereby greatly improving the programming efficiency of the repair trajectory of an industrial robot arm, and post-positioning the repair trajectory of the industrial robot arm increases the automation level of the industrial robot arm, thereby improving the quality of the repair of the object to be repaired.

[0046] The 3D repair trajectory generation algorithm of the present invention reduces feature loss and improves the accuracy of object repair by identifying feature height sequences, and then uses adaptive stratification to reduce step errors, thereby improving the quality of object repair. Finally, a complete 3D repair trajectory of the object to be repaired is obtained by repair contour acquisition and repair contour filling, thereby improving the efficiency and stability of the robot's 3D repair trajectory generation; the acquisition of the repair contour obtains the range that needs to be repaired more quickly, ensuring the accuracy of the repair position, and the filling of the repair contour greatly increases the reliability of the repair and well guarantees the quality of the repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the architecture of an intelligent additive repair system for object defects according to the present invention.

[0048] Figure 2 The present invention discloses a method and process for intelligent additive repair of a damaged object.

[0049] Figure 3 It is a flow chart of the three-dimensional repair trajectory planning algorithm in the intelligent additive repair system for object defects of the present invention.

[0050] Figure 4 It is a schematic diagram of the adaptive adjustment of the height sequence of the present invention.

[0051] Figure 5 This is a flowchart of the height sequence adjustment in the intelligent additive repair system for object defects of the present invention.

[0052] Figure 6 A schematic diagram of obtaining intersection points of a single-layer contour in the intelligent additive repair system for defective objects of the present invention.

[0053] Figure 7 Schematic diagram of a single-layer profile obtained in the intelligent additive repair system for object defects of the present invention.

[0054] Figure 8 It is a schematic diagram of a CAD model of a defective object in the intelligent additive repair system for defective objects of the present invention.

[0055] Fig. 9 It is a schematic diagram of the three-dimensional repair trajectory obtained in the intelligent additive repair system for object defects of the present invention.

[0056] In the attached figure: 1 repair platform, 2 industrial robot arm, 3 Ethernet switch, 4 computer, 5 damaged object, 6 end effector. DETAILED DESCRIPTION

[0057] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0058] like Figure 1As shown, the present invention provides an intelligent additive repair system for object defects, including a repair trajectory planning module, a repair instruction generation and transmission module, an industrial robot arm 2 and a repair platform 1, wherein:

[0059] The repair trajectory planning module is used to obtain the coordinates of the triangular mesh model generated by the lossless CAD model of the repair object, and obtain the coordinates of the defective part, and use the three-dimensional repair trajectory planning algorithm to generate the repair trajectory of the defective part of the object to be repaired, and transmit it to the repair instruction generation and transmission module;

[0060] The repair instruction generation and transmission module is used to convert the repair trajectory generated by the repair trajectory planning module into a repair instruction set of the industrial robot arm according to the control strategy of the industrial robot arm, and transmit the repair instructions one by one to the industrial robot arm through the TCP communication protocol.

[0061] The industrial robot arm 2 receives the repair instruction set and controls the end effector 6 to repair the damaged object to be repaired. The repair platform 1 is used to place and fix the damaged object to be repaired.

[0062] The industrial robot arm 2 is connected to the Ethernet switch 3 and the computer 4 through a network cable to form a star-shaped local area network with the switch 3 as the main body. Data intercommunication is achieved through TCP communication, and the repair trajectory planning module sends the repair instruction set to the industrial robot arm 2.

[0063] The end effector 6 required for repair is installed on the industrial robot arm 2, and the defective object 5 is placed on the repair platform 1 and fixed in position to ensure that the end effector 6 of the industrial robot arm 2 works in the defective object repair area. Afterwards, the industrial robot arm 2 receives the repair instruction set and moves the joints according to the repair instruction set, thereby manipulating the end effector 6 to complete the object repair task.

[0064] The end effector 6 can select repair nozzles of different sizes according to the requirements of the repair task to achieve multi-variety and multi-type object repair work.

[0065] like Figure 2 As shown, the present invention provides a method for intelligent additive repair of object defects, which is specifically as follows:

[0066] 1) Obtaining a CAD model of the object to be repaired, generating a triangular mesh model, and selecting the triangular mesh data of the part of the object to be repaired that needs to be repaired from the entire triangular mesh model;

[0067] 2) Based on the triangular mesh data, the initial repair trajectory is generated using the 3D repair trajectory planning algorithm;

[0068] 3) The final repair trajectory is obtained by adjusting the inappropriate trajectory posture in the initial repair trajectory by using coordinate changes;

[0069] 4) Convert the final repair trajectory into a repair instruction set for the industrial robot arm to repair;

[0070] 5) The industrial robot arm obtains the repair instruction set and repairs the object to be repaired according to the repair instruction set.

[0071] like Figure 3 As shown, in step 2), the specific steps of generating the initial repair trajectory using the three-dimensional repair trajectory planning algorithm are:

[0072] 2.1) Obtain the initial height sequence of the triangular mesh data of the object to be repaired, optimize the initial height sequence using the adaptive adjustment algorithm to obtain the optimized feature height sequence, and adjust the optimized feature height sequence using the height adjustment algorithm to obtain the final feature height sequence. The specific implementation is as follows:

[0073] (a) Determine the maximum and minimum values ​​of the layer height based on the triangular mesh data of the part to be repaired.

[0074] (b) Traverse the triangular mesh data of the repaired object to obtain the initial feature height sequence.

[0075] (c) Figure 4 As shown, the thickness Δh of the additive layer of the i-th layer is adaptively adjusted according to the inclination angle at different positions of the triangular mesh data. i , further optimize the initial height sequence to obtain the optimized feature height sequence to reduce the repair error. The specific implementation is as follows:

[0076] Assume that the vertical distance of a triangle △ABC in the triangular mesh data of the repaired part of the repaired object from the next layered section is d, and the normal vector n(n x ,n y ,n z ) and the direction vector z(0,0,1) of the additive direction is denoted as θ. The additive thickness is known to be Δh i , then the relationship between the i-th layer and the i+1-th layer is expressed as Z i+1 =Z u +Δh i , the distance d is expressed as d = -Δh i cosθ, and the vector of the cosine value of the angle θ is expressed as follows:

[0077]

[0078] According to the above formula, the additive thickness Δh i It is described by the following formula.

[0079]

[0080] To ensure the validity of the formula, θ cannot be equal to 90° at this time.

[0081] (d) The optimized feature height sequence may have heights that do not meet the repair requirements. To this end, use Figure 5 The height adjustment algorithm shown adjusts the heights in the feature height sequence that do not meet the repair requirements to obtain the final feature height sequence, and is specifically implemented as follows:

[0082] (1) Setting the minimum additive thickness Δh min and the maximum additive thickness Δh max ;

[0083] (2) Optimize the additive thickness Δh between two adjacent heights in the feature height sequence i Greater than or equal to the minimum additive thickness Δh min , less than or equal to the maximum additive thickness Δh max , which is the final characteristic height sequence;

[0084] (3) When the thickness of the additive material of the i-th layer Δh i ≤Minimum additive thickness Δh min , determine the height Δh that needs to be adjusted for the i-th layer i '=Δh min -Δh i , first adjust the margin between layers lower than the i-th layer; to ensure the adjustment efficiency, when the number of layers adjusted downward exceeds 5 layers, Δh cannot be satisfied. i 'When needed, adjust upwards using the i+1th layer;

[0085] (4) When the thickness of the additive material of the i-th layer Δh i ≥ Maximum additive thickness Δh max , use equal thickness interpolation for stratification;

[0086] (5) After all characteristic height sequences are adjusted, the corrected final characteristic height sequence is obtained.

[0087] 2.2) Extract the heights in the final feature height sequence in sequence to define the layered sections.

[0088] 2.3) Obtain the single-layer repair contour according to the intersection point between the layered section and the triangular mesh data of the object to be repaired. The specific implementation of contour acquisition is as follows:

[0089] (a) First, according to the layered section height z val Divide the corresponding triangles, and store the height of each layered section in the LAY structure. Find the highest point p of each triangle max and the lowest point p min .

[0090] pmin ≤z val ≤p max The triangular facets satisfying the above formula are divided into the layered section to obtain the intersection coordinates of the layered section and the triangular facets at the layered height.

[0091] (b) Obtain the coordinates of the intersection point between the layered section and the triangular face. For each triangular face, the layered section height z is known. val , as Figure 6 Take the space triangle ABC as an example, the section J intersects it at points H and I. The height of J is z j , the coordinates of A are (x a ,y a ,z a ), the coordinates of point B are (x b ,y b ,z b ), the coordinates of point C are (x c ,y c ,z c The coordinates of the intersection point H of section J and side AB are (x h ,y h ,z h ), the coordinates of the intersection point with the AC edge are (x i ,y i ,z i );

[0092] Coordinates of the intersection point (x h ,y h ,z h ) is obtained by the following formula:

[0093]

[0094] Where c is a constant, and after solving the equation we can get:

[0095]

[0096]

[0097] z h =z j

[0098] (c) Connecting all the intersection point coordinates in sequence will obtain the repair contour of a single layer of the object to be repaired. Taking a pentagon as an example, the schematic diagram of the single layer repair contour is as follows: Figure 7 shown.

[0099] 2.4) Filling the single-layer repair contour with parallel lines to obtain the filling trajectory of the single-layer repair contour is specifically implemented as follows:

[0100] (a) determining the filling distance of the repair contour of a single layer of the object to be repaired in the X direction and the Y direction respectively to determine the repair density;

[0101] (b) Determine the direction of the parallel scanning line, and perform parallel scanning on the repair contour of the single layer of the object to be repaired to obtain the intersection point between the parallel scanning line and the repair contour of the single layer of the object to be repaired. Determine the direction of the parallel scanning line, taking the direction parallel to the X-axis as an example. The filling parallel to the Y-axis is the same as the X-axis. In fact, any direction is acceptable. It is only necessary to rotate the final trajectory points around the Z-axis as a whole. Scan the plane where the repair contour of the single layer of the object to be repaired is located line by line in the determined direction to obtain the intersection point;

[0102] (c) Sort the intersection points obtained. For each parallel scan line, the number of intersection points with the single-layer repair contour is 2N, where N is the number of contours intersecting with the parallel scan line. Since it is a parallel scan, after determining the movement direction of the end effector 6 of the industrial robot arm, the intersection points are sorted from left to right or from right to left accordingly;

[0103] (d) Grouping. Since the printed entity may have cavities, it is necessary to determine whether there is triangular mesh data between two points to determine whether it is a solid part or a cavity part. The two intersection points belonging to the solid are connected to obtain the filling trajectory, while the cavity part needs to be empty during molding, so it is not connected;

[0104] (e) translating the scanned parallel lines at intervals according to the connection relationship in (d) to determine whether there is an intersection with the repair contour of the single layer of the object to be repaired. If yes, return to step (c), otherwise go to step (f);

[0105] (f) End.

[0106] According to the above steps, the filling trajectory of each layer of the repair contour of the part to be repaired is obtained;

[0107] 2.5) Fill the parts of the object to be repaired layer by layer in the order from low to high. After filling all the layers, the initial repair trajectory of the defective object can be obtained.

[0108] In step 3), during the defective object repair process, there are often collision points between the industrial robot arm 2 and the repair object in the initial repair trajectory. Therefore, it is necessary to adjust the posture of this part of the trajectory points to change the joint posture of the industrial robot arm 2 to avoid collision. The specific implementation is as follows:

[0109]

[0110]

[0111]

[0112] The above formula is a rotation operator, R X (θ x ), R Y (θ y ), R Z (θ z ) represent the rotation operators around the X-axis, Y-axis, and Z-axis respectively. In practical applications, appropriate rotation operators are selected according to actual needs to adjust some collision points so that the industrial robot arm 2 changes its motion posture. Trajectory rotation generally only requires rotation around a certain coordinate axis. After the rotation is completed, the trajectory points are tested to see if they are normal. When all trajectory points are adjusted, the final repair trajectory required for object repair can be obtained. Figure 8 Taking the repair model shown in the figure as an example, the initial repair trajectory is obtained as follows Fig. 9 shown.

[0113] In step 4), the final repair trajectory is converted into a repair instruction set for controlling the industrial robot arm 2 according to the control strategy of the industrial robot arm 2, and the repair instruction set is sent to the industrial robot arm 2.

Claims

1. A method for intelligent additive repair of object defects, characterized in that: The specific steps are as follows: S1 obtains the CAD model of the object to be repaired to generate a triangular mesh model, and selects triangular mesh data of the part of the object to be repaired that needs to be repaired in the entire triangular mesh model; S2 generates an initial repair trajectory based on triangular mesh data using a three-dimensional repair trajectory planning algorithm, and adjusts the initial repair trajectory to obtain the final repair trajectory; S3 converts the final repair trajectory into a repair instruction set of the industrial robot arm (2), and the industrial robot arm (2) repairs the object to be repaired according to the repair instruction set; In step S2, the specific steps of generating the initial repair trajectory using the three-dimensional repair trajectory planning algorithm are: S2.1 obtain an optimized feature height sequence of the triangular mesh data of the object to be repaired, adjust the optimized feature height sequence using a height adjustment algorithm to obtain a final feature height sequence, and define a layered section according to the height of the final feature height sequence; S2.2 obtaining a single-layer restoration contour according to the intersection point between the layered section and the triangular mesh data of the object to be restored; S2.3 fills the single-layer repair contour with parallel scanning lines to obtain a filling trajectory of the single-layer repair contour; S2.4 Repeat steps S2.1 to S2.3 to obtain the filling trajectory of each layer of the repair contour of the part to be repaired, and then fill the parallel scanning lines layer by layer in the order from low to high, so as to obtain the initial repair trajectory of the defective object; S2.5 uses a rotation operator to adjust the initial repair trajectory to obtain the final repair trajectory; In step S2.2, the specific steps of obtaining the single-layer repair contour are as follows: 1) According to the layered section height Divide the triangular facets in the triangular mesh data of the corresponding repaired object to be repaired, and find the highest point of each triangular facet and the lowest point , the triangular patches that satisfy the following formula are divided into the layered section: ； 2) Obtain the coordinates of the intersection points of the layered cross-section and the triangular facets, and connect all the intersection point coordinates in sequence to obtain the repair contour of a single layer of the object to be repaired; In step S2.3, the method for obtaining the filling trajectory of the single-layer repair contour is as follows: 1) Determine the filling distance of the repair contour of a single layer of the object to be repaired in the X direction and the Y direction to determine the repair density; 2) Performing parallel scanning on the restoration contour of a single layer of the object to be restored, and obtaining the intersection point between the parallel scanning line and the restoration contour of the single layer of the object to be restored; 3) sorting the intersection points of the parallel scanning lines and the restoration contour of the single layer of the object to be restored; 4) Determine the connection relationship between the intersection points to distinguish whether the intersection between the two intersection points is a solid or a cavity; 5) The parallel scan lines are translated at intervals according to the connection relationship of step 4). If there is an intersection with the repair contour of the single layer of the object to be repaired, return to step 3), otherwise the process ends; 6) Repeat steps 1) to 5) to obtain the filling trajectory of each layer of the repair contour of the part to be repaired.

2. The method for intelligent additive repair of object defects according to claim 1, characterized in that: In step S2.1, the steps for obtaining the final characteristic height sequence are as follows: S2.1.1 Determine the highest and lowest values ​​of the layer height based on the triangular mesh data of the part to be restored of the object to be restored; S2.1.2 traverse the triangular mesh data of the repaired object to obtain an initial height sequence; S2.1.3 Adaptive adjustment based on the tilt angle at different positions of the triangular mesh data i Layer-by-layer additive thickness , and get the optimized feature height sequence.

3. The method for intelligent additive repair of object defects according to claim 2, characterized in that: Additive thickness for: in, d The distance from a triangle patch △ABC in the triangle mesh data of the repaired part to the next layered section in the vertical direction. ; is the normal vector of the triangle n ( n x , n y , n z ) and the direction vector of the additive direction z The angle between (0,0,1), ≠90°.

4. The method for intelligent additive repair of object defects according to claim 2, characterized in that: In step S2.1, the specific steps of adjusting the height of the optimized characteristic height sequence are as follows: 1) Set the minimum additive thickness and maximum additive thickness : 2) When the thickness of the additive At minimum additive thickness and maximum additive thickness The final layer height is between them; 3) When i Additive thickness of layer , then i The height of the layer to be adjusted ; 4) When i Additive thickness of layer , use equal thickness interpolation for stratification; 5) After all optimized feature height sequences are adjusted, the corrected final feature height sequence is obtained.

5. The method for intelligent additive repair of object defects according to claim 4, characterized in that: In step 3), first i Adjust the margin between the lower layers. i The height of the layer, when the layer is adjusted downward to more than 5 layers, it still cannot meet the When needed, use the i +1 layer for adjustment.

6. The method for intelligent additive repair of object defects according to claim 1, characterized in that: In step S3, the final repair trajectory is converted into a repair instruction set for controlling the industrial robot arm (2) according to the control strategy of the industrial robot arm (2).

7. An intelligent additive repair system for object defects, characterized in that: It includes a repair trajectory planning module, a repair instruction generation and transmission module and an industrial robot arm (2), wherein: The repair trajectory planning module is used to obtain the coordinates of the triangular mesh model generated by the intact CAD model of the object to be repaired, and obtain the coordinates of the defective part, and use the three-dimensional repair trajectory planning algorithm to generate the repair trajectory of the defective part of the object to be repaired, and transmit it to the repair instruction generation and transmission module; The repair instruction generation and transmission module is used to convert the repair trajectory generated by the repair trajectory planning module into a repair instruction set of the industrial robot arm according to the control strategy of the industrial robot arm (2), and transmit the repair instructions to the industrial robot arm one by one; The industrial robot arm (2) is used to receive a repair instruction set and control an end effector (6) to perform additive repair on a damaged object to be repaired.

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