Blade repairing method and device, equipment, storage medium and computer program product

Abstract

The invention relates to the technical field of workpiece repairing, and discloses a blade repairing method, device and equipment, a storage medium and a computer program product.The method comprises the steps that a to-be-repaired blade is collected, and a to-be-repaired area of the to-be-repaired blade is determined according to the collection result; the grinding and polishing path step length and the grinding and polishing path row spacing are obtained according to the to-be-repaired area, and grinding and polishing points are determined according to the grinding and polishing path step length and the grinding and polishing path row spacing; and a repair path of the to-be-repaired area is obtained based on the grinding and polishing points, and the to-be-repaired area is repaired according to the repair path. According to the method, the to-be-repaired blade can be collected, the to-be-repaired area of the to-be-repaired blade is determined according to the collection result, the grinding and polishing path step length and the grinding and polishing path row spacing are determined based on the to-be-repaired area, and the grinding and polishing point is determined according to the grinding and polishing path step length and the grinding and polishing path row spacing. And finally, a repairing path of the to-be-repaired area is obtained according to the grinding and polishing points, and the to-be-repaired area is repaired according to the repairing path.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece repair, and in particular to a blade repair method, device, equipment, storage medium and computer program product. Background Art

[0002] As the power source of aircraft, aircraft engines have complex internal structures. The working environment of their main components, blades, is harsh, and they often fail in various forms such as pitting and scratching. Currently, damaged blades are repaired manually, mainly using sanding belts or flexible polishing wheels to grind the corroded area and the surrounding area. However, there are problems such as high labor intensity and safety hazards. Summary of the invention

[0003] The main purpose of the present application is to provide a blade repair method, aiming to solve the technical problem that the prior art requires manual repair of the area to be repaired, resulting in high labor intensity for workers.

[0004] To achieve the above objectives, the present application proposes a blade repair method, the method comprising:

[0005] Collecting data on the blade to be repaired, and determining a repair area of ​​the blade to be repaired according to the collected data;

[0006] Obtaining a grinding and polishing path step length and a grinding and polishing path line spacing according to the area to be repaired, and determining a grinding and polishing point according to the grinding and polishing path step length and the grinding and polishing path line spacing;

[0007] A repair path of the area to be repaired is obtained based on the grinding and polishing points, and the area to be repaired is repaired according to the repair path.

[0008] In one embodiment, the step of obtaining the step length and line spacing of the grinding and polishing path according to the area to be repaired includes:

[0009] Acquiring the spatial coordinates of the area to be repaired, and obtaining the curvature radius of the area to be repaired based on the spatial coordinates;

[0010] Determine the step length of the polishing path of the area to be repaired based on the curvature radius and the spatial coordinates;

[0011] A preset grinding and polishing radius is obtained, and a grinding and polishing path spacing of the area to be repaired is obtained according to the preset grinding and polishing radius and the curvature radius.

[0012] In one embodiment, the step of determining the step length of the polishing path of the area to be repaired based on the curvature radius and the spatial coordinates includes:

[0013] Obtaining a chord height error of the area to be repaired based on the spatial coordinates;

[0014] Obtaining a step length range of a grinding and polishing path of the area to be repaired according to the chord height error and the curvature radius;

[0015] The step length of the polishing path of the area to be repaired is selected from the range of the step length of the polishing path based on preset conditions.

[0016] In one embodiment, the step of obtaining the grinding path spacing of the area to be repaired according to the preset grinding radius and the curvature radius includes:

[0017] Get the preset residual height;

[0018] The grinding path spacing of the area to be repaired is obtained according to the preset grinding radius, the curvature radius and the preset residual height.

[0019] In one embodiment, the step of determining the area to be repaired of the blade to be repaired according to the acquisition results includes:

[0020] Acquire a preset standard blade mapping relationship, and acquire an acquired image of the blade to be repaired from the acquisition result;

[0021] Performing registration based on the preset standard blade mapping relationship and the acquired image to obtain a spatial coordinate model of the blade to be repaired;

[0022] A marked image is obtained according to the collected image, and a to-be-repaired area of ​​the to-be-repaired blade is obtained according to the marked image and the spatial coordinate model.

[0023] In one embodiment, before the step of obtaining the preset standard leaf mapping relationship, the method further includes:

[0024] Obtaining a three-dimensional model and a two-dimensional image of a preset standard blade;

[0025] Establishing a bounding box based on the three-dimensional model, and determining a conversion relationship from the two-dimensional image to the three-dimensional model based on the bounding box;

[0026] The conversion relationship is used as a preset standard leaf mapping relationship.

[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes a blade repair device, the device comprising:

[0028] A collection module, used for collecting data of the blade to be repaired, and determining the area to be repaired of the blade to be repaired according to the collection result;

[0029] A determination module, used for obtaining a step length and a line spacing of a grinding and polishing path according to the area to be repaired, and determining a grinding and polishing point according to the step length and the line spacing of the grinding and polishing path;

[0030] A repair module is used to obtain a repair path of the area to be repaired based on the grinding and polishing points, and repair the area to be repaired according to the repair path.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a blade repair device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the blade repair method as described above.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the blade repair method described above are implemented.

[0033] In addition, in order to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the blade repair method described above are implemented.

[0034] The present application proposes a blade repair method, device, equipment, storage medium and computer program product, the method comprising: collecting data on the blade to be repaired, and determining the area to be repaired of the blade to be repaired based on the collection results; obtaining the step length of the grinding and polishing path and the line spacing of the grinding and polishing path based on the area to be repaired, and determining the grinding and polishing point based on the step length of the grinding and polishing path and the line spacing of the grinding and polishing path; obtaining the repair path of the area to be repaired based on the grinding and polishing point, and repairing the area to be repaired according to the repair path. Since the existing grinding and polishing repair process of the blade to be repaired requires manual handheld grinding and polishing equipment to manually grind and polish the area to be repaired of the blade to be repaired, it results in high labor intensity and great safety hazards. Therefore, the present application collects data on the blade to be repaired by using a blade repair device, determines the area to be repaired based on the collection results, obtains the repair path by analyzing the area to be repaired, and finally automatically repairs the area to be repaired according to the repair path. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A flow chart of a first embodiment of a blade repair method proposed in an embodiment of the present application;

[0038] Figure 2 A flow chart of a second embodiment of the blade repair method proposed in this embodiment;

[0039] Figure 3 A schematic diagram of the chord height in the blade repair method proposed in this embodiment;

[0040] Figure 4 A schematic diagram of the medium chord height error method of the blade repair method proposed in this embodiment;

[0041] Figure 5 A schematic diagram of the residual height method in the blade repair method proposed in this embodiment;

[0042] Figure 6 A flow chart of a third embodiment of the blade repair method proposed in this embodiment;

[0043] Figure 7 This is a normalized processing diagram of a plane image in the blade repair method proposed in this embodiment;

[0044] Figure 8 A diagram of the two-dimensional to three-dimensional mapping process in the blade repair method proposed in this embodiment;

[0045] Fig. 9 A diagram of a blade repair device provided in an embodiment of the present application;

[0046] Fig.10 It is a schematic diagram of the structure of a blade repair device suitable for implementing an embodiment of the present application.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. 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.

[0050] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] It is understandable that the performance of aircraft engines, as the core power source of aircraft, is directly related to flight safety and efficiency. The internal structure of the engine is extremely complex and contains many precision components. Among them, the blades, as key power conversion components, have a particularly harsh working environment. Under the conditions of high temperature, high pressure, and high-speed rotation, the blades not only have to bear huge mechanical loads, but also face chemical erosion such as oxidation and corrosion.

[0052] In such an extreme working environment, blades are prone to various failure forms, such as pitting, scratches, cracks, deformation, etc. These failures not only affect the performance of the engine, but may also cause serious flight accidents. According to statistics, a considerable number of aircraft engine failures are caused by blade problems. Therefore, ensuring the integrity of the blades is of great significance to ensuring flight safety.

[0053] At present, the repair of damaged blades mainly relies on manual grinding with hand-held sanding belts or flexible polishing wheels. Although this method can restore the shape and performance of the blades to a certain extent, it has many problems. First, due to the complex shape of the blades, the manual grinding process is extremely labor-intensive and requires high physical strength and skills of the operators. Long-term high-intensity work can easily cause fatigue to the operators, which in turn affects the quality of the repair.

[0054] Therefore, in order to solve the technical problem that the existing technology needs to rely on manual labor to repair the area to be repaired, which leads to high labor intensity for workers, this embodiment proposes a blade repair method, which includes: collecting the blade to be repaired, and determining the area to be repaired of the blade to be repaired according to the collection results; obtaining the grinding and polishing path step length and the grinding and polishing path spacing according to the area to be repaired, and determining the grinding and polishing points according to the grinding and polishing path step length and the grinding and polishing path spacing; obtaining the repair path of the area to be repaired based on the grinding and polishing points, and repairing the area to be repaired according to the repair path. Since the existing grinding and polishing repair process of the blade to be repaired requires manual handheld grinding and polishing equipment to manually grind and polish the area to be repaired of the blade to be repaired, it leads to high labor intensity and great safety hazards. Therefore, this embodiment collects the blade to be repaired by using a blade repair device, determines the area to be repaired according to the collection results, and obtains the repair path by analyzing the area to be repaired, and finally automatically repairs the area to be repaired according to the repair path.

[0055] For ease of understanding, the following combination Figures 1 to 10The blade repair method provided in the embodiment of the present application and the blade repair method, device, equipment, storage medium and computer program product provided in the following embodiments are introduced in detail.

[0056] The present application embodiment provides a blade repair method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the blade repair method proposed in the embodiments of the present application.

[0057] like Figure 1 As shown, the method includes:

[0058] Step S10: collecting data of the blade to be repaired, and determining the area to be repaired of the blade to be repaired according to the collection result.

[0059] It should be noted that the execution subject of this embodiment can be a multifunctional machine device with blade repair, such as automatic grinding and polishing equipment, or a device that can realize the above functions. This embodiment adopts a blade repair device (hereinafter referred to as the device), which also includes: a blade two-dimensional image acquisition unit, a grinding and polishing tool, and a mechanical arm equipped with the grinding and polishing tool that can move, so that the above device can control the mechanical arm to use the grinding and polishing tool to grind and repair the blade according to the set motion trajectory.

[0060] It should also be noted that the above-mentioned blade to be repaired may be an engine blade that needs to be polished and repaired due to corrosion in some areas, or it may be other workpieces such as propeller blades, etc. This embodiment uses an engine blade for explanation, but does not specifically limit this embodiment. The above-mentioned acquisition result may be an acquired image or acquired video obtained by performing video or image acquisition on the above-mentioned blade to be repaired. In this embodiment, the acquired image is used as the acquisition result for explanation, but does not specifically limit this embodiment. The above-mentioned area to be repaired may be an area on the above-mentioned blade to be repaired that is corroded or damaged and needs to be polished and repaired.

[0061] In a specific implementation, the above-mentioned device can collect images of the blade to be repaired through the above-mentioned blade two-dimensional image acquisition unit, obtain a two-dimensional acquisition image of the blade to be repaired, and obtain the area to be repaired by analyzing the two-dimensional acquisition image. Among them, the above-mentioned analysis process can be manually annotating the two-dimensional acquisition image or by comparing the two-dimensional acquisition image of the blade to be repaired with the image of a standard blade, and this embodiment does not make specific restrictions on this.

[0062] Step S20: obtaining a step length and a line spacing of a polishing path according to the area to be repaired, and determining a polishing point according to the step length and the line spacing of the polishing path.

[0063] It should be noted that the step length of the above-mentioned grinding and polishing path can be the distance between adjacent grinding and polishing points, and the line spacing of the above-mentioned grinding and polishing path can be the distance between adjacent grinding and polishing paths. The above-mentioned grinding and polishing points can be the positions of the grinding and polishing tools on the grinding and polishing path, and their positions and postures determine the contact between the grinding and polishing tools and the surface of the workpiece, thereby affecting the grinding and polishing efficiency and surface quality. In a specific implementation, the above-mentioned device first determines the starting point of the repair path, and determines the distance between adjacent grinding and polishing points and the distance between adjacent grinding and polishing paths by analyzing the above-mentioned belt repair area, and determines the position of each grinding and polishing point based on the starting point of the repair path, the distance between adjacent grinding and polishing points and the distance between adjacent grinding and polishing paths.

[0064] Furthermore, since the step length of the polishing path affects the polishing efficiency and surface quality, if the step length is too large, the surface quality after polishing will be poor and cannot meet the repair requirements; if the step length is too small, the processing time will be increased and the polishing efficiency will be reduced. The line spacing of the polishing path also has an important impact on the polishing efficiency and surface quality. If the line spacing is too small, the processing time will be increased and the polishing efficiency of the workpiece will be reduced; if the line spacing is too large, the residual height of the polished surface will increase and will not meet the surface quality requirements. Therefore, in order to obtain a more accurate step length and line spacing of the polishing path, the step of obtaining the step length and line spacing of the polishing path according to the area to be repaired includes:

[0065] Step S21: acquiring the spatial coordinates of the area to be repaired, and obtaining the curvature radius of the area to be repaired based on the spatial coordinates;

[0066] It should be noted that the above-mentioned spatial coordinates can be the position information of the object in three-dimensional space, usually represented by three coordinate axes (X, Y, Z). During the blade repair process, the spatial coordinates are used to describe the specific position of the corroded area on the blade. For example, the X-axis can represent the length direction of the blade, the Y-axis can represent the width direction of the blade, and the Z-axis can represent the height direction of the blade. The above-mentioned radius of curvature can be the distance from the intersection of the normal and the tangent at a point on the surface to the point, reflecting the degree of curvature of the surface at that point. In a specific implementation, the above-mentioned device can obtain the spatial coordinates of the above-mentioned area to be repaired by laser scanning, machine vision, and manual marking.

[0067] Among them, the above-mentioned laser scanning can be to scan the blade with a laser scanner to obtain three-dimensional point cloud data of the blade surface, and then identify the corrosion area through the point cloud data processing algorithm, and extract the spatial coordinates of the corrosion area. The above-mentioned machine vision can be to use a camera to take an image of the blade, identify the corrosion area through an image recognition algorithm, and use image processing technology to convert the image coordinates of the corrosion area into spatial coordinates. The above-mentioned manual annotation can be that the operator manually marks the corrosion area on the blade image, and then uses image processing technology to convert the image coordinates of the marked area into spatial coordinates. After obtaining the above-mentioned spatial coordinates, the curvature information of the repaired area is obtained based on the coordinate information of each point, and the curvature radius of each point is calculated by using a surface fitting algorithm or a differential geometry method.

[0068] Step S22: determining the step length of the polishing path of the area to be repaired based on the curvature radius and the spatial coordinates;

[0069] Step S23: obtaining a preset grinding and polishing radius, and obtaining a grinding and polishing path spacing of the area to be repaired according to the preset grinding and polishing radius and the curvature radius.

[0070] It should be noted that the above-mentioned preset grinding and polishing radius can be the radius of the above-mentioned grinding and polishing tool, which determines the contact area between the grinding and polishing tool and the blade surface. In addition, it should be noted that in areas with a smaller curvature radius and a larger curvature, a smaller grinding and polishing path step length is required to ensure that the grinding and polishing tool can fully contact the corroded area and avoid excessive chord height errors; in areas with a larger curvature radius and a smaller curvature, a larger grinding and polishing path step length can be used to improve the grinding and polishing efficiency. Moreover, in areas with a smaller curvature radius and a larger preset grinding and polishing radius, in order to avoid excessive residual height, a smaller grinding and polishing path line spacing is required; in areas with a larger curvature radius and a smaller preset grinding and polishing radius, a larger grinding and polishing path line spacing can be used to improve the grinding and polishing efficiency.

[0071] Therefore, in a specific implementation, the above-mentioned device needs to select the corresponding grinding and polishing path step length based on the size of the curvature radius. For example, the first grinding and polishing path step length, the second grinding and polishing path step length and the third grinding and polishing path step length can be preset from long to short according to the length, and the first radius threshold, the second radius threshold and the third radius threshold can be set from large to small according to the size of the curvature radius. When the curvature radius of the above-mentioned area to be repaired is less than the third radius threshold, the first grinding and polishing path step length is selected as the grinding and polishing path step length of the area to be repaired. Similarly, the above-mentioned device can also determine the grinding and polishing path line spacing of the area to be repaired according to the grinding and polishing radius of the above-mentioned grinding and polishing tool and the curvature radius of the area to be repaired.

[0072] Step S30: obtaining a repair path of the area to be repaired based on the grinding and polishing points, and repairing the area to be repaired according to the repair path.

[0073] It should be noted that the above-mentioned repair path may be the path that the grinding and polishing tool passes through during the grinding and polishing process, which is composed of a series of grinding and polishing points, each of which contains the position and posture information of the grinding and polishing tool in three-dimensional space.

[0074] In a specific implementation, the above device can generate a straight or curved repair path according to the step length, line spacing, and position and posture of each polishing point. The straight repair path is suitable for areas with small curvature changes, and can be controlled by linear interpolation; the curved repair path is suitable for areas with large curvature changes, and can be controlled by curve interpolation.

[0075] For ease of understanding, the following is explained by way of example, but no specific limitation is imposed on this embodiment. Assume that a local corrosion area on a blade needs to be repaired. The shape of the area is elliptical, the curvature changes greatly, and the preset grinding and polishing radius is 5 mm. The above-mentioned device first identifies the shape and position of the corrosion area through image recognition technology, and then uses a surface fitting algorithm to fit the area into an elliptical surface model, and calculates the curvature radius of each point on the elliptical surface model. Next, based on the curvature information of the corrosion area and the preset grinding and polishing radius, the equal chord height error method is used to generate a grinding and polishing path, and the position of each grinding and polishing point is calculated. Then, based on the step length and curvature radius of the grinding and polishing path, the equal residual height method is used to determine the line spacing of the grinding and polishing path, and a repair path in the form of a straight line or curve is generated. Finally, the grinding and polishing tool is controlled to perform grinding and polishing according to the preset repair path, thereby achieving efficient and accurate repair of the corrosion area of ​​the blade.

[0076] The present embodiment proposes a blade repair method, the method comprising: collecting data on the blade to be repaired, and determining the area to be repaired of the blade to be repaired based on the collection results; obtaining the step length of the grinding and polishing path and the line spacing of the grinding and polishing path based on the area to be repaired, and determining the grinding and polishing points based on the step length of the grinding and polishing path and the line spacing of the grinding and polishing path; obtaining the repair path of the area to be repaired based on the grinding and polishing points, and repairing the area to be repaired according to the repair path. Since the existing grinding and polishing repair process of the blade to be repaired requires manual handheld grinding and polishing equipment to manually grind and polish the area to be repaired of the blade to be repaired, the labor intensity is high and there are great safety hazards. Therefore, the present embodiment collects data on the blade to be repaired by using a blade repair device, determines the area to be repaired based on the collection results, obtains the repair path by analyzing the area to be repaired, and finally automatically repairs the area to be repaired according to the repair path.

[0077] Based on the first embodiment, in the second embodiment, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be described in detail later. Figure 2 , Figure 2This is a flow chart of the second embodiment of the blade repair method proposed in this embodiment. Further, the step of determining the step length of the grinding and polishing path of the area to be repaired based on the curvature radius and the spatial coordinates includes:

[0078] Step S221: obtaining the chord height error of the area to be repaired based on the spatial coordinates;

[0079] It should be noted that the motion trajectory of the grinding and polishing tool during the grinding and polishing process of the above-mentioned equipment is actually an orderly connection of the grinding and polishing points. Path planning in the Cartesian coordinate system is mainly a combination of linear motion instructions and circular motion instructions, and any motion path can be regarded as formed by many linear motion approximations. In the actual grinding and polishing process, different curvature radii and inconsistent processing step lengths l of two adjacent grinding and polishing points will lead to different chord height errors λ. When the step length between grinding and polishing points is large, the surface quality of the surface after grinding and polishing is very low; on the contrary, if the grinding and polishing points are too dense, the post-processing workload will increase, affecting the actual surface grinding and polishing efficiency.

[0080] Common control methods for machining step length include equal chord height error method, equal distance step length method and equal parameter step length method. What they have in common is that they can achieve the purpose of grinding and polishing point step length planning by controlling a certain variable. Since the blade surface is a complex curved surface, the curvature of each position is different. The use of equal distance step length and equal parameter step length will reduce the surface quality of the position with large curvature and fail to meet the accuracy requirements. Therefore, the equal chord height error method is considered to control the machining step length. The chord height error refers to the maximum distance between the workpiece surface contour and the grinding and polishing point trajectory.

[0081] refer to Figure 3 , Figure 3 Schematic diagram of chord height in the blade repair method proposed in this embodiment. Figure 3 As shown in the figure, the solid line is the surface contour of the surface to be processed, and the dotted line is the actual trajectory of the grinding and polishing point of the grinding and polishing tool. The deviation between the two determines the quality of grinding and polishing. n is the grinding and polishing point, i n-1 -i n is the linear interpolation path between any two adjacent grinding and polishing points, R is the curvature radius of the corresponding grinding and polishing point, and λ is the chord height error of the linear interpolation. The equal chord height error rule is to make the chord height errors between adjacent grinding and polishing points equal. This method calculates the position of each grinding and polishing point separately according to the curvature change of the workpiece surface, and obtains grinding and polishing paths with different step lengths, which can not only improve processing efficiency but also meet surface quality.

[0082] Because in the grinding and polishing process k with i k+1 The distance between the two points is very small, and the curvature of the two points does not change much, which can be approximately regarded as R = R k =R k+1 , calculated according to the geometric relationship:

[0083]

[0084] In addition, it should be noted that the above-mentioned chord height error may be the maximum distance between the curved surface profile of the blade to be repaired and the trajectory of the grinding and polishing points.

[0085] refer to Figure 4 , Figure 4 This is a schematic diagram of the medium chord height error method in the blade repair method proposed in this embodiment. Since the curvature of the blade profile is known at all locations, the step size can be calculated by limiting the maximum chord height error. This method is simple to calculate and has excellent effects on blade profiles with different curvatures and small changes.

[0086] Step S222: obtaining a step length range of the polishing path of the area to be repaired according to the chord height error and the curvature radius;

[0087] Step S223: selecting the step length of the polishing path of the area to be repaired from the range of the step length of the polishing path based on a preset condition.

[0088] It should be noted that the above preset conditions may be factors that need to be considered when screening the step length of the grinding and polishing path, such as processing efficiency, processing time, surface quality, etc. In a specific implementation, the above device will screen out the grinding and polishing path step length that meets the requirements from the grinding and polishing path step length range according to the preset conditions.

[0089] In addition, in the process of repairing the blade, in addition to the factor of the grinding and polishing path step length, the grinding and polishing path line spacing will also have a great influence on the grinding and polishing surface quality. Further, in order to obtain an accurate grinding and polishing path step length to improve the grinding and polishing surface quality, the step of obtaining the grinding and polishing path line spacing of the area to be repaired according to the preset grinding and polishing radius and the curvature radius includes:

[0090] Step S231: obtaining a preset residual height;

[0091] Step S232: obtaining the grinding path spacing of the area to be repaired according to the preset grinding radius, the curvature radius and the preset residual height.

[0092] It should be noted that the above-mentioned grinding and polishing path spacing refers to the distance between adjacent grinding and polishing paths, that is, the offset of the surface discrete process perpendicular to the step direction. When the grinding and polishing path spacing is too small, the processing time will be increased, thereby reducing the grinding and polishing efficiency of the workpiece; when the grinding and polishing path spacing is too large, the residual height of the grinding and polishing surface will increase, which does not meet the surface quality requirements. Therefore, the grinding and polishing path spacing is also the key to ensuring the quality of the grinding and polishing surface. The above-mentioned preset residual height can be the height of the metal material that has not been ground off between adjacent grinding and polishing paths preset by the user during the grinding and polishing process. The preset residual height is an important basis for the planning of the grinding and polishing path spacing, which directly affects the surface quality after grinding and polishing. If the preset residual height is too large, the surface roughness will be high and cannot meet the repair requirements; if the preset residual height is too small, the processing time will be increased and the grinding and polishing efficiency will be reduced.

[0093] Common planning methods for grinding and polishing path spacing include the equal cross-section method, the equal parameter method and the equal residual height method. The basic idea is similar to the planning of the grinding and polishing path step length. The grinding and polishing path spacing is controlled by controlling a certain variable. Considering that the inner and outer surfaces of the blade are both complex free-form surfaces, the grinding and polishing spacing is planned using the equal residual height method. The equal residual height method controls the spacing by controlling the residual height between adjacent spacings. This method can minimize the number of processing spacings while ensuring accuracy.

[0094] refer to Figure 5 , Figure 5 Schematic diagram of the residual height method in the blade repair method proposed in this embodiment. Figure 5 As shown, O1 and O2 are the centers of the contact wheel of the belt grinder at two adjacent line spacings, r is the radius of the contact wheel, and R is the surface curvature at the contact point between the contact wheel and the curved surface. Since the line spacing is very small in actual grinding and polishing, the curvatures corresponding to the two contact points are not very different. To simplify the calculation, the curvatures of the two points can be approximately considered equal. L is the required line spacing, and □ is the residual height. This method well demonstrates the relationship between the residual height □ and the line spacing L. After deduction, when grinding and polishing the inner curved surface of the blade, the relationship between the residual height and the line spacing is as follows:

[0095]

[0096] When grinding and polishing the outer curved surface of the blade, the relationship between the residual height and the row spacing is as follows:

[0097]

[0098] In a specific implementation, in order to determine the appropriate grinding and polishing path spacing, the above-mentioned equipment will calculate the grinding and polishing path spacing that meets the grinding and polishing quality requirements according to the preset grinding and polishing radius, the curvature radius of the area to be repaired, and the preset residual height. In areas with a large curvature radius and a small preset grinding and polishing radius, a smaller grinding and polishing path spacing is used to avoid excessive residual height; in areas with a small curvature radius and a large preset grinding and polishing radius, a larger grinding and polishing path spacing is used to improve grinding and polishing efficiency.

[0099] For ease of understanding, examples are given for illustration, but no specific limitation is imposed on this embodiment. Assume that a local corrosion area on a blade needs to be repaired. The shape of the area is elliptical, the curvature changes greatly, the preset grinding radius is 5 mm, and the preset residual height is 0.02 mm. The above-mentioned equipment first identifies the shape and position of the corrosion area through image recognition technology, and then uses a surface fitting algorithm to fit the area into an elliptical surface model, and calculates the radius of curvature of each point on the elliptical surface model. Then, based on the radius of curvature of the corrosion area, the preset grinding radius and the preset residual height, the grinding path spacing that meets the grinding quality requirements is calculated, and the industrial robot is controlled to perform grinding and polishing according to the preset path, thereby achieving efficient and accurate repair of the corrosion area of ​​the blade.

[0100] Based on the first and second embodiments, in the third embodiment, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 6 , Figure 6 This is a flow chart of the third embodiment of the blade repair method proposed in this embodiment. Further, before the step of obtaining the preset standard blade mapping relationship, it also includes:

[0101] Step S01: obtaining a three-dimensional model and a two-dimensional image of a preset standard blade;

[0102] Step S02: establishing a bounding box based on the three-dimensional model, and determining a conversion relationship from a two-dimensional image to a three-dimensional model based on the bounding box;

[0103] Step S03: taking the conversion relationship as a preset standard leaf mapping relationship.

[0104] It should be noted that the above-mentioned three-dimensional model can be a digital model of the blade, including the geometric shape and size information of the blade. The above-mentioned two-dimensional image can be a plane image of the blade, including the texture and feature information of the blade surface. The above-mentioned bounding box can be a geometric space that encloses an object and can be used for collision detection or coordinate transformation. The device will determine the size and position of the bounding box according to the size and shape of the three-dimensional model, and use it as a reference for the conversion from the three-dimensional model to the two-dimensional image.

[0105] In addition, it should be noted that the transformation of two-dimensional plane coordinates to three-dimensional coordinates often requires a transition to an intermediate plane. By aligning with this plane, the coordinates of the two-dimensional point coordinates in the three-dimensional coordinates can be obtained. By marking the coordinates of the corner points, the average value of the coordinates of the adjacent points is the coordinate of the point, and then the coordinates of each point along the corner point line are obtained according to the cyclic approximation method to achieve surface fitting.

[0106] When determining the minimum bounding box of the leaf model, the following steps are required:

[0107] 1) Establish a coordinate system with a vertex as the origin and max is the maximum value, X min is the minimum value, in the Y direction max is the maximum value, Y min is the minimum value. max ,X min ) and (Y max ,Y min ) is a plane with four endpoints;

[0108] 2) Taking the origin as the starting point, translate along the coordinate axis with a step size of one pixel to determine whether the extreme point in the Z direction of the model is on the plane. If so, save it and continue to translate in the opposite direction to obtain the minimum section and determine the minimum bounding box based on the three-dimensional model.

[0109] The directed bounding box of the leaf model is normalized to ensure that the leaf model has rotation consistency, translation consistency and scale consistency. The rotation and scale consistency determine the center of mass of the model, and the translation consistency establishes the direction.

[0110] refer to Figure 7 , Figure 7 This is a normalized processing diagram of a plane image in the blade repair method proposed in this embodiment. After rotation, translation and scaling, a normalized graph based on the coordinate origin can be obtained. Figure 7 The processed image in the image) and the original image (i.e. Figure 7 The original image in ( ) can be converted into each other through matrix transformation.

[0111] refer to Figure 8 , Figure 8 This is a diagram of the 2D to 3D mapping process in the blade repair method proposed in this embodiment. Based on the edge feature points in the 2D image, the image is placed on the upper surface of the bounding box by matching with the transition plane, and then the 2D image is synchronously transformed based on the four vertices on the upper surface of the bounding box as the four vertices of the 2D image. The 2D data (x1, y1) is updated with the coordinate transformation, and the z axis is z2.

[0112] The spatial coordinates of each point on the two-dimensional image are (x2, y2, z2), where (x2, y2) are the two-dimensional pixel coordinates of the blade, and the height of the blade on the z-axis is the highest point of the part z1. Therefore, the two-dimensional coordinates of each point in the two-dimensional image of the blade can be determined and mapped to the three-dimensional model space under a unified coordinate system.

[0113] For the curve fitting of the marked area in the complex curved surface of the blade, the average method of two adjacent points is used to determine the point information in the Z direction. The depth calculation formula in the Z direction is:

[0114]

[0115] Among them, z i Indicates the depth value of the i-th point in the Z direction.

[0116] The relationship between the image coordinate system and the model coordinate system is:

[0117]

[0118] where f x 、f y is the focal length of the camera, and d is the depth value obtained by camera calibration.

[0119] Furthermore, the step of determining the area to be repaired of the blade to be repaired according to the collection result includes:

[0120] Acquire a preset standard blade mapping relationship, and acquire an acquired image of the blade to be repaired from the acquisition result;

[0121] Performing registration based on the preset standard blade mapping relationship and the acquired image to obtain a spatial coordinate model of the blade to be repaired;

[0122] A marked image is obtained according to the collected image, and a to-be-repaired area of ​​the to-be-repaired blade is obtained according to the marked image and the spatial coordinate model.

[0123] It should be noted that the above-mentioned preset standard blade mapping relationship can be a correspondence between the three-dimensional model of the standard blade and its actual physical form, and this relationship is used to convert the two-dimensional image data into three-dimensional space coordinates. The above-mentioned acquired image can be visual data of the blade surface obtained by the above-mentioned blade two-dimensional image acquisition unit. The above-mentioned spatial coordinate model can be a mathematical representation of the three-dimensional shape and size of the above-mentioned blade to be repaired in three-dimensional space.

[0124] In a specific implementation, when performing a blade repair task, the above-mentioned device needs to obtain a mapping relationship of a preset standard blade. This mapping relationship is the correspondence between the three-dimensional model of the blade and the actual physical blade, and is used to convert the two-dimensional image data into three-dimensional space coordinates. Then, the device uses the acquisition result of the above-mentioned blade two-dimensional image acquisition unit to extract the acquired image of the blade to be repaired. The image is obtained by a high-resolution camera and contains detailed information on the surface of the blade. Using this mapping relationship, the above-mentioned device performs registration processing on the acquired image. Registration is a technology that aligns image data from different sources into the same coordinate system. Through this process, the device obtains a spatial coordinate model of the blade to be repaired, which accurately reflects the actual shape and size of the blade.

[0125] Subsequently, the above-mentioned equipment generates an annotated image based on the collected image. Annotated images are the process of marking the location and range of damage or defects on the collected image through image recognition algorithms. For example, cracks or corrosion points on the blade are identified using machine learning algorithms. Finally, combining the annotated image and the spatial coordinate model, the above-mentioned equipment determines the area to be repaired of the blade to be repaired. This area is the specific part that needs to be repaired obtained through algorithm analysis, such as a specific corrosion pit or crack area. In this way, the equipment can provide precise positioning information for the subsequent grinding and polishing repair steps to ensure the efficiency and accuracy of the repair work.

[0126] This embodiment also provides a first embodiment of a blade repair device, please refer to Fig. 9 , Fig. 9 A diagram of a blade repair device provided in an embodiment of the present application, wherein the blade repair device comprises:

[0127] A collection module, used for collecting data of the blade to be repaired, and determining the area to be repaired of the blade to be repaired according to the collection result;

[0128] A determination module, used for obtaining a step length and a line spacing of a grinding and polishing path according to the area to be repaired, and determining a grinding and polishing point according to the step length and the line spacing of the grinding and polishing path;

[0129] A repair module, used for obtaining a repair path of the area to be repaired based on the grinding and polishing points, and repairing the area to be repaired according to the repair path;

[0130] The determination module is also used to obtain the spatial coordinates of the area to be repaired, and obtain the curvature radius of the area to be repaired based on the spatial coordinates; determine the step length of the grinding and polishing path of the area to be repaired based on the curvature radius and the spatial coordinates; obtain the preset grinding and polishing radius, and obtain the grinding and polishing path line spacing of the area to be repaired according to the preset grinding and polishing radius and the curvature radius.

[0131] With reference to the first embodiment of the blade repair device, this embodiment further proposes a second embodiment of the blade repair device. The same or similar contents as those of the first embodiment of the blade repair device can be referred to the above introduction and will not be described in detail later.

[0132] The determination module is further used to obtain the chord height error of the area to be repaired based on the spatial coordinates; obtain the grinding and polishing path step length range of the area to be repaired according to the chord height error and the curvature radius; and select the grinding and polishing path step length of the area to be repaired from the grinding and polishing path step length range based on preset conditions;

[0133] The determination module is further used to obtain a preset residual height; and obtain a grinding path spacing of the area to be repaired according to the preset grinding radius, the curvature radius and the preset residual height.

[0134] With reference to the first embodiment and the second embodiment of the blade repair device, this embodiment also proposes a third embodiment of a blade repair device. The same or similar contents as those of the first embodiment and the second embodiment of the blade repair device can be referred to the above introduction and will not be repeated later.

[0135] The repair module is further used to obtain a preset standard leaf mapping relationship, and obtain a collection image of the leaf to be repaired from the collection result; perform registration based on the preset standard leaf mapping relationship and the collection image to obtain a spatial coordinate model of the leaf to be repaired; obtain a labeled image according to the collection image, and obtain a to-be-repaired area of ​​the leaf to be repaired according to the labeled image and the spatial coordinate model;

[0136] The determination module is also used to obtain a three-dimensional model and a two-dimensional image of a preset standard blade;

[0137] A bounding box is established based on the three-dimensional model, and a conversion relationship from the two-dimensional image to the three-dimensional model is determined based on the bounding box; and the conversion relationship is used as a preset standard leaf mapping relationship.

[0138] The blade repair device provided in this embodiment adopts the blade repair method in the above embodiment, which can solve the technical problem that the prior art needs to rely on manual labor to repair the area to be repaired, resulting in high labor intensity for workers. Compared with the prior art, the beneficial effects of the blade repair device provided in this embodiment are the same as the beneficial effects of the blade repair method provided in the above embodiment, and other technical features in the blade repair device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0139] This embodiment provides a blade repair device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the blade repair method in the above-mentioned embodiment one.

[0140] Reference below Fig.10 , Fig.10 : is a schematic diagram of a blade repair device suitable for implementing the embodiment of the present application. The blade repair device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The blade repair device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0141] like Fig.10 As shown, the blade repair device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the blade repair device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the blade repair device to communicate with other devices wirelessly or by wire to exchange data. Although the blade repair device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0142] In particular, according to the present embodiment, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the present embodiment includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present embodiment are executed.

[0143] The blade repair device provided in this embodiment adopts the blade repair method in the above embodiment, which can solve the technical problem that the prior art needs to rely on manual repair of the area to be repaired, resulting in high labor intensity for workers. Compared with the prior art, the beneficial effects of the blade repair device provided in this embodiment are the same as the beneficial effects of the blade repair method provided in the above embodiment, and other technical features in the blade repair device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0144] It should be understood that the various parts disclosed in this embodiment can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0145] The above is only a specific implementation of this embodiment, but the protection scope of this embodiment is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this embodiment, which should be included in the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be based on the protection scope of the claims.

[0146] This embodiment provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the blade repair method in the above embodiment.

[0147] The computer-readable storage medium provided in this embodiment may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0148] The computer-readable storage medium may be included in the blade repair device; or may exist independently without being assembled into the blade repair device.

[0149] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the blade repair device, the blade repair device is enabled to: perform blade repair.

[0150] The computer program code for performing the operation of the present embodiment can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0151] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present embodiment. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0152] The modules involved in the description of this embodiment may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0153] The readable storage medium provided in this embodiment is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned blade repair method, and can solve the technical problem that the prior art needs to rely on manual repair of the area to be repaired, resulting in high labor intensity for workers. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this embodiment are the same as the beneficial effects of the blade repair method provided in the above-mentioned embodiment, and will not be repeated here.

[0154] The above descriptions are only some embodiments, and are not intended to limit the patent scope of this embodiment. All equivalent structural changes made using the contents of the specification and drawings of this application under the technical concept of this application, or direct / indirect applications in other related technical fields are included in the patent protection scope of this application.

Claims

1. A blade repair method, characterized in that: The method comprises: Collecting data on the blade to be repaired, and determining a repair area of ​​the blade to be repaired according to the collected data; Obtaining a grinding and polishing path step length and a grinding and polishing path line spacing according to the area to be repaired, and determining a grinding and polishing point according to the grinding and polishing path step length and the grinding and polishing path line spacing; A repair path of the area to be repaired is obtained based on the grinding and polishing points, and the area to be repaired is repaired according to the repair path.

2. The method according to claim 1, characterized in that The step of obtaining the step length and line spacing of the grinding and polishing path according to the area to be repaired comprises: Acquiring the spatial coordinates of the area to be repaired, and obtaining the curvature radius of the area to be repaired based on the spatial coordinates; Determine the step length of the polishing path of the area to be repaired based on the curvature radius and the spatial coordinates; A preset grinding and polishing radius is obtained, and a grinding and polishing path spacing of the area to be repaired is obtained according to the preset grinding and polishing radius and the curvature radius.

3. The method according to claim 2, characterized in that The step of determining the step length of the grinding and polishing path of the area to be repaired based on the curvature radius and the spatial coordinates comprises: Obtaining a chord height error of the area to be repaired based on the spatial coordinates; Obtaining a step length range of a grinding and polishing path of the area to be repaired according to the chord height error and the curvature radius; The step length of the polishing path of the area to be repaired is selected from the range of the step length of the polishing path based on preset conditions.

4. The method according to claim 2, characterized in that The step of obtaining the grinding path spacing of the area to be repaired according to the preset grinding radius and the curvature radius includes: Get the preset residual height; The grinding path spacing of the area to be repaired is obtained according to the preset grinding radius, the curvature radius and the preset residual height.

5. The method according to claim 1, characterized in that The step of determining the area to be repaired of the blade to be repaired according to the collection result comprises: Acquire a preset standard blade mapping relationship, and acquire an acquired image of the blade to be repaired from the acquisition result; Performing registration based on the preset standard blade mapping relationship and the acquired image to obtain a spatial coordinate model of the blade to be repaired; A marked image is obtained according to the collected image, and a to-be-repaired area of ​​the to-be-repaired blade is obtained according to the marked image and the spatial coordinate model.

6. The method according to claim 5, characterized in that Before the step of obtaining the preset standard leaf mapping relationship, the method further includes: Obtaining a three-dimensional model and a two-dimensional image of a preset standard blade; Establishing a bounding box based on the three-dimensional model, and determining a conversion relationship from the two-dimensional image to the three-dimensional model based on the bounding box; The conversion relationship is used as a preset standard leaf mapping relationship.

7. A blade repair device, characterized in that: The device comprises: A collection module, used for collecting data of the blade to be repaired, and determining the area to be repaired of the blade to be repaired according to the collection result; A determination module, used for obtaining a step length and a line spacing of a grinding and polishing path according to the area to be repaired, and determining a grinding and polishing point according to the step length and the line spacing of the grinding and polishing path; A repair module is used to obtain a repair path of the area to be repaired based on the grinding and polishing points, and repair the area to be repaired according to the repair path.

8. A blade repair device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the blade repair method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the blade repair method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the blade repair method according to any one of claims 1 to 6 are implemented.

Images