A method for planning a path for in-situ repair of a composite damaged component

Abstract

The application discloses a kind of in-situ repair path planning methods for composite material damaged components, the application is directly to the three-dimensional point cloud data obtained by scanning for the service damage of composite material component during service Analyzing and processing, B spline surface parameterization fitting B spline base surface, after being projected to obtain the repair path of each layer to be filled after normal layering, in-plane path planning, layering, output printing path line spacing and printing path point spacing fixed repair path, the conventional step of reconstructing the three-dimensional model of damage repair area is abandoned in this path planning method, directly to point cloud data processing, output repair path under the best process parameter, the reliability of this path planning method is higher, and the repair effect of component is better.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing technology, specifically to an in-situ repair path planning method for damaged composite material components. Background Technology

[0002] With the increasingly widespread application of composite materials in the aerospace field, damage or (local) failure of composite materials and their components during use is inevitable. Delamination, bulges, pits and other structural damage to aircraft composite structural components cause a significant decline in the performance of load-bearing structures, affecting the performance of composite components in service and restricting the performance of aircraft. The contradiction of rapid field repair of existing aircraft is becoming increasingly prominent. However, the traditional patching and splicing repair method has technical bottlenecks such as low strength of the repair interface, poor interface matching performance and complex thermosetting process.

[0003] Therefore, using fiber-reinforced high-performance thermosetting resin matrix composites as additive manufacturing raw materials and employing a robotic additive manufacturing thermosetting process platform for in-situ repair is a highly efficient repair method. This method significantly shortens printing time and better matches the service performance of the damaged repaired parts. However, the use of 3D printing technology inevitably requires a suitable printing path planning algorithm. The general process of existing planning algorithms is as follows: after inputting the 3D model, layer slicing is performed, and after obtaining layer information, in-plane path planning is performed on each layer. It can be seen that traditional 3D printing cannot be separated from the construction of a 3D model. However, when using 3D printing technology for in-situ repair, it is generally impossible to directly obtain the 3D model of the damaged component. Therefore, laser scanning equipment is used to obtain the reconstruction information of the damaged component as the original input for robotic in-situ repair. However, existing reconstruction algorithms cannot perfectly fit the scanned component. Therefore, for robotic in-situ repair, there is an urgent need to design a path planning algorithm that directly analyzes and processes the reconstruction information obtained from scanning, achieving a one-step design of layer slicing and in-plane filling. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an in-situ repair path planning method for damaged composite material components. This invention directly analyzes and processes the 3D point cloud data obtained from scanning, parametrically fitting the B-spline base surface using B-spline surfaces. After obtaining the repair paths for each layer to be filled through normal layering, in-plane path planning, and layer projection, a repair path with fixed spacing between printing path lines and printing path points is output. This path planning method eliminates the conventional steps of reconstructing the 3D model of the damaged repair area, directly processing the point cloud data and outputting the repair path under optimal process parameters. This path planning method has higher reliability and better component repair results.

[0005] To achieve the above objectives, the specific solution adopted by the present invention is as follows:

[0006] A method for in-situ repair path planning for damaged composite material components mainly includes the following steps:

[0007] 1) The damage features of the original damaged component are extracted using non-destructive testing technology and 3D scanning technology, and the damaged area of ​​the component is delineated after digital 3D reconstruction.

[0008] 2) The damaged area is excavated using a multi-axis robot integrated platform to obtain the pit to be repaired;

[0009] 3) Use a 3D laser scanner to acquire the original 3D point cloud of the repair interface of the pit to be repaired;

[0010] 4) The original 3D point cloud data is denoised to obtain a reprocessed 3D point cloud. Based on the reprocessed 3D point cloud data, the B-spline base surface equation is fitted using the B-spline surface adaptive fitting method based on the genetic algorithm.

[0011] 5) The fitted B-spline base surface equation is divided into equidistant grids according to the standard rectangular domain. Each grid point is substituted into the B-spline base surface equation to obtain the surface grid information on the corresponding rectangular domain. The shape of the surface grid information matches the opening of the pit to be repaired, and the area is slightly larger than the opening area of ​​the pit to be repaired. The layer height h is determined according to the printing line width and printing process. The surface grid information is used as a cutting surface. According to the layer height, the original three-dimensional point cloud is divided into n layers to be filled along the normal direction. At the same time, the outer contour data of the n layers to be filled can be obtained.

[0012] 6) Let the line spacing of the printing path be c and the point spacing of the printing path be s. Using the B-spline surface equation established in step 4), the base surface printing path grid points with line spacing c and point spacing s can be obtained on the surface mesh information.

[0013] 7) Input the outer contour data of several layers to be filled obtained in step 5) and the base surface printing path grid points obtained in step 6) into the path planning software. Let the filling area enclosed by the outer contour data of the i-th layer to be filled be Di, n≥i≥1. Project the base surface printing path grid points sequentially onto the Di area, and retain the point values ​​of the base surface printing path grid points that fall into the Di area. Connect the point values ​​that fall into the Di area in order to obtain the repair path in the i-th layer to be filled. The line spacing of the repair path in each layer to be filled is c, and the point spacing is s.

[0014] 8) Use the path simulation optimization module in the damage repair path planning software to optimize the repair path in each layer to be filled. Match the process parameters through repair path simulation analysis, and obtain the repair path under the best process parameters in each layer to be filled based on the matching results.

[0015] Furthermore, in step 4), the specific method for fitting the B-spline base surface equation using the adaptive fitting method based on the genetic algorithm is as follows:

[0016] The number of control points Pij required for fitting is set to (m+1)*(n+1), and the order of the B-spline surface is p, q. The loss function is established by reprocessing the Euclidean distance between the 3D point cloud and the adjacent fitting points. The objective function is established using the B-spline surface formula. The gradient information of the objective function with respect to the B-spline control points is derived. A genetic algorithm is used to select a suitable initial value for optimization to optimize the objective function. The process is iterated until the loss function is minimized, and the information of the (m+1)*(n+1) B-spline control points with the best fitting effect can be obtained. Then, the complete B-spline base surface equation after fitting can be expressed parametrically.

[0017] Furthermore, in step 6), the grid points of the base surface printing path are the intersection points of the u-direction line group and the v-direction line group in the B-spline parameter domain.

[0018] Further, in step 6), an arbitrary line is selected at the boundary of the surface mesh information, and this line is used as the starting line of the repair path line group. Equidistant points are divided along this line according to the set point spacing s. Starting from the divided equidistant points, the set line spacing c is used as the distance function to generate path points with Euclidean distance c in the u direction along the B-spline base surface. These path points are connected in the v direction in sequence, and the boundary is trimmed to adapt to the boundary of the surface mesh information.

[0019] Beneficial effects:

[0020] 1) This invention abandons the traditional method of planning the printing path by layering three-dimensional models, and directly processes the point cloud information obtained by laser scanning to generate the repair path. The entire process relies on point cloud data analysis and processing, without the need for model reconstruction, which greatly improves the degree of connection between the repair path and the actual repair surface.

[0021] 2) This invention uses B-spline surface parameterization to fit the B-spline base surface equation. The fitted B-spline base surface equation serves as the base surface for surface layering to obtain the boundary information of each layer to be filled with equal thickness. It also projects onto each layer to be filled with equal thickness by planning a printing path with preset parameters on the cut surface.

[0022] 3) The present invention employs a method of projecting base surface printing path grid points onto each layer of equal thickness to be filled. By determining whether the base surface printing path grid points fall inside or outside the boundary, the base surface printing path grid points inside the boundary are stored, thereby generating the printing path of each layer to be filled. This method is applicable not only to planar damaged plates but also to complex irregular components.

[0023] 4) This invention uses a method to plan the base surface printing path by searching for a family of contour lines on a B-spline parametric surface. It can output a base surface printing path with a preset fixed line spacing c, a fixed point spacing s, and a preset printing direction. The algorithm has higher degree of freedom and stronger reliability.

[0024] 5) The robotic repair method used in this invention replaces the process of preparing, attaching and curing manual patches used in the prior art. It utilizes in-situ robotic printing in the damaged area to adaptively repair any damaged body, greatly reducing the repair time and lowering the skill requirements for repair engineers. It also overcomes the technical bottlenecks of low interface strength, poor interface matching performance and complex thermosetting process. Attached Figure Description

[0025] Figure 1 This is a flowchart of the path repair process in this invention.

[0026] Figure 2 A schematic diagram showing the delineation of the damaged area.

[0027] Figure 3 This is a schematic diagram of the pit to be repaired.

[0028] Figure 4 This is a schematic diagram of the B-spline surface adaptive fitting method in Example 1.

[0029] Figure 5 This is a schematic diagram of the layering of the B-spline surface in Example 1.

[0030] Figure 6 This is a schematic diagram of the B-spline surface path planning method in Example 1.

[0031] Figure 7 This is a schematic diagram of the B-spline surface repair path projection method in Example 1.

[0032] Figure 8 This is a schematic diagram of the repair of a normally damaged component in Example 1.

[0033] Figure 9 This is a schematic diagram of the B-spline surface adaptive fitting method in Example 2.

[0034] Figure 10 This is a schematic diagram of the layering of the B-spline surface in Example 2.

[0035] Figure 11 This is a schematic diagram of the B-spline surface path planning method in Example 2.

[0036] Figure 12 This is a schematic diagram of the B-spline surface repair path projection method in Example 2.

[0037] Figure 13This is a schematic diagram of the repair of irregularly shaped damaged components in Example 2. Detailed Implementation

[0038] The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0039] This invention uses fiber-reinforced high-performance thermosetting resin-based composite materials as raw materials for robot additive manufacturing. Addressing service damage to composite components during operation, it proposes a path planning algorithm for in-situ repair using a robot additive manufacturing platform. In summary, please refer to [link to relevant documentation]. Figure 1 The present invention basically includes the following steps:

[0040] 1) The damage features of the original damaged component are extracted using non-destructive testing technology and 3D scanning technology, and the damaged area of ​​the component is delineated after digital 3D reconstruction.

[0041] 2) The damaged area is excavated using a multi-axis robot integrated platform to obtain the pit to be repaired;

[0042] 3) Use a 3D laser scanner to acquire the original 3D point cloud of the repair interface of the pit to be repaired;

[0043] 4) The original 3D point cloud data is denoised to obtain a reprocessed 3D point cloud. Based on the reprocessed 3D point cloud data, the B-spline base surface equation is fitted using the B-spline surface adaptive fitting method based on the genetic algorithm.

[0044] 5) The fitted B-spline base surface equation is divided into equidistant grids according to the standard rectangular domain. Each grid point is substituted into the B-spline base surface equation to obtain the surface grid information on the corresponding rectangular domain. The shape of the surface grid information matches the opening of the pit to be repaired, and the area is slightly larger than the opening area of ​​the pit to be repaired. The layer height is determined according to the printing line width and printing process. The surface grid information is used as a cutting surface. According to the layer height, the original three-dimensional point cloud is divided into n layers to be filled along the normal direction. At the same time, the outer contour data of the n layers to be filled can be obtained.

[0045] 6) Let the line spacing of the printing path be c and the point spacing of the printing path be s. Using the B-spline surface equation established in step 4), the base surface printing path grid points with line spacing c and point spacing s can be obtained on the surface mesh information.

[0046] 7) Input the outer contour data of several layers to be filled obtained in step 5) and the base surface printing path grid points obtained in step 6) into the path planning software. Let the filling area enclosed by the outer contour data of the i-th layer to be filled be Di, n≥i≥1. Project the base surface printing path grid points sequentially onto the Di area, and retain the point values ​​of the base surface printing path grid points that fall into the Di area. Connect the point values ​​that fall into the Di area in order to obtain the repair path in the i-th layer to be filled. The line spacing of the repair path in each layer to be filled is c, and the point spacing is s.

[0047] 8) Use the path simulation optimization module in the damage repair path planning software to optimize the repair path in each layer to be filled. Match the process parameters through repair path simulation analysis, and obtain the repair path under the best process parameters in each layer to be filled based on the matching results.

[0048] The in-situ repair path planning method for damaged composite material components will be described in detail below with reference to specific embodiments.

[0049] Example 1

[0050] This embodiment takes a commonly damaged component (whose repair surface is a plane) as an example and elaborates on the repair path planning method in detail with reference to the accompanying drawings, as detailed below:

[0051] I. Delineate the damaged area

[0052] Using ultrasonic non-destructive testing equipment (please refer to) Figure 2 (a) and line laser scanner (see reference) Figure 2 (b) Extract the damage features of the original damaged component, and delineate the component repair area after digital three-dimensional reconstruction.

[0053] 2. The damaged area is excavated to reveal a pit with a larger outer opening and a smaller inner opening, which needs to be repaired.

[0054] A suitable damage removal process is selected, and pulsed laser removal is performed on the damaged area using subtractive manufacturing equipment. This is followed by residual material removal and surface finishing to obtain a pre-repair surface that meets the requirements for interfacial bonding. It should be noted that, to facilitate subsequent in-situ 3D printing, the inner wall of the pit to be repaired is generally smoothed during the removal process (please refer to...). Figure 3 (a)) or stepped inner wall (see reference) Figure 3 (b)) Subsequently, residual material is cleaned and the surface is smoothed to obtain a pre-repaired surface that meets the requirements of interfacial bonding.

[0055] III. Fitting the B-spline base surface equation using the 3D point cloud of the pit to be repaired.

[0056] Please refer to Figure 4A 3D laser scanner was used to collect point cloud data of the repaired interface after excavation. This point cloud data describes the coordinate point information of the scanned surface in the current coordinate system. Due to the large amount of raw data and the presence of many noisy points, a series of preprocessing operations, such as point cloud downsampling and point cloud smoothing, were performed on the raw point cloud to obtain a point cloud dataset usable in the fitting stage. In the patch fitting stage, this invention utilizes a B-spline surface adaptive fitting method based on a genetic algorithm to fit the B-spline base surface equation. The fitting process is actually a process of filling in the missing surfaces of the existing incomplete outer surface information of the damaged area. Specifically, the number of control points Pij required for fitting is preset to be (m+1)*(n+1) and the order of the B-spline surface is p, q. The loss function is established by reprocessing the Euclidean distance between the 3D point cloud and the adjacent fitting points. The objective function is established using the B-spline surface formula. The gradient information of the objective function with respect to the B-spline control points is derived. The genetic algorithm is used to select a suitable initial value for optimization to optimize the objective function. The process is iterated until the loss function is minimized, and the information of the (m+1)*(n+1) B-spline control points with the best fitting effect can be obtained. Then, the complete B-spline base surface equation after fitting can be expressed parametrically.

[0057] IV. Layering and Slicing Based on B-Spline Base Surface

[0058] Please refer to Figure 5 The fitted B-spline base surface equation is divided into equidistant grids according to a standard rectangular domain. Each grid point is substituted into the B-spline base surface equation to obtain the surface grid information on the corresponding rectangular domain. The shape of the surface grid information matches the opening of the pit to be repaired, and its area is slightly larger than the opening area of ​​the pit to be repaired. The layer height h is determined according to the printing line width and printing process. The surface grid information is used as a cutting surface, and the original three-dimensional point cloud is divided into n layers to be filled along the normal direction according to the layer height. At the same time, the outer contour data of the n layers to be filled can be obtained.

[0059] V. Path Planning for Printing Curved Surface Mesh Information

[0060] Please refer to Figure 6 Let the line spacing of the printing path be c, and the point spacing of the printing path be s. Using the B-spline surface equation, base surface printing path grid points with line spacing c and point spacing s can be obtained on the surface mesh information. The base surface printing path grid points are the intersection points of the u-direction line group and the v-direction line group in the B-spline parameter domain. Select a line at the boundary of the surface mesh information and use this line as the starting line of the repair path line group. Divide the line along this line into equidistant points according to the set point spacing s. Starting from the divided equidistant points, use the set line spacing c as the distance function to generate path points with Euclidean distance c in the u direction along the B-spline base surface. Connect these path points in the v direction in sequence and perform boundary trimming to adapt to the boundary of the surface mesh information.

[0061] VI. B-spline sectional path projection

[0062] Please refer to Figure 7 The outer contour data of several layers to be filled and the grid points of the base surface printing path are input into the path planning software. Let the filling area enclosed by the outer contour data of the i-th layer to be filled be Di, n≥i≥1. The grid points of the base surface printing path are projected sequentially onto the Di area. It is determined whether the grid points of the base surface printing path fall inside or outside the boundary of the Di area. The point values ​​of the grid points of the base surface printing path that fall inside the Di area are retained respectively. The point values ​​that fall inside the Di area are connected in sequence to obtain the repair path in the i-th layer to be filled. The line spacing of the repair path in each layer to be filled is c, and the point spacing is s.

[0063] VII. Path Parameter Optimization

[0064] The path simulation optimization module in the damage repair path planning software is used to optimize the repair path in each layer to be filled. The process parameters are matched through repair path simulation analysis, and the repair path under the best process parameters in each layer to be filled is obtained based on the matching results.

[0065] For ordinary damaged components, the path planning method of this invention is used for path planning. Additive manufacturing equipment is used to lay the material layer by layer according to the planned path in the area to be repaired. After repair, the outer surface is ground and polished. For subsequent repair processes, please refer to [the relevant documentation / reference]. Figure 8 The repaired structural components underwent performance testing and showed good performance.

[0066] Example 2

[0067] This embodiment takes an irregularly shaped damaged component (whose repair surface is curved) as an example and elaborates on the repair path planning method in detail with reference to the accompanying drawings, as follows:

[0068] I. Delineate the damaged area

[0069] Using ultrasonic non-destructive testing equipment (please refer to) Figure 2 (a) and line laser scanner (see reference) Figure 2 (b) Extract the damage features of the original damaged component, and delineate the component repair area after digital three-dimensional reconstruction.

[0070] 2. The damaged area is excavated to reveal a pit with a larger outer opening and a smaller inner opening, which needs to be repaired.

[0071] Select a suitable damage removal process, use subtractive material equipment to mechanically cut and remove the damaged area with PCD tools, then clean up the residual material and smooth the surface to obtain a pre-repair surface that meets the requirements of interface bonding.

[0072] III. Fitting the B-spline base surface equation using the 3D point cloud of the pit to be repaired.

[0073] Please refer to Figure 9 A 3D laser scanner was used to collect point cloud data of the repaired interface after excavation. This point cloud data describes the coordinate point information of the scanned surface in the current coordinate system. Due to the large amount of raw data and the presence of many noisy points, a series of preprocessing operations, such as point cloud downsampling and point cloud smoothing, were performed on the raw point cloud to obtain a point cloud dataset usable in the fitting stage. In the patch fitting stage, this invention utilizes a B-spline surface adaptive fitting method based on a genetic algorithm to fit the B-spline base surface equation. The fitting process is actually a process of filling in the missing surfaces of the existing incomplete outer surface information of the damaged area. Specifically, the number of control points Pij required for fitting is preset to be (m+1)*(n+1) and the order of the B-spline surface is p, q. The loss function is established by reprocessing the Euclidean distance between the 3D point cloud and the adjacent fitting points. The objective function is established using the B-spline surface formula. The gradient information of the objective function with respect to the B-spline control points is derived. The genetic algorithm is used to select a suitable initial value for optimization to optimize the objective function. The process is iterated until the loss function is minimized, and the information of the (m+1)*(n+1) B-spline control points with the best fitting effect can be obtained. Then, the complete B-spline base surface equation after fitting can be expressed parametrically.

[0074] IV. Layering and Slicing Based on B-Spline Base Surface

[0075] Please refer to Figure 10 The fitted B-spline base surface equation is divided into equidistant grids according to a standard rectangular domain. Each grid point is substituted into the B-spline base surface equation to obtain the surface grid information on the corresponding rectangular domain. The shape of the surface grid information matches the opening of the pit to be repaired, and its area is slightly larger than the opening area of ​​the pit to be repaired. The layer height h is determined according to the printing line width and printing process. The surface grid information is used as a cutting surface, and the original three-dimensional point cloud is divided into n layers to be filled along the normal direction according to the layer height. At the same time, the outer contour data of the n layers to be filled can be obtained.

[0076] V. Path Planning for Printing Curved Surface Mesh Information

[0077] Please refer to Figure 11Let the line spacing of the printing path be c, and the point spacing of the printing path be s. Using the B-spline surface equation, base surface printing path grid points with line spacing c and point spacing s can be obtained on the surface mesh information. The base surface printing path grid points are the intersection points of the u-direction line group and the v-direction line group in the B-spline parameter domain. In detail, a line is selected at the boundary of the surface mesh information, and this line is used as the starting line of the repair path line group. Equidistant points are divided along this line according to the set point spacing s. Starting from the divided equidistant points, the set line spacing c is used as the distance function to generate path points with Euclidean distance c in the u direction along the B-spline base surface. These path points are connected sequentially in the v direction, and the boundary is trimmed to adapt to the boundary of the surface mesh information.

[0078] VI. B-spline sectional path projection

[0079] Please refer to Figure 12 The outer contour data of several layers to be filled and the grid points of the base surface printing path are input into the path planning software. Let the filling area enclosed by the outer contour data of the i-th layer to be filled be Di, n≥i≥1. The grid points of the base surface printing path are projected sequentially onto the Di area. It is determined whether the grid points of the base surface printing path fall inside or outside the boundary of the Di area. The point values ​​of the grid points of the base surface printing path that fall inside the Di area are retained respectively. The point values ​​that fall inside the Di area are connected in sequence to obtain the repair path in the i-th layer to be filled. The line spacing of the repair path in each layer to be filled is c, and the point spacing is s.

[0080] VII. Path Parameter Optimization

[0081] The path simulation optimization module in the damage repair path planning software is used to optimize the repair path in each layer to be filled. The process parameters are matched through repair path simulation analysis, and the repair path under the best process parameters in each layer to be filled is obtained based on the matching results.

[0082] In this embodiment, the path planning method of the present invention is used to plan the paths for the irregularly shaped components. Additive manufacturing equipment is then used to lay the materials layer by layer according to the planned paths in the area to be repaired. After repair, the outer surface is polished. For subsequent repair processes, please refer to [the relevant documentation / reference]. Figure 13 The repaired structural components underwent performance testing and showed good performance.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention in any way. All equivalent transformations or modifications made in accordance with the essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for in-situ repair path planning for damaged composite material components, characterized in that, The main steps include the following: 1) The damage features of the original damaged component are extracted using non-destructive testing technology and 3D scanning technology, and the damaged area of ​​the component is delineated after digital 3D reconstruction. 2) The damaged area is excavated using a multi-axis robot integrated platform to obtain the pit to be repaired; 3) Use a 3D laser scanner to acquire the original 3D point cloud of the repair interface of the pit to be repaired; 4) The original 3D point cloud data is denoised to obtain a reprocessed 3D point cloud. Based on the reprocessed 3D point cloud data, the B-spline base surface equation is fitted using the B-spline surface adaptive fitting method based on the genetic algorithm. 5) The fitted B-spline base surface equation is divided into equidistant grids according to the standard rectangular domain. Each grid point is substituted into the B-spline base surface equation to obtain the surface grid information on the corresponding rectangular domain. The shape of the surface grid information matches the opening of the pit to be repaired and the area is slightly larger than the opening area of ​​the pit to be repaired. Based on the printing line width and printing process, the layer height h is determined. The surface mesh information is used as the cutting plane. The original 3D point cloud is divided into n layers to be filled along the normal according to the layer height. At the same time, the outer contour data of the n layers to be filled can be obtained. 6) Let the line spacing of the printing path be c and the point spacing of the printing path be s. Using the B-spline surface equation established in step 4), the base surface printing path grid points with line spacing c and point spacing s can be obtained on the surface mesh information. 7) Input the outer contour data of several layers to be filled obtained in step 5) and the base surface printing path grid points obtained in step 6) into the path planning software. Let the filling area enclosed by the outer contour data of the i-th layer to be filled be Di, n≥i≥1. Project the base surface printing path grid points sequentially onto the Di area, and retain the point values ​​of the base surface printing path grid points that fall into the Di area. Connect the point values ​​that fall into the Di area in order to obtain the repair path in the i-th layer to be filled. The line spacing of the repair path in each layer to be filled is c, and the point spacing is s. 8) Use the path simulation optimization module in the damage repair path planning software to optimize the repair path in each layer to be filled. Match the process parameters through repair path simulation analysis, and obtain the repair path under the best process parameters in each layer to be filled based on the matching results.

2. The in-situ repair path planning method for damaged composite material components according to claim 1, characterized in that, In step 4), the specific method for fitting the B-spline base surface equation using the adaptive fitting method based on the genetic algorithm is as follows: The number of control points Pij required for fitting is set to (m+1)*(n+1), and the order of the B-spline surface is p, q. The loss function is established by reprocessing the Euclidean distance between the 3D point cloud and the adjacent fitting points. The objective function is established using the B-spline surface formula. The gradient information of the objective function with respect to the B-spline control points is derived. A genetic algorithm is used to select a suitable initial value for optimization to optimize the objective function. The process is iterated until the loss function is minimized, and the information of the (m+1)*(n+1) B-spline control points with the best fitting effect can be obtained. Then, the complete B-spline base surface equation after fitting can be expressed parametrically.

3. The in-situ repair path planning method for damaged composite material components according to claim 1, characterized in that, In step 6), the grid points of the base surface printing path are the intersection points of the u-direction line group and the v-direction line group in the B-spline parameter domain.

4. The in-situ repair path planning method for damaged composite material components according to claim 3, characterized in that, In step 6), an arbitrary line is selected at the boundary of the surface mesh information. This line is used as the starting line of the repair path line group. Equidistant points are divided along this line according to the set point spacing s. Starting from the divided equidistant points, the set line spacing c is used as the distance function to generate path points with Euclidean distance c in the u direction along the B-spline base surface. These path points are connected in the v direction in sequence, and the boundary is trimmed to adapt to the boundary of the surface mesh information.

Images