A method for rapid repair of ship deck defects by cold spraying

Abstract

The present invention relates to a method for rapid cold spray repair of ship deck defects, and belongs to the field of cold spray technology. The technical solution of the present invention is aimed at the problem that various irregular-shaped defects are generated on the ship deck due to seawater corrosion during use, and studies are carried out on efficient cold spray repair based on these defects. The repair method includes using a laser three-dimensional profilometer to scan the defect to obtain its three-dimensional morphology; extracting the edge contour of the defect; using a minimum bounding box algorithm to determine the minimum circular cold spray repair area; and finally achieving defect repair by establishing a function of the cold spray repair path. The present invention not only defines the minimum cold spray repair area as a circle, but is also applicable to other basic standard geometric shapes that meet the requirements. The cold spray repair scheme proposed in the present invention effectively reduces costs and has important significance and application value for improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of cold spraying, and in particular to a method for quickly repairing ship deck defects by cold spraying. Background Art

[0002] At present, the problem of ship deck corrosion caused by seawater is becoming increasingly serious. The deck of a ship that has been in the marine environment for a long time is corroded by salt and other corrosive substances in the seawater, and its structural strength gradually decreases, and may even be seriously damaged such as perforation. This not only threatens the safe operation and service life of the ship, but also significantly increases the cost of repair and maintenance. Traditional repair methods, such as welding and coating repair, are usually accompanied by complex processes, long repair cycles, and possible secondary damage to the deck material.

[0003] As a solid deposition process, cold spray technology uses high-temperature and high-pressure gas as a propellant, and accelerates powder particles to supersonic speed through the convergent-divergent structure of the Delaware nozzle and adheres to the substrate surface. Studies have shown that cold spray technology can avoid oxidation and phase change, maintain the properties of raw materials, and has a high spray deposition rate (up to 6000cm 3 / h), and is capable of spraying heat-sensitive materials and gradient materials. Therefore, cold spray technology is gradually becoming an extremely innovative component defect repair technology that can quickly repair defects of various sizes.

[0004] For defects with complex shapes, solid masks are usually required to protect the surface from overspray to enable cold spray repair. However, the design of the mask can be time-consuming and complex, and damage may be caused to the repaired parts when the mask is removed. Therefore, the existing cold spray repair process still has limitations, and it is difficult to quickly repair irregularly shaped defects. This means that in the case of multiple defects on the deck, a repair path needs to be planned separately for each defect. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a method for quickly repairing ship deck defects by cold spraying.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for rapid repair of ship deck defects by cold spraying, comprising the steps of:

[0008] By scanning the surface of the defective area of ​​the ship deck to be repaired, three-dimensional topographic data of the surface of the defective area is obtained;

[0009] Processing the three-dimensional topographic data of the surface of the defective area by a preset grayscale processing algorithm and a classification algorithm to obtain edge contour data of the defective area, wherein the edge contour data of the defective area includes an edge contour of the defective area and three-dimensional Cartesian coordinates of spatial points on the edge contour;

[0010] Processing the three-dimensional Cartesian coordinates of the spatial points on the edge contour by a preset minimum bounding box algorithm to obtain cold spray repair range data;

[0011] A matching function is determined based on the edge contour data of the defective area and the cold spray repair range data. When the value of the matching function is equal to a preset value, a function of a cold spray repair path is generated based on the Archimedean spiral. When the value of the matching function is less than the preset value, the defective area is processed according to a pre-established processing path.

[0012] The cold spray repair is performed based on a function of the cold spray repair path.

[0013] The method for rapid cold spray repair of ship deck defects as described above further includes processing the three-dimensional topography data of the surface of the defective area by a preset grayscale processing algorithm and a classification algorithm to obtain edge contour data of the defective area, specifically comprising:

[0014] The three-dimensional surface topography data of the defective area is gray-processed by a preset gray-scale processing algorithm to obtain a two-dimensional gray-scale image of the surface of the defective area;

[0015] Extracting the two-dimensional grayscale image of the surface of the defective area by a preset K-nearest neighbor algorithm to obtain the edge contour of the defective area and its corresponding two-dimensional pixel coordinates;

[0016] According to the two-dimensional pixel coordinates of the edge contour of the defect area and the corresponding grayscale values, the three-dimensional Cartesian coordinates of the spatial points on the edge contour are reconstructed.

[0017] The method for rapid cold spray repair of ship deck defects as described above further includes: processing the three-dimensional Cartesian coordinates of the spatial points on the edge contour by a preset minimum bounding box algorithm to obtain cold spray repair range data, specifically including:

[0018] Set the minimum bounding box to a circle and call the built-in minboundcircle The function processes the three-dimensional Cartesian coordinates of the spatial points on the edge contour to obtain the center of the minimum cold spray repair range. center and radius radius The value of

[0019] According to the center center and radius radiusThe value of is used to determine the minimum cold spray repair range area, and the minimum cold spray repair range area is used as the cold spray repair range data.

[0020] The method for rapid cold spray repair of ship deck defects as described above, further, determines a matching function according to the edge contour data of the defect area and the cold spray repair range data, specifically comprising:

[0021] Determining the maximum surface area of ​​the defective region according to the edge contour data of the defective region;

[0022] According to the ratio of the maximum surface area of ​​the defective region to the area of ​​the minimum cold spray repair range, the matching function is determined according to the following formula;

[0023] Matching function ;

[0024] In the formula, Indicates the maximum surface area of ​​the defect region; Indicates the area of ​​minimum cold spray repair range.

[0025] The method for rapid cold spray repair of ship deck defects as described above, further comprises: By calling the built-in convhulln The function is calculated; By preset formula Calculated.

[0026] The method for rapid cold spray repair of ship deck defects as described above, further, when the value of the matching function is equal to a preset value, a function for generating a cold spray repair path based on the Archimedean spiral specifically includes:

[0027] When the value of the matching function is equal to 1, a function of a cold spray repair path is generated based on the Archimedean spiral, wherein the function of the cold spray repair path is :

[0028] ;

[0029] In the formula, To repair the value of the point on the path on the X-axis in the Cartesian coordinate system; To repair the value of the point on the path on the Y axis in the Cartesian coordinate system; Take the upper surface of the plate as the horizontal plane and repair the value of the point on the path on the Z axis in the Cartesian coordinate system; is the interval between two adjacent spiral lines; is the angle that the corresponding point on the repair path rotates as the path line moves; is the horizontal and vertical coordinates of the defect center, from the center of the circle Sure; Indicates the height of the spiral line that repairs the path.

[0030] The method for rapid cold spray repair of ship deck defects as described above, further, when the value of the matching function is less than a preset value, the defective area is processed according to a pre-established processing path, specifically comprising:

[0031] When the value of the matching function is less than 1, the defective area is pre-machined into a circle by a milling cutter according to a pre-established machining path, wherein the mathematical model equation of the motion trajectory of the milling cutter is: :

[0032] ;

[0033] In the formula, It is the value of the point on the machining route on the X-axis of the Cartesian coordinate system; It is the value of the point on the machining route on the Y axis of the Cartesian coordinate system; It is the value of the point on the machining route on the Z axis of the Cartesian coordinate system; is the distance between two adjacent spiral lines; is the angle that the corresponding machining path point rotates as the helix moves; Indicates the height of the spiral line of the machining path in one circle. is the horizontal and vertical coordinates of the defect center, from the center of the circle Sure.

[0034] The method for rapid cold spray repair of ship deck defects as described above, further comprises:

[0035] angle ; Angle of machining path , h is the maximum depth value of the defect area obtained based on the three-dimensional morphology data of the surface of the defect area.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The cold spray rapid repair technology for ship deck defects involved in the present invention first uses a laser three-dimensional profilometer to accurately scan the defects to obtain their three-dimensional morphology. Subsequently, the edge contour of the defect area is extracted using the K-nearest neighbor algorithm based on Matlab, and the minimum bounding box algorithm is used to determine the minimum circular cold spray repair range. By constructing a function of the cold spray repair path, effective repair of the defects is ultimately achieved. The present invention is not limited to defining the minimum cold spray repair range as a circle, but is also applicable to other basic standard geometric shapes that meet specific needs. The proposed cold spray repair scheme significantly reduces the repair cost and has significant significance and application value for improving work efficiency.

[0038] The present invention can quickly repair deck defects caused by corrosion and other adverse working conditions, solving the problem of a large amount of time spent on planning repair paths for defects of different shapes during cold spray repair. At the same time, it also reduces actual operating costs and improves operating efficiency.

[0039] The present invention aims to solve the problem of various irregular shaped defects caused by frequent seawater corrosion on ship decks during use. The research focuses on how to efficiently implement cold spray repair based on these defects. The repair process includes using a laser 3D profilometer to scan the defect to obtain its 3D morphology, extracting the defect edge contour, and using the minimum bounding box algorithm to determine the minimum circular cold spray repair range. By constructing a function of the cold spray repair path, the effective repair of the defect is finally achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is one of the flow diagrams of the method for rapid repair of ship deck defects by cold spraying in an embodiment of the present invention.

[0042] Figure 2 The upper surface of a flat plate with defects is scanned in the method for rapid repairing ship deck defects by cold spraying in an embodiment of the present invention.

[0043] Figure 3 It is the defect contour extracted by the method for rapid repair of ship deck defects by cold spraying in an embodiment of the present invention.

[0044] Figure 4 It is the minimum cold spray repair range of the method for rapid cold spray repair of ship deck defects in an embodiment of the present invention.

[0045] Figure 5 This is a milling cutter pre-machining path for a method for rapid cold spray repair of ship deck defects in an embodiment of the present invention.

[0046] Figure 6 This is a spray gun cold spray repair path for a method for rapid cold spray repair of ship deck defects in an embodiment of the present invention.

[0047] Figure 7 This is a second flow chart of a method for rapid repair of ship deck defects by cold spraying in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] 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 application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Example:

[0050] It should be noted that the terms "including" and "having" and any variations of the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] For defects with complex shapes, solid masks are usually required to protect the surface from overspray to enable cold spray repair. However, the design of the mask can be time-consuming and complex, and damage may be caused to the repaired parts when the mask is removed. Therefore, the existing cold spray repair process still has limitations, and it is difficult to quickly repair irregularly shaped defects. This means that in the case of multiple defects on the deck, a repair path needs to be planned separately for each defect.

[0052] Figure 1 FIG. 1 is a flow chart of a method for rapid cold spray repair of ship deck defects in an embodiment of the present invention. Figure 1 As shown, the method for cold spraying rapid repair of ship deck defects provided by the embodiment of the present invention may specifically include the following steps:

[0053] Step 100, scanning the surface of the defective area of ​​the ship deck to be repaired to obtain three-dimensional topographic data of the surface of the defective area.

[0054] In this step, a laser 3D profiler is used to scan the surface of the defective area of ​​the ship deck to be repaired to obtain 3D topographic data of the surface of the defective area. The 3D topographic data is data of the 3D shape or structure of the surface of the defective area of ​​the ship deck to be repaired, which can reflect the shape, undulation and other characteristics of the surface of the object. The 3D topographic data of the surface of the defective area in this embodiment includes the 3D topography of the damaged area and the undamaged area, and is saved in STL format.

[0055] Step 200, the three-dimensional morphological data of the surface of the defective area is processed by a preset grayscale processing algorithm and a classification algorithm to obtain edge contour data of the defective area, wherein the edge contour data of the defective area includes the edge contour of the defective area and the three-dimensional Cartesian coordinates of the spatial points on the edge contour.

[0056] In this step, the three-dimensional morphological data of the surface of the defect area is gray-processed by a preset gray-scale processing algorithm to obtain a two-dimensional gray-scale image of the surface of the defect area; the two-dimensional gray-scale image of the surface of the defect area is extracted by a preset K-nearest neighbor algorithm to obtain the edge contour of the defect area and its corresponding two-dimensional pixel coordinates; based on the two-dimensional pixel coordinates of the edge contour of the defect area and its corresponding gray-scale values, the three-dimensional Cartesian coordinates of the spatial points on the edge contour are reconstructed.

[0057] Step 300, processing the three-dimensional Cartesian coordinates of the spatial points on the edge contour by a preset minimum bounding box algorithm to obtain cold spray repair range data.

[0058] In this step, the minimum bounding box is set to a circle, and the built-in The function processes the three-dimensional Cartesian coordinates of the spatial points on the edge contour to obtain the center of the minimum cold spray repair range. center and radius radius The value of According to the center of the circle center and radius radius The value of is used to determine the minimum cold spray repair range area, and the minimum cold spray repair range area is used as the cold spray repair range data.

[0059] Step 400, determine the matching function based on the edge contour data of the defect area and the cold spray repair range data. When the value of the matching function is equal to a preset value, generate a function of the cold spray repair path based on the Archimedean spiral. When the value of the matching function is less than the preset value, process the defect area according to the pre-established processing path.

[0060] In this step, the maximum surface area of ​​the defective area is determined according to the edge contour data of the defective area; and the matching function is determined according to the ratio of the maximum surface area of ​​the defective area to the area of ​​the minimum cold spray repair range according to the following formula;

[0061] Matching function ;

[0062] In the formula, Indicates the maximum surface area of ​​the defect region; Indicates the area of ​​minimum cold spray repair range. By calling the built-in convhulln Function get; By preset formula get, radius is the radius of the previous step radius The value of .

[0063] Solving the matching function and analyze the value:

[0064] When the value of the matching function is equal to 1, it means that the defect area is a standard circle, and the subsequent steps of repair can be directly performed. The function of the cold spray repair path can be generated based on the Archimedean spiral, wherein the function of the cold spray repair path :

[0065] ;

[0066] In the formula, To repair the value of the point on the path on the X-axis in the Cartesian coordinate system; To repair the value of the point on the path on the Y axis in the Cartesian coordinate system; Take the upper surface of the plate as the horizontal plane and repair the value of the point on the path on the Z axis in the Cartesian coordinate system; is the interval between two adjacent spiral lines; is the angle that the corresponding point on the repair path rotates as the path line moves; is the horizontal and vertical coordinates of the defect center, from the center of the circle Sure; The height of the spiral that represents the repair path as it descends in one revolution (2π).

[0067] When the value of the matching function is less than 1, the area of ​​the defect region is less than the area of ​​the minimum bounding box, indicating that before cold spray repair, the shape of the defect needs to be standardized into a circle, and the defect region can be pre-machined into a circle by a milling cutter according to a pre-established machining path, where the mathematical model equation of the motion trajectory of the milling cutter is :

[0068] ;

[0069] In the formula, It is the value of the point on the machining route on the X-axis of the Cartesian coordinate system; It is the value of the point on the machining route on the Y axis of the Cartesian coordinate system; It is the value of the point on the machining route on the Z axis of the Cartesian coordinate system; is the distance between two adjacent spiral lines; is the angle that the corresponding machining path point rotates as the helix moves; It represents the height of the spiral line of the machining path that drops in one circle (2π). is the horizontal and vertical coordinates of the defect center, from the center of the circle Sure.

[0070] Among them, the angle ; Angle of machining path , h is the maximum depth value of the defect area obtained according to the three-dimensional topography data of the surface of the defect area 。

[0071] Step 500: Perform cold spray repair based on the function of the cold spray repair path.

[0072] In this step, cold spray repair is performed based on the function of the cold spray repair path, which can effectively improve the repair efficiency of ship deck defects. This method solves the problem that various complex and irregular geometric defects on the deck surface are difficult to repair quickly during cold spray repair operations. At the same time, it also reduces the actual operating cost and improves the operating efficiency.

[0073] As a preferred example, the following will be described in conjunction with the accompanying drawings in the embodiments of the present invention and actual parameters in the implementation process. Figure 7 FIG. 2 is a flow chart of a method for rapid cold spray repair of ship deck defects according to an embodiment of the present invention. Figure 7 As shown, a method for cold spraying rapid repair of ship deck defects may further include the following steps (1) to (6):

[0074] Step (1), scanning the defective part;

[0075] Step (1-1), taking a 2017A aluminum alloy plate with a size of 60 x 55 x 4 mm as an example, Figure 2 The upper surface of the flat plate with defects is scanned in the method for rapid cold spray repair of ship deck defects in the embodiment of the present invention. Figure 2 As shown, an irregularly shaped defect 1 is artificially polished on the upper surface of the plate;

[0076] In step (1-2), the 3D profiler model used is Keyence@LJ-X8200 laser profiler, which has a spatial resolution of 3µm in the XY horizontal plane and a spatial resolution of 1µm in the Z direction.

[0077] Step (1-3), the measurement results show that the maximum depth of the defect is h=0.812mm.

[0078] Step (2), in this embodiment, in order to generate the three-dimensional Cartesian coordinates of the defect edge point cloud, the K value of the K-nearest neighbor algorithm is set to 1, and the Euclidean distance is selected as the nearest neighbor search algorithm; the initial gray value of each pixel starts from 1.

[0079] Step (3) Figure 3 The defect contour extracted by the method for rapid repair of ship deck defects by cold spraying in an embodiment of the present invention is as follows: Figure 3 As shown, based on the obtained three-dimensional Cartesian coordinates of the point cloud of the defect edge 2, these coordinates are imported into the computer mathematical analysis software MATLAB; then, Figure 4 It is the minimum cold spray repair range of the method for cold spraying rapid repair of ship deck defects in the embodiment of the present invention. Figure 4 As shown, the minboundcircle(x,y,hullflag) function in Matlab is called to calculate the center coordinates of the minimum cold spray repair range 1, center=35.552,59.993 and radius=23.876 mm.

[0080] Step (4): Calculate the minimum cold spray repair area , use the convhulln function in Matlab to calculate the area of ​​the defect area .

[0081] Step (5), by calculating, the matching degree Therefore, before cold spray repair, the defect needs to be standardized into a circle by milling. The milling cutter model used is VEVOR Air CooledSpindle Motor, with a speed of 1200r / min; Figure 5 This is the milling cutter pre-machining path of the method for cold spraying rapid repair of ship deck defects in an embodiment of the present invention. Figure 5 As shown, the parameters of the machining path .

[0082] Step (6) Figure 6 This is a spray gun cold spray repair path for the method for cold spraying rapid repair of ship deck defects in an embodiment of the present invention, such as Figure 6As shown, the cold spray repair path parameters are set , cold spray repair of defects after machining.

[0083] It can be seen that the present invention can effectively improve the repair efficiency of ship deck defects through cold spraying, and solve the problem that various complex irregular geometric defects on the deck surface are difficult to repair quickly during cold spraying repair operations. At the same time, the technology also reduces the actual operating cost and improves the operating efficiency.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0085] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for rapid repair of ship deck defects by cold spraying, characterized in that: Includes steps: By scanning the surface of the defective area of ​​the ship deck to be repaired, three-dimensional topographic data of the surface of the defective area is obtained; Processing the three-dimensional topographic data of the surface of the defective area by a preset grayscale processing algorithm and a classification algorithm to obtain edge contour data of the defective area, wherein the edge contour data of the defective area includes an edge contour of the defective area and three-dimensional Cartesian coordinates of spatial points on the edge contour; Processing the three-dimensional Cartesian coordinates of the spatial points on the edge contour by a preset minimum bounding box algorithm to obtain cold spray repair range data; Determine a matching function according to the edge contour data of the defective area and the cold spray repair range data, and when the value of the matching function is equal to a preset value, generate a function of a cold spray repair path based on an Archimedean spiral, and when the value of the matching function is less than the preset value, process the defective area according to a pre-established processing path; performing cold spray repair based on a function of the cold spray repair path; The three-dimensional Cartesian coordinates of the spatial points on the edge contour are processed by a preset minimum bounding box algorithm to obtain the cold spray repair range data, which specifically includes: Set the minimum bounding box to a circle and call the built-in minboundcircle The function processes the three-dimensional Cartesian coordinates of the spatial points on the edge contour to obtain the center of the minimum cold spray repair range. center and radius radius The value of According to the center center and radius radius The value of is used to determine the minimum cold spray repair range area, and the minimum cold spray repair range area is used as the cold spray repair range data.

2. The method for rapid cold spray repair of ship deck defects according to claim 1 is characterized in that: The three-dimensional topography data of the surface of the defective area is processed by a preset grayscale processing algorithm and a classification algorithm to obtain edge contour data of the defective area, specifically including: The three-dimensional surface topography data of the defective area is gray-processed by a preset gray-scale processing algorithm to obtain a two-dimensional gray-scale image of the surface of the defective area; Extracting the two-dimensional grayscale image of the surface of the defective area by a preset K-nearest neighbor algorithm to obtain the edge contour of the defective area and its corresponding two-dimensional pixel coordinates; According to the two-dimensional pixel coordinates of the edge contour of the defect area and the corresponding grayscale values, the three-dimensional Cartesian coordinates of the spatial points on the edge contour are reconstructed.

3. The method for rapid cold spray repair of ship deck defects according to claim 1, characterized in that: Determining a matching function according to the edge contour data of the defect area and the cold spray repair range data specifically includes: Determining the maximum surface area of ​​the defective region according to the edge contour data of the defective region; According to the ratio of the maximum surface area of ​​the defective region to the area of ​​the minimum cold spray repair range, the matching function is determined according to the following formula; Matching function ; In the formula, Indicates the maximum surface area of ​​the defect region; Indicates the area of ​​minimum cold spray repair range.

4. The method for rapid cold spray repair of ship deck defects according to claim 3 is characterized in that: By calling the built-in convhulln The function is calculated; By preset formula Calculated.

5. The method for rapid cold spray repair of ship deck defects according to claim 3 is characterized in that: When the value of the matching function is equal to the preset value, a function of generating a cold spray repair path based on the Archimedean spiral specifically includes: When the value of the matching function is equal to 1, a function of a cold spray repair path is generated based on the Archimedean spiral, wherein the function of the cold spray repair path is : ； In the formula, To repair the value of the point on the path on the X-axis in the Cartesian coordinate system; To repair the value of the point on the path on the Y axis in the Cartesian coordinate system; Take the upper surface of the plate as the horizontal plane and repair the value of the point on the path on the Z axis in the Cartesian coordinate system; is the interval between two adjacent spiral lines; is the angle that the corresponding point on the repair path rotates as the path line moves; is the horizontal and vertical coordinates of the defect center, from the center of the circle Sure; Indicates the height of the spiral line that repairs the path.

6. The method for rapid cold spray repair of ship deck defects according to claim 5, characterized in that: When the value of the matching function is less than a preset value, the defective area is processed according to a pre-established processing path, specifically including: When the value of the matching function is less than 1, the defective area is pre-machined into a circle by a milling cutter according to a pre-established machining path, wherein the mathematical model equation of the motion trajectory of the milling cutter is: : ； In the formula, It is the value of the point on the machining route on the X-axis of the Cartesian coordinate system; It is the value of the point on the machining route on the Y axis of the Cartesian coordinate system; It is the value of the point on the machining route on the Z axis of the Cartesian coordinate system; is the distance between two adjacent spiral lines; is the angle that the corresponding machining path point rotates as the helix moves; Indicates the height of the spiral line of the machining path in one circle. is the horizontal and vertical coordinates of the defect center, from the center of the circle Sure.

7. The method for rapid cold spray repair of ship deck defects according to claim 6, characterized in that: angle ; Angle of machining path , is the maximum depth value of the defect area obtained according to the three-dimensional topography data of the surface of the defect area.

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