An online closed-loop laser polishing method for curved workpieces

Abstract

The present invention discloses an online closed-loop laser polishing method for a curved workpiece. A high-precision distance detection device is installed at the end of the galvanometer of the laser polishing equipment, which can accurately measure the height information of the surface of the curved workpiece in real time, realizing the integration of polishing and detection. This integrated design not only simplifies the operation process, but also improves the detection efficiency and polishing quality. The surface to be processed of the curved workpiece is divided into a plurality of triangular galvanometer processing areas according to the maximum circumscribed circle diameter K of the triangular facet, reducing the seams and overlaps of the galvanometer processing areas, thereby improving the accuracy and efficiency of the polishing process. The multi-layer polishing path is planned according to the contour map to ensure the continuity and uniformity of the polishing process. At the same time, by controlling the galvanometer to process along the polishing path, the precise polishing of the workpiece surface is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of laser polishing processing, and in particular to an online closed-loop laser polishing method for a curved surface workpiece. Background Art

[0002] With the development and progress of science and technology, the polishing of more and more workpiece surfaces has begun to change from traditional manual polishing to automatic polishing. Laser polishing, as an emerging polishing technology, has attracted much attention due to its high precision and high efficiency. Laser polishing uses a high-energy-density laser beam to scan the surface of the workpiece. Through the interaction between the laser and the material, it can achieve micron-level or even nano-level fine processing of the workpiece surface. At the same time, the laser beam can be combined with multi-axis equipment for movement and shape control to achieve the processing of curved workpieces.

[0003] Existing laser polishing methods, such as the invention patent with patent number CN201810666122.2, discloses a dual-beam five-axis CNC laser polishing method, which polishes the workpiece through two three-dimensional galvanometers and a two-axis rotary table.

[0004] Existing roughness detection methods, such as the invention patent with patent number CN201610957048.0, disclose an online roughness detection system for optical components, which is equipped with a vibration-insensitive profilometer for roughness measurement to achieve online detection of the full-aperture roughness of optical components.

[0005] In the prior art, roughness detection after laser polishing of a workpiece usually requires the workpiece to be removed from the processing equipment and then tested using a special instrument. This offline detection method will cause deviations in the processing area due to the clamping and positioning problems of the curved workpiece when the workpiece needs secondary processing, thereby affecting the processing effect. When the polishing depth is large, the workpiece needs to be removed frequently to measure the roughness, which wastes processing time and affects processing efficiency. In addition, due to the large overlap and seam area between the galvanometer processing areas, the polishing quality of the curved workpiece is affected. Summary of the invention

[0006] In order to solve the problems existing in the above-mentioned background technology, the present invention provides an online closed-loop laser polishing method for curved workpieces, which measures the local roughness of the curved workpiece online and realizes closed-loop processing. It is suitable for polishing processing of various complex curved workpieces, improves the flexibility and scope of application of the polishing process, and improves the detection efficiency and polishing processing quality.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] The present invention provides an online closed-loop laser polishing method for a curved workpiece, comprising the following steps:

[0009] S1. Install a high-precision distance detection device at the end of the galvanometer of the laser polishing equipment;

[0010] S2. Set the maximum circumscribed circle diameter K of the triangular face, K≤ the single processing width A of the galvanometer max According to the K value, the surface of the curved workpiece to be processed is divided into several triangular surface-shaped galvanometer processing areas XOY i , i=1, 2...n, the maximum circumscribed circle diameter of each galvanometer processing area does not exceed the K value;

[0011] S3, adjust the galvanometer posture so that the measurement output surface of the high-precision distance detection device is perpendicular to the normal vector of the galvanometer processing area, control the high-precision distance detection device to move along the Y axis, and perform a scan every interval d. During each scan, a distance measurement point is obtained along the X axis direction at every interval d. After all the distance measurement points are obtained, the distance measurement points outside the galvanometer processing area are removed to obtain the coordinate matrix Ti{X, Y, Z};

[0012] S4, determine the material thickness Δh that needs to be removed for each polishing process, divide the Z value of the galvanometer processing area into m height intervals, each interval represents a contour level, and generate a contour map, where the height range of each contour level is [Z min + ( j + 1 )Δh,Z min + jΔh], j = 0, 1, 2...m, where Z min is the minimum Z value, and the m-layer polishing path {(x k ,y k )};

[0013] S5, the galvanometer moves to the galvanometer processing area XOY i The axial direction of the galvanometer light outlet is consistent with the normal vector of the galvanometer processing area, and the polishing path {(x k ,y k )} laser polishing is performed, and the thickness of the curved workpiece material removed each time is Δh;

[0014] S6. Repeat steps S3-S5 until the Z values ​​of all galvanometer processing areas are processed to be consistent.

[0015] Furthermore, in step S4, the contour map is filled in a spiral, grid or arcuate manner to plan an m-layer polishing path.

[0016] The spiral path is suitable for circular or elliptical areas, which can ensure uniform polishing and not easy to miss. For the spiral path, it starts from a certain center point and expands outward along the spiral line to ensure that the entire area to be polished is covered. The grid or arch fill path is suitable for larger and regular-shaped areas, which can improve polishing efficiency. For the arch fill path, the spacing of the arch is determined according to the shape and size of the area, and then polishing is performed along the arch path.

[0017] Specifically, in this step, in terms of polishing path planning, more advanced optimization algorithms, such as genetic algorithms, particle swarm algorithms or neural network algorithms, can also be used to more efficiently handle complex polishing path planning problems and improve polishing efficiency and quality.

[0018] Furthermore, in step S6, the processing is completed if the following conditions are met, specifically: ;in, is the average Z value of the galvanometer processing area XOY, and δ is the roughness threshold, which is the allowable error range.

[0019] Through the above settings, the uniformity and consistency of the laser polishing process can be guaranteed more objectively and accurately, thereby ensuring the quality of the laser polishing process.

[0020] Furthermore, in step S2, the circumscribed circle is first calculated based on the three coordinate points of the triangular face. If the diameter of the circumscribed circle of the triangular face exceeds the K value, the triangular face that exceeds the value is re-segmented so that the diameter of the circumscribed circle of the triangular face obtained after segmentation does not exceed the K value.

[0021] The specific operation of step S2 is as follows:

[0022] 1. Set the maximum circumscribed circle diameter K of the triangular face, K≤ the single processing width A of the galvanometer max ,The size of K value indicates the subdivision degree of surface segmentation of curved workpiece;

[0023] 2. Divide the curved workpiece into several triangular galvanometer processing areas XOY according to K i , i=1, 2...n, where the X-axis direction of the galvanometer processing area is the projection direction of the X-axis of the world coordinate system on the galvanometer processing area, the Y-axis direction is obtained by the cross product of the normal vector of the triangle patch and the X-axis, and the coordinate origin O is the center of the circumscribed circle of the triangle;

[0024] 3. In the process of segmenting the curved workpiece, the circumscribed circle is first calculated based on the three coordinate points of the triangular facets. If it is found that the circumscribed circle diameter of some triangular facets exceeds the K value, the triangular facets that exceed the standard are segmented again so that the circumscribed circle diameter of the triangular facets obtained after segmentation (that is, the circumscribed circle diameter of all galvanometer processing areas) does not exceed the K value.

[0025] Methods for re-segmenting triangular facets that exceed the standard include the midline segmentation method (dividing the triangular facet into two smaller triangles along the midpoint of its longest side), the centroid segmentation method (dividing the triangular facet along the line connecting its centroid and a vertex), etc., so that the diameter of the circumscribed circle of the triangular facet obtained after segmentation is less than the K value.

[0026] Furthermore, installing a high-precision distance detection device at the end of the galvanometer of the laser polishing equipment can accurately measure the height information of the surface of the curved workpiece in real time, realizing the integration of polishing and detection. This integrated design not only simplifies the operation process, but also improves the detection efficiency and polishing quality. Under the premise of maintaining high-precision measurement, the high-precision distance detection device can use a high-precision distance sensor, a three-dimensional laser scanner or a structured light sensor.

[0027] In step S3, taking the high-precision distance sensor as an example, the minimum value of the spacing d is Max{device motion interpolation increment value, high-precision distance sensor spot diameter, galvanometer processing spot diameter}, and the maximum value is Min{triangle patch Y-axis height / 2, triangle patch X-axis height / 2}. The specific spacing d value can be selected according to user experience.

[0028] High-precision distance sensors can be point spot high-precision distance sensors or line spot high-precision distance sensors. Point spot high-precision distance sensors obtain the distance between a point on the curved workpiece and the sensor. In addition to moving along the Y axis, the sensor also needs to move along the X axis to obtain the distance measurement matrix on the entire surface.

[0029] The principle of the line spot high-precision distance sensor is to obtain the change in the Z-axis height of the curved workpiece on a certain line based on the pixel map of the line light captured by the CCD. For example, there are 1000 pixels obtained from a certain line spot, and it is necessary to sample at intervals of 1mm on the pixel map to make the x-axis and y-axis intervals of the coordinate matrix Ti equal.

[0030] Furthermore, in step S5, during the laser polishing process, the axial direction of the measurement output surface of the high-precision distance detection device, the axial direction of the galvanometer light outlet, and the normal vector of the galvanometer processing area are all kept consistent.

[0031] Through the setting, during the laser polishing process, the height information of the curved workpiece surface is synchronously monitored in real time by a high-precision distance detection device, realizing the integration of polishing and detection. This integrated design not only simplifies the operation process, but also improves the detection efficiency and polishing quality.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] (1) In the present invention, a high-precision distance detection device is installed at the end of the galvanometer of the laser polishing equipment, which can accurately measure the height information of the surface of the curved workpiece in real time, realizing the integration of polishing and detection. This integrated design not only simplifies the operation process, but also improves the detection efficiency and polishing quality;

[0034] (2) The present invention has the ability to adapt to curved surfaces. The surface to be processed of the curved workpiece is divided into a number of triangular galvanometer processing areas according to the maximum circumscribed circle diameter K of the triangular facet, thereby reducing the seams and overlaps of the galvanometer processing areas, thereby improving the accuracy and efficiency of the polishing process, and adjusting the galvanometer posture to ensure that the measured laser output surface is perpendicular to the normal vector of the galvanometer processing area. This processing method enables the present invention to be applicable to the polishing of various complex curved surface workpieces, thereby improving the flexibility and scope of application of the polishing process;

[0035] (3) The polishing path is more precise and flexible. The multi-layer polishing path is planned according to the contour map. Spiral, grid or arch filling methods can be used. It can be flexibly adjusted according to the specific shape of the workpiece and the polishing requirements. This path planning method not only improves the polishing efficiency, but also ensures the continuity, uniformity and consistency of the polishing process. At the same time, by controlling the galvanometer to process along the polishing path, precise polishing of the workpiece surface is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Figure 1 It is a flow chart of online closed-loop laser polishing of curved workpieces in the present invention;

[0038] Figure 2 It is a schematic diagram of segmenting the surface to be processed of a curved workpiece in the present invention;

[0039] Figure 3 It is a schematic diagram of the galvanometer processing area XOY, distance measurement points, processing contour lines and filling in the present invention;

[0040] Figure 4 It is a structural schematic diagram of the online closed-loop laser polishing device for curved workpieces in the present invention.

[0041] Among them, the specific drawings are marked as:

[0042] A table 1, a curved workpiece 2, a processing gantry 3, a laser polishing component 4, a galvanometer 5, and a high-precision distance detection device 6 are placed. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The embodiment of the present application provides an online closed-loop laser polishing method for a curved workpiece, such as Figure 1 As shown, the following steps are included:

[0045] S1. Install a high-precision distance detection device at the end of the galvanometer of the laser polishing equipment, set the roughness threshold δ, and set the maximum circumscribed circle diameter K of the triangular facet, K≤ the single processing width A of the galvanometer max The size of the K value indicates the degree of subdivision of the surface segmentation of the curved workpiece.

[0046] S2, such as Figure 2 and Figure 3 As shown in the figure, according to the K value, the surface of the curved workpiece to be processed is divided into several triangular galvanometer processing areas XOY i , i=1, 2...n, the diameter of the circumscribed circle of each triangular facet does not exceed the K value, where the X-axis direction of the galvanometer processing area is the projection direction of the X-axis of the world coordinate system on the galvanometer processing area, the Y-axis direction is obtained by the cross product of the normal vector of the triangular facet and the X-axis, and the coordinate origin O is the center of the circumscribed circle of the triangle.

[0047] First, the circumscribed circle is calculated based on the three coordinate points of the triangular face. If the diameter of the circumscribed circle of the triangular face exceeds the K value, the triangular face that exceeds the standard is re-segmented so that the diameter of the circumscribed circle of the triangular face obtained after segmentation does not exceed the K value.

[0048] Specifically, in the process of segmenting the curved workpiece, the circumscribed circle is first calculated based on the three coordinate points of the triangular facets. If it is found that the circumscribed circle diameter of some triangular facets exceeds the K value, the triangular facets that exceed the standard are re-segmented so that the circumscribed circle diameter of the triangular facets obtained after segmentation (that is, the circumscribed circle diameter of all galvanometer processing areas) does not exceed the K value.

[0049] Methods for re-segmenting triangular facets that exceed the standard include the midline segmentation method (dividing the triangular facet into two smaller triangles along the midpoint of its longest side), the centroid segmentation method (dividing the triangular facet along the line connecting its centroid and a vertex), etc., so that the diameter of the circumscribed circle of the triangular facet obtained after segmentation is less than the K value.

[0050] S3, adjust the galvanometer posture so that the measurement output surface of the high-precision distance detection device is perpendicular to the normal vector of the galvanometer processing area, align the light spot emitted by the high-precision distance detection device with the X-axis, control the high-precision distance detection device to move along the Y-axis, and scan once every interval d. During each scan, a distance measurement point is obtained along the X-axis direction at every interval d. After all the distance measurement points are obtained, the distance measurement points outside the galvanometer processing area are removed to obtain the coordinate matrix Ti{X, Y, Z}, as shown in Figure 3 shown.

[0051] Installing a high-precision distance detection device at the end of the galvanometer of the laser polishing equipment can accurately measure the height information of the surface of the curved workpiece in real time, realizing the integration of polishing and detection. This integrated design not only simplifies the operation process, but also improves the detection efficiency and polishing quality. Under the premise of maintaining high-precision measurement, the high-precision distance detection device can use a high-precision distance sensor, a three-dimensional laser scanner or a structured light sensor. In a specific embodiment, a high-precision distance sensor is used as the high-precision distance detection device.

[0052] In step S3, taking the high-precision distance sensor as an example, the minimum value of the spacing d is Max{device motion interpolation increment value, high-precision distance sensor spot diameter, galvanometer processing spot diameter}, and the maximum value is Min{triangle patch Y-axis height / 2, triangle patch X-axis height / 2}. The specific spacing d value can be selected according to user experience.

[0053] High-precision distance sensors can be point spot high-precision distance sensors or line spot high-precision distance sensors. Point spot high-precision distance sensors obtain the distance between a point on the curved workpiece and the sensor. In addition to moving along the Y axis, the sensor also needs to move along the X axis to obtain the distance measurement matrix on the entire surface.

[0054] The principle of the line spot high-precision distance sensor is to obtain the change in the Z-axis height of the curved workpiece on a certain line based on the pixel map of the line light captured by the CCD. For example, there are 1000 pixels obtained from a certain line spot, and it is necessary to sample at intervals of 1mm on the pixel map to make the x-axis and y-axis intervals of the coordinate matrix Ti equal.

[0055] S4. Determine the material thickness Δh to be removed for each polishing process according to the material, hardness and expected surface roughness of the workpiece, divide the Z value of the galvanometer processing area into m height intervals, each interval represents a contour level, and generate a contour map, where the height range of each contour level is [Z min + ( j + 1 )Δh,Z min + jΔh], j = 0, 1, 2...m, where Z min is the minimum Z value, and the m-layer polishing path {(xk ,y k )},like Figure 3 shown.

[0056] In this step, according to the specific shape, size and polishing requirements of the workpiece, the appropriate path planning strategy is selected, and common ones include spiral, grid and arch filling. The contour map is filled in a spiral, grid or arch shape to plan the m-layer polishing path.

[0057] The spiral path is suitable for circular or elliptical areas, which can ensure uniform polishing and not easy to miss. For the spiral path, it starts from a certain center point and expands outward along the spiral line to ensure that the entire area to be polished is covered. The grid or arch fill path is suitable for larger and regular-shaped areas, which can improve polishing efficiency. For the arch fill path, the spacing of the arch is determined according to the shape and size of the area, and then polishing is performed along the arch path.

[0058] Specifically, in this step, in terms of polishing path planning, more advanced optimization algorithms, such as genetic algorithms, particle swarm algorithms or neural network algorithms, can also be used to more efficiently handle complex polishing path planning problems and improve polishing efficiency and quality.

[0059] S5, the galvanometer moves to the galvanometer processing area XOY i The axial direction of the galvanometer light outlet is consistent with the normal vector of the galvanometer processing area, and the polishing path {(x k ,y k )} laser polishing is performed, and the thickness of the curved workpiece material removed each time is Δh; during the laser polishing process, the axial direction of the measurement output surface of the high-precision distance detection device, the axial direction of the galvanometer light outlet and the normal vector of the galvanometer processing area are kept consistent.

[0060] S6, repeat steps S3-S5 until the Z values ​​of all galvanometer processing areas are processed to be consistent, and the processing is completed when the following conditions are met: ;in, It is the average Z value of the galvanometer processing area XOY, and δ is the roughness threshold, that is, the allowable error range, which more objectively and accurately guarantees the uniformity and consistency of the laser polishing process, thereby ensuring the quality of the laser polishing process.

[0061] In specific applications, the surface to be processed of the curved workpiece can be divided into a number of rectangular areas, or the surface to be processed of the curved workpiece can be divided into a mixed area of ​​triangles and rectangles.

[0062] In addition to being used for laser polishing of curved workpieces, the above method can also be used for workpiece surface quality inspection. By measuring the workpiece surface height information, it can be determined whether there are defects, scratches or wear on the workpiece surface.

[0063] In the present invention, a high-precision distance detection device is installed at the end of the galvanometer of the laser polishing equipment, which can accurately measure the height information of the surface of the curved workpiece in real time, and realize the integration of polishing and detection. This integrated design not only simplifies the operation process, but also improves the detection efficiency and polishing quality. The method of the present invention has the ability to adapt to the curved surface. According to the maximum circumscribed circle diameter K of the triangular facet, the surface of the curved workpiece to be processed is divided into a plurality of triangular galvanometer processing areas, which reduces the seams and overlaps of the galvanometer processing areas, thereby improving the accuracy and efficiency of the polishing process, and adjusting the galvanometer posture to ensure that the measured laser output surface is perpendicular to the normal vector of the galvanometer processing area. This processing method enables the present invention to be applicable to the polishing of various complex curved surface workpieces, and improves the flexibility and scope of application of the polishing process. The polishing path is more accurate and flexible. According to the contour map, the multi-layer polishing path can be planned. The spiral, grid or arch filling method can be used, and the specific shape of the workpiece and the polishing requirements can be flexibly adjusted. This path planning method not only improves the polishing efficiency, but also ensures the continuity, uniformity and consistency of the polishing process. At the same time, by controlling the galvanometer to process along the polishing path, the precise polishing of the workpiece surface is achieved.

[0064] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0065] Based on the same inventive concept, the embodiment of the present application also provides a device for implementing an online closed-loop laser polishing method for a curved workpiece. The implementation solution provided by the device is similar to the implementation solution described in the above method, so the specific limitations in the embodiment of the device for implementing an online closed-loop laser polishing method for a curved workpiece provided below can be found in the above-mentioned limitations on the above method, and will not be repeated here.

[0066] See also Figure 4 , in an exemplary embodiment, the embodiment of the present application provides an online closed-loop laser polishing device for a curved workpiece, comprising: a placement table 1, a processing gantry 3 and a laser polishing assembly 4;

[0067] The placing table 1 is used to place the curved workpiece 2 to be processed. The placing table 1 can drive the curved workpiece 2 to reciprocate along the Y-axis. The processing gantry 3 spans the placing table 1. The processing gantry 3 is installed with an X-axis linear drive module. The output end of the X-axis linear drive module is installed with a Z-axis linear drive module. The output end of the Z-axis linear drive module is provided with a laser polishing component 4. The laser polishing component 4 can reciprocate along the Y-axis and the Z-axis. A high-precision distance detection device 6 is installed side by side at the end of the galvanometer 5 in the laser polishing component 4, which can accurately measure the height information of the surface of the curved workpiece 2 in real time, realizing the integration of polishing and detection, and the galvanometer 5 can rotate along the Z-axis and can adjust the pitch angle, realizing the precise adjustment of the angle and position of the laser emitted from the light outlet of the galvanometer 5 and the detection laser emitted by the high-precision distance detection device 6 during the processing.

[0068] In a specific embodiment, a high-precision distance sensor is used as the high-precision distance detection device 6. Under the premise of maintaining high-precision measurement, the high-precision distance detection device 6 can also use a three-dimensional laser scanner or a structured light sensor.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An online closed-loop laser polishing method for a curved workpiece, characterized in that: The steps include: S1. Install a high-precision distance detection device at the end of the galvanometer of the laser polishing equipment; S2. Set the maximum circumscribed circle diameter K of the triangular face, K≤ the single processing width A of the galvanometer max According to the K value, the surface of the curved workpiece to be processed is divided into several triangular-shaped galvanometer processing areas XOY i , i = 1, 2...n, the maximum circumscribed circle diameter of each galvanometer processing area does not exceed the K value; S3, adjust the galvanometer posture so that the measurement output surface of the high-precision distance detection device is perpendicular to the normal vector of the galvanometer processing area, control the high-precision distance detection device to move along the Y axis, and perform a scan every interval d. During each scan, a distance measurement point is obtained along the X axis direction at every interval d. After all the distance measurement points are obtained, the distance measurement points outside the galvanometer processing area are removed to obtain the coordinate matrix Ti{X, Y, Z}; S4, determine the material thickness Δh that needs to be removed for each polishing process, divide the Z value of the galvanometer processing area into m height intervals, each interval represents a contour level, generate a contour map, and plan the m-layer polishing path {(x k ,y k )}; S5, the galvanometer moves to the galvanometer processing area XOY i The axial direction of the galvanometer light outlet is consistent with the normal vector of the galvanometer processing area, and the polishing path {(x k ,y k )} laser polishing is performed, and the thickness of the curved workpiece material removed each time is Δh; S6, repeat steps S3-S5 until the Z values ​​of all galvanometer processing areas are processed to be consistent; The specific operation of step S2 is as follows:

1. Set the maximum circumscribed circle diameter K of the triangular face, K≤ the single processing width A of the galvanometer max ,The size of K value indicates the subdivision degree of surface segmentation of curved workpiece; 2. Divide the curved workpiece into several triangular galvanometer processing areas XOY according to K i , i=1, 2...n, where the X-axis direction of the galvanometer processing area is the projection direction of the X-axis of the world coordinate system on the galvanometer processing area, the Y-axis direction is obtained by the cross product of the normal vector of the triangle patch and the X-axis, and the coordinate origin O is the center of the circumscribed circle of the triangle; 3. When segmenting the curved workpiece, first calculate the circumscribed circle based on the three coordinate points of the triangular facets. If the diameter of the circumscribed circle of some triangular facets exceeds the K value, re-segment the triangular facets that exceed the standard so that the diameter of the circumscribed circle of the triangular facets obtained after segmentation does not exceed the K value.

2. The online closed-loop laser polishing method for a curved workpiece according to claim 1, characterized in that: In step S4, the contour map is filled in a spiral, grid or arc shape to plan the m-layer polishing path.

3. The online closed-loop laser polishing method for a curved workpiece according to claim 1 or 2, characterized in that: In step S6, the processing is completed when the following conditions are met, specifically: in, is the average Z value of the galvanometer processing area XOY, and δ is the roughness threshold.

4. The online closed-loop laser polishing method for a curved workpiece according to claim 1, characterized in that: Methods for re-segmenting the triangular facets that exceed the standard include the midline segmentation method or the centroid segmentation method.

5. The online closed-loop laser polishing method for a curved workpiece according to claim 1, characterized in that: In step S2, the X-axis direction of the galvanometer processing area is the projection direction of the X-axis of the world coordinate system on the galvanometer processing area, the Y-axis direction is obtained by cross-producting the normal vector of the triangle patch and the X-axis, and the coordinate origin O is the center of the circumscribed circle of the triangle.

6. The online closed-loop laser polishing method for a curved workpiece according to claim 1, characterized in that: During the laser polishing process, the axial direction of the measurement output surface of the high-precision distance detection device, the axial direction of the galvanometer light outlet, and the normal vector of the galvanometer processing area are all kept consistent.

7. The online closed-loop laser polishing method for a curved workpiece according to claim 1 or 6, characterized in that: The high-precision distance detection device includes a high-precision distance sensor, a three-dimensional laser scanner or a structured light sensor.

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