Spraying path generation method and device for curved-surface blade, equipment and storage medium

Abstract

The invention belongs to the technical field of spraying path design, and discloses a spraying path generation method and device for a curved-surface blade, equipment and a storage medium. The method comprises the following steps: constructing a three-dimensional model of a curved blade to be sprayed with a coating; adopting a horizontal slice to intersect with the three-dimensional model layer by layer according to the number of intersecting layers, and extracting intersection points of each layer; the intersection points of each layer are reordered, and a single-layer spraying path of each layer is obtained; one surface of the curved-surface blade serves as a spraying target, and all single-layer spraying paths of the spraying target are generated; all single-layer spraying paths of the spraying target are divided into odd-number paths and even-number paths, path points of the even-number paths are inverted in sequence, the inverted even-number paths are connected with the odd-number paths, and an overall spraying path is generated; and the overall spraying path is converted into a robot path. According to the automatic path generation method, the spraying efficiency is improved, and then the quality of the thermal barrier coating is improved.

Description

Technical Field

[0001] The present application relates to the technical field of spray path design, and in particular to a method, device, equipment and storage medium for generating a spray path for a curved blade. Background Art

[0002] At present, the preferred material for aircraft engine turbine blades, nickel-based single crystal high-temperature alloy, has a maximum operating temperature of about 1000℃, which is difficult to meet the higher temperature requirements of modern aircraft engines. Therefore, improving the temperature resistance of turbine blade materials has become an urgent problem to be solved. As a key protection technology, thermal barrier coatings are used in aircraft engine manufacturing because of their superior characteristics such as low thermal conductivity, high melting point, stable high-temperature phase structure and good chemical stability. This coating can significantly improve the high-temperature resistance of turbine blades, enabling them to adapt to more stringent service environments. Among them, plasma spraying is an efficient thermal spraying process. Its principle is to use plasma flame flow to heat and accelerate metal or ceramic powder in a short time, so that it is in a molten or semi-molten state and then hits the substrate surface at high speed to form a laminated coating. This technology has the advantages of simple operation, low cost, fast preparation speed and high deposition efficiency. Therefore, it is used to prepare thick coatings such as thermal barrier coatings, wear-resistant coatings and corrosion-resistant coatings.

[0003] The rationality of the spray path directly affects the quality of thermal barrier coatings, and thus affects the service life of aircraft engines. However, the complex and irregular surface structure of turbine blades poses a huge challenge to the generation of plasma spray paths. At present, there is no effective method to generate plasma spray paths suitable for the complex surfaces of turbine blades, which has become one of the key bottlenecks restricting the improvement of aircraft engine performance. Summary of the invention

[0004] To this end, the embodiments of the present application provide a spray path generation method, device, equipment and storage medium for curved blades, which can generate spray paths for complex irregular curved surfaces. The automated path generation method improves the spraying efficiency and can also improve the quality of thermal barrier coatings.

[0005] In a first aspect, the present application provides a method for generating a spray path for a curved blade.

[0006] This application is achieved through the following technical solutions: A method for generating a spray path for a curved blade, comprising: Construct a three-dimensional model of the curved blade to be sprayed with coating; Using a horizontal slice to intersect the three-dimensional model layer by layer according to the number of intersecting layers, and extracting the intersection points of each layer; Reorder the intersection points of each layer to obtain a single-layer spraying path for each layer; Taking a surface of a curved blade as a spray target, generating all single-layer spray paths of the spray target; Divide all single-layer spray paths of the spray target into odd paths and even paths, invert the order of the path points of the even paths, connect the inverted even paths with the odd paths, and generate an overall spray path; The overall spraying path is converted into a robot path, wherein the robot path includes the three-dimensional coordinates, quaternion, spray gun movement speed and area radius of each path point.

[0007] In a preferred example of the present application, it can be further configured to construct a three-dimensional model of a curved blade to be sprayed with a coating, including: Using modeling software to construct an STL model of a curved blade to be sprayed with a coating, wherein the STL model includes triangular facets; Establish a three-dimensional Cartesian coordinate system and determine the vertex coordinates and vertex numbers of the triangles in the STL model.

[0008] In a preferred example of the present application, it can be further configured that, according to the number of intersecting layers, a horizontal slice is used to intersect with the three-dimensional model layer by layer, and before the intersection points of each layer are extracted, the following steps are included: Determining a layer thickness value based on a coating thickness value of the coating to be sprayed and the number of layers to be sprayed; The number of intersecting layers is determined based on the layer thickness value and the height of the three-dimensional model.

[0009] In a preferred example of the present application, it can be further configured that the intersection points of each layer are reordered to obtain a single-layer spraying path for each layer, including: The intersection points of each layer are reordered by the shortest distance method to obtain the single-layer spraying path of each layer.

[0010] In a preferred example of the present application, it can be further configured that the intersection points of each layer are reordered by the shortest distance method to obtain a single-layer spraying path for each layer, including: Select an intersection point from all intersection points as the first path point; Calculate the distance between the first path point and all remaining intersection points except the first path point, and determine the intersection point with the smallest distance as the second path point; Based on the second path point, the third path point is determined until all intersections of the current layer are reordered.

[0011] In a preferred example of the present application, it can be further configured that a horizontal slice is used to intersect the three-dimensional model layer by layer according to the number of intersecting layers, and the intersection points of each layer are extracted, including: Based on the height value of the horizontal slice and the vertex coordinates of all triangular facets, determining the intersecting facets where the horizontal slice intersects with the three-dimensional model at each layer; By intersecting the horizontal slice with the three edges of the intersecting face, the intersection coordinates of all intersection points in the current layer are determined.

[0012] In a preferred example of the present application, it can be further configured that a cubic spline interpolation method is used to perform interpolation processing on all intersections of the current layer.

[0013] In a second aspect, the present application provides a spray path generating device for curved blades.

[0014] This application is achieved through the following technical solutions: A spray path generation device for a curved blade, used to execute the spray path generation method for a curved blade according to the first aspect, comprising: A model building module, used to build a three-dimensional model of a curved blade to be sprayed with a coating; A coordinate extraction module, used to intersect the three-dimensional model layer by layer using a horizontal slice according to the number of intersecting layers, and extract the intersection points of each layer; A spray path generation module is used to reorder the intersection points of each layer to obtain a single-layer spray path of each layer, take a surface of the curved blade as a spray target, generate all single-layer spray paths of the spray target, divide all single-layer spray paths of the spray target into odd paths and even paths, invert the order of the path points of the even paths, connect the inverted even paths with the odd paths, and generate an overall spray path; The path conversion module is used to convert the overall spraying path into a robot path, wherein the robot path includes the three-dimensional coordinates, quaternion, spray gun movement speed and area radius of each path point.

[0015] On the third aspect, the present application is achieved through the following technical solutions: A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any one of the methods for generating a spray path for a curved blade described in the first aspect are implemented.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium.

[0017] This application is achieved through the following technical solutions: A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of any one of the methods for generating a spray path for a curved blade described in the first aspect.

[0018] In summary, compared with the prior art, the technical solution provided in the embodiment of the present application has at least the following beneficial effects: The present application constructs a three-dimensional model of a curved blade to be sprayed with a coating; uses a horizontal slice to intersect the three-dimensional model layer by layer according to the number of intersecting layers, and extracts the intersection points of each layer; reorders the intersection points of each layer to obtain a single-layer spray path for each layer; uses a surface of the curved blade as a spray target to generate all single-layer spray paths of the spray target; divides all single-layer spray paths of the spray target into odd paths and even paths, inverts the order of path points of the even paths, connects the inverted even paths with the odd paths, and generates an overall spray path; converts the overall spray path into a robot path, and the robot path includes the three-dimensional coordinates, quaternions, spray gun movement speed and area radius of each path point. By constructing a three-dimensional model and extracting intersection points layer by layer, the spray path of complex irregular surfaces (such as aircraft engine turbine blades) can be effectively generated to ensure uniform coverage of the coating and improve the quality of thermal barrier coatings; an automated path generation method is used to divide the single-layer spray path into odd and even paths, and the overall path optimization is achieved by inverting the order of path points in the even path, significantly reducing the complexity and cost of manual planning; the generated overall spray path is converted into a robot path, including parameters such as three-dimensional coordinates, quaternions, spray gun movement speed, and area radius, to achieve automation of the spray process, improve work efficiency, and reduce human operation errors; through precise path planning and automated spraying, the coating is ensured to be uniform and dense, meeting the high performance requirements of aircraft engine turbine blades for thermal barrier coatings, extending the service life of the blades, and improving engine performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of a method for generating a spray path for a curved blade provided in one embodiment of the present application; Figure 2 A schematic diagram of a three-dimensional model of a curved blade provided in an embodiment of the present application; Figure 3 A schematic diagram of the intersection of a three-dimensional model of a curved blade and a horizontal slice provided in an embodiment of the present application; Figure 4 A schematic diagram of triangular facets and intersection points intersecting with a horizontal slice provided in an embodiment of the present application; Figure 5 A schematic diagram of determining an initial intersection point provided in an embodiment of the present application; Figure 6 A schematic diagram of reordered intersections provided in an embodiment of the present application; Figure 7 A schematic diagram of the selection of a spray target provided by an embodiment of the present application; Figure 8 A schematic diagram of an unsorted single-layer spraying path of a spraying target provided in an embodiment of the present application; Fig. 9 A schematic diagram of an overall spraying path after the spraying targets are sorted according to an embodiment of the present application; Fig.10 A schematic diagram of a robot path provided in an embodiment of the present application; Fig.11 A schematic diagram of the structure of a spray path generation device for a curved blade provided in one embodiment of the present application; Description of reference numerals: Model building module 10, coordinate extraction module 20, spray path generation module 30, path conversion module 40. DETAILED DESCRIPTION

[0020] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed. However, as long as it is within the scope of the claims of the present application, it shall be protected by the patent law.

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are 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.

[0022] In addition, the term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0023] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with basically the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on quantity and execution order.

[0024] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0025] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0026] like Figure 1 As shown, a method for generating a spray path for a curved blade is provided by a first exemplary embodiment of the present application, which includes: S10: constructing a three-dimensional model of the curved blade to be sprayed with the coating.

[0027] The curved blades processed in this application are turbine blades of aircraft engines, gas turbines and other equipment. Turbine blades usually have complex three-dimensional surfaces. The constructed three-dimensional model is as follows Figure 2 shown.

[0028] S20: Using a horizontal slice to intersect the three-dimensional model layer by layer according to the number of intersecting layers, and extracting intersection points of each layer.

[0029] Before using a horizontal slice to intersect the three-dimensional model layer by layer according to the number of intersecting layers, the method also includes a step of determining the number of intersecting layers.

[0030] The layer thickness value is determined based on the coating thickness value of the coating to be sprayed and the number of layers to be sprayed; and the number of intersecting layers is determined based on the layer thickness value and the height of the three-dimensional model.

[0031] Specifically, the layer thickness value The calculation formula can be expressed as: , In the formula, Indicates the coating thickness to be deposited (i.e. the coating thickness value of the coating to be sprayed). Indicates the number of layers to be sprayed. represents the coating thickness influencing factor, represents the standard deviation of the Gaussian equation, represents the mean of the Gaussian equation, represents the horizontal coordinate of the point on the coating, represents the scanning step length (the scanning step length refers to the linear distance between adjacent coating peaks), Indicates the number of the coating profile, i.e. the pth one, . Usually, the layer thickness value Between 0.3mm and 1.5mm.

[0032] After determining the layer thickness value, calculate the ratio of the height of the 3D model to the layer thickness value, round the ratio up to determine the number of intersection layers. The number of intersection layers represents the number of times the horizontal slice needs to intersect with the 3D model. Figure 3 As shown, horizontal slices are used to intersect with the three-dimensional model.

[0033] Next, based on the height value of the horizontal slice and the vertex coordinates of all triangular facets in the three-dimensional model, the intersecting facets where the horizontal slices intersect at each layer are determined; by intersecting the three edges of the horizontal slices with the intersecting facets, the intersection coordinates of all intersections in the current layer are determined.

[0034] Specifically, the height value of the horizontal slice at each layer Equal to the height of the lowest point of the 3D model plus the number of layers Multiply by the slice thickness. Take the slice thickness value of 1mm, the total number of slices Num=43, and the 10th slice as an example. The height value of the 10th slice is -1.4276mm. By judging the height value of the horizontal slice in the first layer With all the vertices of the triangles When the highest vertex among the three vertices of the triangle , the triangle is excluded, or when the lowest vertex among the three vertices of the triangle is , exclude the triangular facet; determine the remaining triangular facets as the triangular facets that intersect the three-dimensional model and the horizontal slice at the first layer ; The horizontal slices are separated by The three edges of each intersecting triangle are intersected to determine the coordinates of the intersection of the horizontal slice and the 3D model at the first layer. .

[0035] Determine the height value of the horizontal slice in the second layer With all the triangle vertices When the highest vertex among the three vertices of the triangle , the triangle is excluded, or when the lowest vertex among the three vertices of the triangle is , exclude the triangular facet; determine the remaining triangular facets as the triangular facets that intersect the three-dimensional model and the horizontal slice at the second layer ; The horizontal slices are separated by The three edges of each intersecting triangle are intersected to determine the coordinates of the intersection of the horizontal slice and the 3D model in the second layer. .by Figure 4 Take the example to illustrate that by judging the horizontal slice The value is the same as the vertices of all triangles in the STL model. Value, you need to delete the following triangles: Delete the lowest vertex of the three vertices of the triangle Values ​​greater than the horizontal slice The triangle with the value of , that is, triangle 6; delete the highest vertex of the three vertices of the triangle Values ​​less than the horizontal slice The triangle with the value is triangle 7; the remaining triangles 1, 2, 3, 4, and 5 are the triangles that intersect with the horizontal slice of the current layer; points a, b, c, d, e, and f are the intersection points that need to be solved.

[0036] Follow the same steps as above to process the coordinates of the intersection points of the horizontal slices and the 3D model at the remaining layers.

[0037] It should be noted that the horizontal slices may intersect with the three-dimensional model in a top-down order, or in a bottom-up order, or in an unordered manner.

[0038] At the same time, it is considered that during the triangle deletion process, the deleted triangles are also located in the next layer. This will cause the path contour points of the next layer to be missing, which will affect the accuracy of the path. To solve this problem, we use cubic spline interpolation to interpolate the contour. The cubic spline interpolation method can generate a smooth curve between the missing contour points through mathematical fitting. This method can not only fill the missing contour points, but also make the entire contour line smoother, thereby effectively improving the accuracy of the path.

[0039] S30: reorder the intersection points of each layer to obtain a single-layer spraying path for each layer.

[0040] In some embodiments, the shortest distance method can be used to reorder the intersection points of each layer to obtain a single-layer spraying path for each layer. Figure 5 and Figure 6 As shown, Figure 5 To determine the intersection point, Figure 6 It is a single-layer spraying path formed by connecting the reordered intersection points.

[0041] Specifically, an intersection is selected from all intersections as the first path point; the distance between the first path point and all remaining intersections except the first path point is calculated, and the point with the smallest distance is determined as the second path point; based on the second path point, the third path point is determined until the reordering of all intersections in the current layer is completed.

[0042] The intersection coordinates of the first layer Take this as an example to illustrate, select the intersection point from the intersection coordinates As the first path point, calculate the intersection The distance to the other intersection points : , In the formula, It is the intersection The horizontal and vertical coordinates of It is the intersection The horizontal and vertical coordinates of .

[0043] based on Determine the intersection The closest intersection point is used as the second path point. The third path point is determined based on the distance between the second path point and the remaining intersection points (except the determined intersection points). The path points are determined in sequence according to the above method until all the intersection points are reordered.

[0044] The reordered intersection points are connected in sequence to form a single-layer spraying path for each layer.

[0045] It should be noted that the coordinates of the intersection points of each layer can also be reordered by using a convex hull algorithm and a Delaunay triangulation algorithm to obtain a single-layer spraying path for each layer.

[0046] S40: Taking a surface of the curved blade as a spray target, generating all single-layer spray paths of the spray target.

[0047] The surface to be sprayed with the coating is taken as the spraying target, and a single-layer spraying path is determined based on the two ends of the spraying target.

[0048] Specifically, refer to Figure 7 , starting from the second intersection point, solve the angle between each point and its two adjacent points in turn , as shown in the figure, the angle between the i-th point and its two adjacent points, the i-1th point and the i+1th point. The size of the blade is determined by The landmarks for distinction , where the angle The size of can be set according to actual needs. In this embodiment, it is set to Less than 120°. To distinguish surfaces and surface , To distinguish surfaces and surface , To distinguish surfaces and surface , To distinguish surfaces and surface According to the spraying requirements, the intersection between the two selected marking points is the single-layer spraying path, such as Figure 8 shown.

[0049] S50: Divide all single-layer spraying paths of the spraying target into odd paths and even paths, invert the order of path points of the even paths, connect the inverted even paths with the odd paths, and generate an overall spraying path.

[0050] First, the single-layer spraying path is divided into odd layers (i.e., odd paths) and even layers (i.e., even paths) by using the mod() function in Matlab; the path points of the even paths are inverted by using the flipud() function, thereby realizing the zigzag spraying paths of the odd paths and even paths, as shown in Figure 2. Fig. 9 shown.

[0051] Take a four-layer single-layer spray path as an example, where: , , , , and represents an odd path, and Indicates an even path. Through the flipud() function in Matlab, and Invert and convert to , When spraying, first follow The path point is to Spraying, spraying to Start Spraying at the path points, that is, according to to Spray in the order of The waypoints in to Spray, then follow Depend on to Spray in the order of.

[0052] S60: converting the overall spraying path into a robot path, wherein the robot path includes the three-dimensional coordinates, quaternion, spray gun movement speed and area radius of each path point.

[0053] During the plasma spraying process, the robot is required to hold the spray gun for operation, so the spraying path is converted into the corresponding robot path. The robot path is as follows: Fig.10 As shown. Among them, the three-dimensional coordinates represent the X, Y, and Z coordinates of each path point, defining the position of the spray gun in space; quaternion: used to describe the posture of the spray gun to ensure that the spray gun maintains the correct direction during the spraying process; the spray gun movement speed represents the movement speed of the spray gun set according to the spraying process requirements; the area radius represents the area covered by the spray gun. Specifically, the robot path generated by simulation in ABB industrial robot simulation software Robotstudio.

[0054] The specific steps of step S10 are: using modeling software to construct an STL model of the curved blade to be sprayed with the coating, the STL model includes triangular facets; establishing a three-dimensional Cartesian coordinate system, and determining the vertex coordinates and vertex numbers of the triangular facets in the STL model.

[0055] Specifically, use 3D modeling software, such as SolidWorks, Rhinoceros or CATIA; in the 3D modeling software, build a 3D model according to the design parameters of the curved blade to be sprayed with coating (such as blade size, shape, curvature, etc.); export the built 3D model to an STL model in STL format. The STL model represents the surface of the blade by a series of triangular facets; import the STL model into Matlab and establish a 3D Cartesian coordinate system , used for subsequent geometric analysis and calculation. Extract the vertex coordinates of all triangles from the imported STL model and the numbers of the three vertices of each triangle. The size of the blade is approximately .

[0056] In actual implementation, in order to further improve the accuracy of the three-dimensional model, the CAD software can be used to automatically re-divide the grid of the three-dimensional model and adjust the grid density to make the model surface smoother.

[0057] Another exemplary embodiment of the present application, as Fig.11 As shown, a spray path generating device for a curved blade is provided, which comprises: Model building module 10, coordinate extraction module 20, spraying path generation module 30, path conversion module 40; A model building module 10 is used to build a three-dimensional model of a curved blade to be sprayed with a coating; A coordinate extraction module 20, for intersecting the three-dimensional model layer by layer using a horizontal slice according to the number of intersecting layers, and extracting intersection points of each layer; A spray path generation module 30 is used to reorder the intersection points of each layer to obtain a single-layer spray path of each layer, take a surface of the curved blade as a spray target, generate all single-layer spray paths of the spray target, divide all single-layer spray paths of the spray target into odd paths and even paths, invert the order of the path points of the even paths, connect the inverted even paths with the odd paths, and generate an overall spray path; The path conversion module 40 is used to convert the overall spraying path into a robot path, wherein the robot path includes the three-dimensional coordinates, quaternion, spray gun movement speed and area radius of each path point.

[0058] The specific definition of the spray path generation device for curved blades provided in this embodiment can be found in the embodiment of the spray path generation method for curved blades described above, and will not be repeated here. Each module in the above-mentioned spray path generation device for curved blades can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0059] Another embodiment of the present application provides a computer device, which may include a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the processor executes the steps of the spray path generation method for curved blades in the above-mentioned embodiment.

[0060] The working process, working details and technical effects of the computer device provided in this embodiment can be found in the above embodiment of the spray path generation method for curved blades, which will not be described in detail here.

[0061] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for generating a spray path for a curved blade as in any of the above embodiments are implemented. The computer-readable storage medium refers to a carrier for storing data, which may include but is not limited to a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive and / or a memory stick, etc. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0062] The working process, working details and technical effects of the computer-readable storage medium provided in this embodiment can be found in the above embodiment of the spray path generation method for curved blades, which will not be described in detail here.

[0063] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0064] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system described in the present application is divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. A method for generating a spray path for a curved blade, characterized in that: include: Construct a three-dimensional model of the curved blade to be sprayed with coating; Using a horizontal slice to intersect the three-dimensional model layer by layer according to the number of intersecting layers, and extracting the intersection points of each layer; Reorder the intersection points of each layer to obtain a single-layer spraying path for each layer; Taking a surface of a curved blade as a spray target, generating all single-layer spray paths of the spray target; Divide all single-layer spray paths of the spray target into odd paths and even paths, invert the order of the path points of the even paths, connect the inverted even paths with the odd paths, and generate an overall spray path; The overall spraying path is converted into a robot path, wherein the robot path includes the three-dimensional coordinates, quaternion, spray gun movement speed and area radius of each path point.

2. The method for generating a spray path for a curved blade according to claim 1, characterized in that: Construct a 3D model of the curved blade to be sprayed with coating, including: Using modeling software to construct an STL model of a curved blade to be sprayed with a coating, wherein the STL model includes triangular facets; Establish a three-dimensional Cartesian coordinate system and determine the vertex coordinates and vertex numbers of the triangles in the STL model.

3. The method for generating a spray path for a curved blade according to claim 1, characterized in that: According to the number of intersecting layers, a horizontal slice is used to intersect the three-dimensional model layer by layer, and before the intersection points of each layer are extracted, the following steps are included: Determining a layer thickness value based on a coating thickness value of the coating to be sprayed and the number of layers to be sprayed; The number of intersecting layers is determined based on the layer thickness value and the height of the three-dimensional model.

4. The method for generating a spray path for a curved blade according to claim 1, characterized in that: Reorder the intersection points of each layer to obtain a single-layer spraying path for each layer, including: The intersection points of each layer are reordered by the shortest distance method to obtain the single-layer spraying path of each layer.

5. The method for generating a spray path for a curved blade according to claim 4, characterized in that: The intersection points of each layer are reordered by the shortest distance method to obtain the single-layer spraying path of each layer, including: Select an intersection point from all intersection points as the first path point; Calculate the distance between the first path point and all remaining intersection points except the first path point, and determine the intersection point with the smallest distance as the second path point; Based on the second path point, the third path point is determined until all intersections of the current layer are reordered.

6. The method for generating a spray path for a curved blade according to claim 1, characterized in that: According to the number of intersecting layers, a horizontal slice is used to intersect the three-dimensional model layer by layer, and the intersection points of each layer are extracted, including: Based on the height value of the horizontal slice and the vertex coordinates of all triangular facets, determining the intersecting facets where the horizontal slice intersects with the three-dimensional model at each layer; By intersecting the horizontal slice with the three edges of the intersecting face, the intersection coordinates of all intersection points in the current layer are determined.

7. The method for generating a spray path for a curved blade according to claim 6, characterized in that: The cubic spline interpolation method is used to perform interpolation processing on all intersection points of the current layer.

8. A spray path generation device for curved blades, characterized in that: include: A model building module, used to build a three-dimensional model of a curved blade to be sprayed with a coating; A coordinate extraction module, used to intersect the three-dimensional model layer by layer using a horizontal slice according to the number of intersecting layers, and extract the intersection points of each layer; A spray path generation module is used to reorder the intersection points of each layer to obtain a single-layer spray path of each layer, take a surface of the curved blade as a spray target, generate all single-layer spray paths of the spray target, divide all single-layer spray paths of the spray target into odd paths and even paths, invert the order of the path points of the even paths, connect the inverted even paths with the odd paths, and generate an overall spray path; The path conversion module is used to convert the overall spraying path into a robot path, wherein the robot path includes the three-dimensional coordinates, quaternion, spray gun movement speed and area radius of each path point.

9. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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