Automatic additive repairing method, device and equipment and medium

Abstract

The invention discloses an automatic additive repairing method, device, equipment and medium, and relates to the technical field of additive manufacturing, the automatic additive repairing method is applied to an additive repairing system, and comprises the steps that a visual coordinate system of a visual unit of the additive repairing system is matched with a repairing coordinate system of a repairing unit, and the matched visual coordinate system is obtained; an image of a to-be-repaired workpiece shot by the visual unit is obtained, a three-dimensional model of a to-be-repaired area of the to-be-repaired workpiece is obtained, and the to-be-repaired workpiece is placed at any position under the matched visual coordinate system; inputting the image of the to-be-repaired workpiece and the three-dimensional model into three-dimensional slicing software of the repairing unit, and matching the three-dimensional model to a to-be-repaired area of the image of the to-be-repaired workpiece; and repairing the to-be-repaired workpiece based on the repairing coordinate system and the three-dimensional model of the to-be-repaired area matched to the image of the to-be-repaired workpiece.

Description

Technical Field

[0001] The present invention relates to the field of additive manufacturing technology, and in particular to an automatic additive repair method, device, equipment and medium. Background Art

[0002] In order to repair the workpiece, the existing technology usually requires manual operation of the robot to teach a series of points along the outer contour of the area to be repaired to form a closed polygon, and then write a program in the robot to generate multiple parallel line segments to fill the polygon to form a planar cladding path. When necessary, the same path is repeated in multiple layers to form a three-dimensional printing repair path.

[0003] However, this method requires manual teaching and programming. The more complex the underlying shape is, the more points are required to be programmed, and the more time it takes. In addition, this method cannot produce any three-dimensional shape with a variable cross-section. The amount of material reduction required after the additive process is large, which leads to a long additive repair time and a large amount of consumables.

[0004] Therefore, how to perform additive repair on the workpiece to be repaired and avoid long additive repair time and large amount of consumables has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic additive repair method, device, equipment and medium to perform additive repair on a workpiece to be repaired, thereby avoiding the technical problems of long additive repair time and large amount of consumables.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention first provides an automatic additive repair method, which is applied to an additive repair system, comprising:

[0008] Matching the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system;

[0009] Obtaining an image of the workpiece to be repaired taken by the visual unit, and obtaining a three-dimensional model of the area to be repaired of the workpiece to be repaired, wherein the workpiece to be repaired is placed at any position in the matched visual coordinate system;

[0010] Inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired;

[0011] The workpiece to be repaired is repaired based on the repair coordinate system and the three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired.

[0012] In an optional implementation manner of the present application, matching the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system includes:

[0013] Determine a first origin position, a first X-axis direction or a first Y-axis direction of the visual coordinate system;

[0014] Determine a second origin position, a second X-axis direction or a second Y-axis direction of the repair coordinate system;

[0015] Aligning the first origin position with the second origin position, and aligning the first X-axis direction with the second X-axis direction and / or aligning the first Y-axis direction with the second Y-axis direction;

[0016] The scale of the visual coordinate system is aligned with the scale of the restoration coordinate system.

[0017] In an optional implementation manner of the present application, the step of inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired, comprises:

[0018] Inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, so as to determine the coordinates of the area to be repaired in the image of the workpiece to be repaired in the repair coordinate system through the three-dimensional slicing software;

[0019] The three-dimensional model is matched to the coordinates of the area to be repaired in the repair coordinate system.

[0020] In an optional implementation manner of the present application, the repairing the workpiece to be repaired based on the repair coordinate system and the three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired comprises:

[0021] generating a generation path of the area to be repaired based on the repair coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired;

[0022] The workpiece to be repaired is repaired based on the generated path of the area to be repaired.

[0023] In an optional embodiment of the present application, the additive repair system includes: a printing robot or a printing laser head for repairing the workpiece to be repaired, and the visual unit is installed on the printing robot or the printing laser head.

[0024] Compared with the prior art, the automatic additive repair method provided by the present invention matches the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit, and then photographs the workpiece to be repaired placed in the visual coordinate system through the visual unit; and inputs the photographed image of the workpiece to be repaired and the three-dimensional model of the area to be repaired of the workpiece to be repaired into the repair unit, so that the three-dimensional model is matched to the area to be repaired, and then the workpiece to be repaired is repaired based on the three-dimensional model matched to the area to be repaired.

[0025] The method matches the visual coordinate system of the visual unit with the repair coordinate system of the repair unit, and can accurately determine the to-be-repaired area of ​​the workpiece through the image of the workpiece to be repaired. At the same time, the three-dimensional model of the to-be-repaired area can be matched with the to-be-repaired area of ​​the image of the workpiece to be repaired, thereby completing the additive repair of the workpiece to be repaired. There is no need for manual teaching programming of the outer contour of the to-be-repaired area, and the problem of needing to reduce material after additive repair is avoided, which is beneficial to improving the efficiency of additive repair and reducing the material consumption rate of additive repair.

[0026] The present invention also provides an automatic additive repair device, comprising:

[0027] A coordinate system matching unit, used to match the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system;

[0028] an acquisition unit, used to obtain an image of the workpiece to be repaired taken by the visual unit, and to obtain a three-dimensional model of the area to be repaired of the workpiece to be repaired, wherein the workpiece to be repaired is placed at any position in the matched visual coordinate system;

[0029] A model matching unit, used for inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired;

[0030] A repairing unit is used to repair the workpiece to be repaired based on the repairing coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired.

[0031] Compared with the prior art, the beneficial effects of the automatic additive repair device provided by the present invention are the same as the beneficial effects of the automatic additive repair method described in the above technical solution, and will not be elaborated here.

[0032] The present invention also provides an electronic device, comprising:

[0033] processor;

[0034] a memory for storing instructions executable by the processor;

[0035] The processor is used to execute the above-mentioned automatic additive repair method by running the instructions in the memory.

[0036] Compared with the prior art, the beneficial effects of the electronic device provided by the present invention are the same as the beneficial effects of the automatic additive repair method described in the above technical solution, and will not be elaborated here.

[0037] The present invention also provides a computer storage medium, in which instructions are stored. When the instructions are executed, the above-mentioned automatic additive repair method is implemented.

[0038] Compared with the prior art, the beneficial effects of the computer storage medium provided by the present invention are the same as the beneficial effects of the automatic additive repair method described in the above technical solution, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0040] Figure 1 A flow chart of the automatic additive repair method provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a visual coordinate system provided in an embodiment of the present application;

[0042] Figure 3 A structural diagram of an automatic additive repair device provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0045] It should be noted that, in the present invention, 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 present invention 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.

[0046] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0047] The present application embodiment first provides an automatic additive repair method, please refer to Figure 1 , Figure 1 A flow chart of the automatic additive repair method provided in an embodiment of the present application.

[0048] like Figure 1 As shown, the automatic additive repair method includes the following S101 to S104:

[0049] S101, matching the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system.

[0050] In an embodiment of the present application, the automatic additive repair method is applied to an additive repair system, which includes: a visual unit, a repair unit, and a printing robot or a printing laser head. In an optional embodiment of the present application, the visual unit can be installed on the printing laser head or the printing robot; in addition, in order to facilitate the visual unit to observe the workpiece to be repaired, the additive repair system also includes: an illumination light source, a lens and other components.

[0051] The visual unit may be understood as a camera for observing the workpiece to be repaired; the repair unit may be understood as a controller and / or processor for planning a repair path and controlling a printing robot or a printing laser head to perform additive repair on the workpiece to be repaired;

[0052] In the process of actual application, it is first necessary to calibrate the visual coordinate system of the visual unit through software and algorithms, so that the calibrated visual unit can map the workpiece to be repaired to the visual coordinate system.

[0053] Specifically, to calibrate the visual coordinate system of the visual unit, a plane pattern with known geometric features (such as a checkerboard pattern) can be first selected, and then the visual unit to be calibrated is used to capture multiple images containing the geometric pattern (wherein the multiple images cover different viewing angles and distances) so as to fully estimate the parameters of the camera; further, for each image, feature points on the calibration pattern are detected and extracted (for example, the intersection points in the checkerboard image can be selected as the feature points), and then a series of equations are established according to the positions of the feature points, and the internal parameters are solved by minimizing the reprojection error; similarly, the positions of the feature points are used to establish a correspondence between the camera coordinate system and the world coordinate system, and then the external parameters are solved by minimizing the reprojection error, and finally, the solved internal and external parameters are applied to subsequent applications of the visual unit to complete the calibration of the visual coordinate system.

[0054] Please refer to Figure 2 , Figure 2 A schematic diagram of a visual coordinate system provided in an embodiment of the present application.

[0055] like Figure 2 As shown, Figure 2 The visual coordinate system includes a workpiece 201 to be repaired, a first origin, a first X-axis, and a first Y-axis.

[0056] Further, the above S101 includes: determining the first origin position, the first X-axis direction or the first Y-axis direction of the visual coordinate system; determining the second origin position, the second X-axis direction or the second Y-axis direction of the restoration coordinate system; aligning the first origin position to the second origin position, and aligning the first X-axis direction to the second X-axis direction and / or aligning the first Y-axis direction to the second Y-axis direction; aligning the scale of the visual coordinate system to the scale of the restoration coordinate system.

[0057] That is, the X-axis and Y-axis of the visual coordinate system are kept consistent with the repair coordinate system, and the scale of the visual coordinate system is made consistent with the scale of the repair coordinate system, so that in the subsequent additive repair process of the workpiece to be repaired, the printing robot or the printing laser head can accurately find the area to be repaired.

[0058] S102, obtaining an image of the workpiece to be repaired taken by the visual unit, and obtaining a three-dimensional model of the area to be repaired of the workpiece to be repaired, wherein the workpiece to be repaired is placed at any position in the matched visual coordinate system.

[0059] The above S102 means that after executing the above S101, the workpiece to be repaired is placed at any position in the matched visual coordinate system, an image of the workpiece to be repaired is photographed by the visual unit, and a three-dimensional model of the area to be repaired of the workpiece to be repaired is obtained.

[0060] S103, inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired.

[0061] That is, the image of the workpiece to be repaired and the three-dimensional model are input into the three-dimensional slicing software of the repair unit, and the coordinates of the area to be repaired in the image of the workpiece to be repaired in the repair coordinate system are determined by the three-dimensional slicing software; the three-dimensional model is matched to the coordinates of the area to be repaired in the repair coordinate system.

[0062] The repair unit can be understood as a unit for storing and executing three-dimensional layered slicing and path planning software. In actual application, the matching of the three-dimensional model to the area to be repaired in the image of the workpiece to be repaired can be that the relevant staff manually translates and rotates the three-dimensional model so that the bottom surface of the three-dimensional model matches the area to be repaired in the image of the workpiece to be repaired. It can also be that after determining the coordinates of the area to be repaired in the image of the workpiece to be repaired, the three-dimensional model is automatically adjusted according to the coordinates of the area to be repaired through a corresponding algorithm. This application does not impose any restrictions on this.

[0063] S104, repairing the workpiece to be repaired based on the repair coordinate system and the three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired.

[0064] Specifically, the above S104 includes: generating a generation path of the area to be repaired based on the repair coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired; and repairing the workpiece to be repaired based on the generation path of the area to be repaired.

[0065] That is, after determining the specific position of the three-dimensional model in the image of the workpiece to be repaired, a printing path of the three-dimensional model can be generated, and then the workpiece to be repaired can be repaired based on the printing path in combination with the specific position of the three-dimensional model in the image of the workpiece to be repaired.

[0066] In summary, the automatic additive repair method provided in the embodiment of the present application matches the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit, and then photographs the workpiece to be repaired placed in the visual coordinate system through the visual unit; and inputs the photographed image of the workpiece to be repaired and the three-dimensional model of the area to be repaired of the workpiece to be repaired into the repair unit, so that the three-dimensional model is matched to the area to be repaired, and then the workpiece to be repaired is repaired based on the three-dimensional model matched to the area to be repaired.

[0067] The method matches the visual coordinate system of the visual unit with the repair coordinate system of the repair unit, and can accurately determine the to-be-repaired area of ​​the workpiece through the image of the workpiece to be repaired. At the same time, the three-dimensional model of the to-be-repaired area can be matched with the to-be-repaired area of ​​the image of the workpiece to be repaired, thereby completing the additive repair of the workpiece to be repaired. There is no need for manual teaching programming of the outer contour of the to-be-repaired area, and the problem of needing to reduce material after additive repair is avoided, which is beneficial to improving the efficiency of additive repair and reducing the material consumption rate of additive repair.

[0068] Corresponding to the above method embodiment, the present application embodiment also provides an automatic additive repair device, please refer to Figure 3 , Figure 3 This is a structural diagram of the automatic additive repair device provided in an embodiment of the present application.

[0069] like Figure 3 As shown, the automatic additive repair device comprises:

[0070] A coordinate system matching unit 301 is used to match the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system;

[0071] An acquisition unit 302 is used to obtain an image of the workpiece to be repaired taken by the visual unit, and to obtain a three-dimensional model of the area to be repaired of the workpiece to be repaired, wherein the workpiece to be repaired is placed at any position in the matched visual coordinate system;

[0072] The model matching unit 303 is used to input the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and match the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired;

[0073] The repairing unit 304 is configured to repair the workpiece to be repaired based on the repairing coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired.

[0074] In an optional implementation manner of the present application, matching the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system includes:

[0075] Determine a first origin position, a first X-axis direction or a first Y-axis direction of the visual coordinate system;

[0076] Determine a second origin position, a second X-axis direction or a second Y-axis direction of the repair coordinate system;

[0077] Aligning the first origin position with the second origin position, and aligning the first X-axis direction with the second X-axis direction and / or aligning the first Y-axis direction with the second Y-axis direction;

[0078] The scale of the visual coordinate system is aligned with the scale of the restoration coordinate system.

[0079] In an optional implementation manner of the present application, the step of inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired, comprises:

[0080] Inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, so as to determine the coordinates of the area to be repaired in the image of the workpiece to be repaired in the repair coordinate system through the three-dimensional slicing software;

[0081] The three-dimensional model is matched to the coordinates of the area to be repaired in the repair coordinate system.

[0082] In an optional implementation manner of the present application, the repairing the workpiece to be repaired based on the repair coordinate system and the three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired comprises:

[0083] generating a generation path of the area to be repaired based on the repair coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired;

[0084] The workpiece to be repaired is repaired based on the generated path of the area to be repaired.

[0085] In an optional embodiment of the present application, the additive repair system includes: a printing robot or a printing laser head for repairing the workpiece to be repaired, and the visual unit is installed on the printing robot or the printing laser head.

[0086] The above-mentioned device embodiment provided in this embodiment belongs to the same application concept as the method embodiment of this application, and can execute the automatic additive repair method provided in any of the above-mentioned embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the automatic additive repair method. For technical details not fully described in this embodiment, please refer to the specific processing content of the automatic additive repair method provided in the above-mentioned embodiments of this application, and will not be repeated here.

[0087] It should be understood that the units in the above devices can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device, wherein the processor can be a general-purpose processor, such as a CPU or a microprocessor, etc., and the memory can be a memory in the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD, taking FPGA as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by the configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be implemented in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the remaining part is implemented in the form of hardware circuits.

[0088] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0089] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0090] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a SOC. The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0091] The present application also provides an electronic device, such as Figure 4 As shown, Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0092] like Figure 4 As shown, the electronic device comprises:

[0093] Processor 210;

[0094] A memory 200 for storing instructions executable by the processor 210;

[0095] The processor 210 is used to execute the automatic additive repair method disclosed in any of the above embodiments by running the instructions in the memory 200.

[0096] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are connected to each other via a bus.

[0097] A bus may include a pathway that transfers information between components of a computer system.

[0098] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0099] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0100] The memory 200 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 200 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0101] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a touch screen, etc.

[0102] Output device 240 may include a device that allows information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0103] The communication interface 220 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0104] The processor 210 executes the program stored in the memory 200 and calls other devices, and can be used to implement each step of any automatic additive repair method provided in the above embodiments of the present application.

[0105] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to perform the steps in the automatic additive repair method of various embodiments of the present application.

[0106] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0107] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps in the automatic additive repair method of various embodiments of the present application.

[0108] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0109] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0110] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0111] The modules and sub-modules in the devices and terminals in the various embodiments of the present application can be combined, divided and deleted according to actual needs.

[0112] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0113] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0115] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0117] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0118] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic additive repair method, characterized in that: Applications in additive repair systems, including: Matching the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system; Obtaining an image of the workpiece to be repaired taken by the visual unit, and obtaining a three-dimensional model of the area to be repaired of the workpiece to be repaired, wherein the workpiece to be repaired is placed at any position in the matched visual coordinate system; Inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired; The workpiece to be repaired is repaired based on the repair coordinate system and the three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired.

2. The method according to claim 1, characterized in that The step of matching the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system includes: Determine a first origin position, a first X-axis direction or a first Y-axis direction of the visual coordinate system; Determine a second origin position, a second X-axis direction or a second Y-axis direction of the repair coordinate system; Aligning the first origin position with the second origin position, and aligning the first X-axis direction with the second X-axis direction and / or aligning the first Y-axis direction with the second Y-axis direction; The scale of the visual coordinate system is aligned with the scale of the restoration coordinate system.

3. The method according to claim 1, characterized in that The step of inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired comprises: Inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, so as to determine the coordinates of the area to be repaired in the image of the workpiece to be repaired in the repair coordinate system through the three-dimensional slicing software; The three-dimensional model is matched to the coordinates of the area to be repaired in the repair coordinate system.

4. The method according to claim 1, characterized in that: The repairing of the workpiece to be repaired based on the repair coordinate system and the three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired comprises: generating a generation path of the area to be repaired based on the repair coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired; The workpiece to be repaired is repaired based on the generated path of the area to be repaired.

5. The method according to claim 1, characterized in that: The additive repair system includes: a printing robot or a printing laser head for repairing the workpiece to be repaired, and the visual unit is installed on the printing robot or the printing laser head.

6. An automatic additive repair device, characterized in that: include: A coordinate system matching unit, used to match the visual coordinate system of the visual unit of the additive repair system with the repair coordinate system of the repair unit to obtain a matched visual coordinate system; an acquisition unit, used to obtain an image of the workpiece to be repaired taken by the visual unit, and to obtain a three-dimensional model of the area to be repaired of the workpiece to be repaired, wherein the workpiece to be repaired is placed at any position in the matched visual coordinate system; A model matching unit, used for inputting the image of the workpiece to be repaired and the three-dimensional model into the three-dimensional slicing software of the repair unit, and matching the three-dimensional model to the area to be repaired of the image of the workpiece to be repaired; A repairing unit is used to repair the workpiece to be repaired based on the repairing coordinate system and a three-dimensional model of the area to be repaired that matches the image of the workpiece to be repaired.

7. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the automatic additive repair method described in any one of claims 1 to 5 by running the instructions in the memory.

8. A computer storage medium, characterized in that: The computer storage medium stores instructions, and when the instructions are executed, the automatic additive repair method according to any one of claims 1 to 5 is implemented.

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