Composite manufacturing contour grinding allowance detection method and system based on point cloud matching

Abstract

The invention belongs to the technical field of additive manufacturing, and particularly discloses a composite manufacturing contour grinding allowance detection method and system based on point cloud matching, and the method comprises the following steps: obtaining external contour data of a printed workpiece, and generating a grinding path curve based on the external contour data by using a contour line method; dispersing the grinding path curve to obtain a plurality of discrete points; discretizing the digital model of the printed workpiece into point cloud data, and aligning the point cloud data with the external contour data based on a preset anchor point; sorting the external contour data and generating a triangular mesh model; obtaining an intersection point of a normal extension line of each discrete point and a corresponding triangular sub-patch in the triangular mesh model; and taking a Cartesian space distance value between the discrete point and the corresponding intersection point as a grinding allowance value. By means of the method and device, the effect of accurately estimating the grinding allowance value needed for completing the in-situ grinding task can be achieved.

Description

Technical Field

[0001] This application belongs to the technical field of additive manufacturing, and more specifically, relates to a method and system for detecting the grinding allowance of a composite manufacturing profile based on point cloud matching. Background Art

[0002] The laser directed energy deposition technology performs additive manufacturing in a layer-by-layer stacking manner. During this process, the material melts, accumulates, and cools to form a shape. Its surface topography often has macroscopic or microscopic deviations from the theoretical digital model, resulting in difficulties in meeting the usage requirements for the machining accuracy and surface quality of the machined parts. The composite manufacturing technology integrates additive and subtractive manufacturing processes, not only eliminating the machining tolerances caused by layer manufacturing but also being more conducive to ensuring the excellent surface quality. During the composite manufacturing process, since the additive and subtractive manufacturing equipment is on the same machining platform, this architecture is more conducive to unifying the coordinate systems in the machining system. Based on the spatial transformation relationship between multiple coordinate systems, it is transformed into the same reference coordinate system, so that the subtractive process can accurately remove the remaining material according to the measured topography of the part after additive manufacturing, forming a multi-process, same-model, composite manufacturing platform integrating "additive manufacturing - visual measurement - allowance calculation - subtractive machining - result analysis". However, currently, there is no detection method that can quickly perform mathematical mapping of data under multiple machining coordinate systems based on the reference coordinate system and accurately estimate the grinding allowance required to complete the in-situ grinding task to achieve the digitization of the entire station's machining data and status. Summary of the Invention

[0003] Aiming at the defects of the prior art, the purpose of this application is to provide a method and system for detecting the grinding allowance of a composite manufacturing profile based on point cloud matching, aiming to solve the problem that it is impossible to obtain the accurate grinding allowance required for in-situ grinding during the existing additive and subtractive composite manufacturing process.

[0004] To achieve the above purpose, in the first aspect, this application provides a method for detecting the grinding allowance of a composite manufacturing profile based on point cloud matching, including the following steps: S1 Obtain the external contour data of the printed workpiece, and based on the external contour data, use the contour line method to generate a grinding path curve; S2 Discretize the grinding path curve to obtain a plurality of discrete points; discretize the digital model of the printed workpiece into point cloud data; S3 Align the point cloud data with the external contour data based on a preset anchor point; sort the external contour data and generate a triangular mesh model; S4 Obtain the intersection points of the normal extension lines of each discrete point and the corresponding triangular sub-patches in the triangular mesh model; obtain the Cartesian space distance value between each discrete point and the corresponding intersection point as the grinding allowance value.

[0005] This application can realize fast mathematical mapping of point cloud data in multiple processing coordinate systems based on the reference coordinate system, and accurately estimate the grinding allowance value required to complete the in-situ grinding task, thereby realizing the digitization of the processing data and status of the entire station.

[0006] Furthermore, in step S1, a line laser vision module is used to scan and measure the external contour data of the printed workpiece in an external triggering manner.

[0007] Furthermore, in step S1, the step of generating a grinding path curve using a contour line method includes: S101 discretizes the standard geometric model of the printed part into a tetrahedral finite element model by using a triangulation method; S102 calculates the height values ​​of the triangle vertices in the tetrahedron finite element model to obtain the contour line positions; S103 connects all contour line positions in sequence according to the printed path topology structure to obtain a grinding path curve.

[0008] Furthermore, the distances between adjacent path points in the grinding path curve are the same.

[0009] Furthermore, in step S2, the grinding path curve is discretized using an equidistant discretization method.

[0010] Furthermore, the spacing between adjacent discrete points is equal to the diameter of the laser cladding head outlet. .

[0011] Furthermore, in step S3, the point cloud data and the external contour data are first filtered to have the same number of point clouds, and then the filtered point cloud data and the external contour data are aligned.

[0012] Furthermore, the coordinate system direction of the preset anchor point is consistent with the coordinate system direction of each processing robot used in the composite manufacturing process, and the coordinate system position of the preset anchor point is the same as the coordinate system position of the workpiece to be printed.

[0013] Furthermore, the method for sorting the external contour data is: constructing a KD-tree based on the external contour data, and recursively traversing the KD-tree to sort the external contour data.

[0014] In a second aspect, the present application provides a system for implementing the aforementioned composite manufacturing contour grinding allowance detection method based on point cloud matching, comprising: A grinding path curve acquisition module is used to acquire the external contour data of the printed workpiece, and generate a grinding path curve based on the external contour data using a contour line method; A discrete processing module, configured to discretize the grinding path curve to obtain a plurality of discrete points; and further configured to discretize the digital model of the printed workpiece into point cloud data; A triangular mesh model generation module, configured to align the point cloud data with the external contour data based on a preset anchor point, sort the external contour data, and generate a triangular mesh model; A grinding allowance acquisition module, configured to obtain the intersection points of the normal extension lines of the discrete points and the corresponding triangular sub-patches in the triangular mesh model; and further configured to obtain the Cartesian space distance value between the discrete points and the intersection points as the grinding allowance value.

[0015] In a third aspect, the present application provides a computer-readable storage medium storing a computer program, which when running on a processor causes the processor to execute the method described in the first aspect or any possible implementation manner of the first aspect.

[0016] In a fourth aspect, the present application provides a computer program product, which when running on a processor causes the processor to execute the method described in the first aspect or any possible implementation manner of the first aspect.

[0017] It can be understood that the beneficial effects of the above second aspect to the fourth aspect can refer to the relevant descriptions in the first aspect above, and will not be elaborated here.

[0018] Generally speaking, compared with the prior art, the above technical solution conceived by the present application has the following beneficial effects: (1) The measurement method provided by the present application online measures the external contour data of the printed workpiece, aligns the point cloud data after discretizing the digital model of the printed workpiece in the composite manufacturing platform with the measured external contour data, and then calculates the removal allowance of the part surface contour in the subtractive manufacturing process. By realizing the fast mathematical mapping of data under multiple machining coordinate systems based on the reference coordinate system, and accurately estimating the removal allowance required to complete the in-situ grinding task, the digitization of the whole station processing data and status is realized.

[0019] (2) By introducing the three-dimensional vision online measurement technology, the measurement method provided by the present application breaks through the limitations of traditional offline detection, can obtain the three-dimensional surface topography data of the workpiece in real time during the grinding process, and quickly calculate the deviation between the actual contour of the printed workpiece and the theoretical model in combination with the reference coordinate system, dynamically optimizing key parameters such as the grinding path and cutting depth, and avoiding over-cutting or under-cutting problems.

[0020] (3) In the measurement method provided by this application, an anchor point with the same coordinate system direction as that of each processing robot on the composite manufacturing platform is pre-determined, and the coordinate system of this anchor point is in the same position as the coordinate system of the printed workpiece, making the entire reference coordinate system stable. This kind of stability can avoid the error of the composite manufacturing platform in tooling positioning. Even if the workpiece undergoes a micro-displacement during the processing, the processing path can be quickly corrected through coordinate system mapping, thereby significantly improving the adaptability to fluctuations in the processing environment.

[0021] (4) The measurement method provided by this application constructs a digital closed loop of "measurement - analysis - processing - re-measurement" through mathematical modeling of the total station data. The composite manufacturing platform can automatically generate a combination of process parameters, greatly reducing manual intervention, and is especially suitable for the processing of parts with complex curved surfaces or high-precision requirements. Description of the Drawings

[0022] Figure 1 is a schematic flow chart of the composite manufacturing profile grinding allowance detection method based on point cloud matching provided by an embodiment of this application; Figure 2 is a schematic position diagram of a multi-robot composite processing system and an anchor point provided by an embodiment of this application; Figure 3 is a schematic position diagram of a tetrahedron finite element model and equal height points provided by an embodiment of this application; Figure 4 is a schematic diagram of the calculation principle of the grinding allowance provided by an embodiment of this application; Figure 5 is a schematic structural diagram of an electronic device provided by an embodiment of this application. Detailed Embodiments

[0023] In order to make the purpose, technical solutions and advantages of this application clearer, the following further details this application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0024] The term "and / or" in this article is 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 simultaneously, and B exists alone. The symbol " / " in this article represents an "or" relationship between associated objects. For example, A / B represents A or B.

[0025] The terms "first" and "second" etc. in the specification and claims of this article are used to distinguish different objects, rather than to describe the specific order of the objects. For example, the first response message and the second response message etc. are used to distinguish different response messages, rather than to describe the specific order of the response messages.

[0026] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0027] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" refers to two or more. For example, a plurality of processing units refers to two or more processing units, etc.; a plurality of elements refers to two or more elements, etc.

[0028] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0029] This embodiment provides a method for detecting the grinding allowance of a composite manufacturing profile based on point cloud matching, as Figure 1 shown, including the following steps: S1 Obtain the external contour data of the printed workpiece, and based on the external contour data, generate a grinding path curve using the contour line method; S2 Discretize the grinding path curve to obtain a plurality of discrete points; discretize the digital model of the printed workpiece into point cloud data; S3 Align the point cloud data with the external contour data based on a preset anchor point; sort the external contour data and generate a triangular mesh model; S4 Obtain the intersection points of the normal extension lines of each discrete point and the corresponding triangular sub-patches in the triangular mesh model; obtain the Cartesian space distance value between each discrete point and the corresponding intersection point as the grinding allowance value.

[0030] Specifically, as Figure 2 shown, before step S1, a preset anchor point (i.e., the anchor point in the figure) is selected in the coordinate system where the digital model of the printed workpiece is located. The coordinate system direction of the preset anchor point is the same as the coordinate system directions of each processing robot used in the composite manufacturing process, and the coordinate system position of the preset anchor point is the same as the coordinate system position of the workpiece to be printed, so as to achieve coordinate system unification.

[0031] Install the line laser vision system at the end position of each processing robot arm, and use the external trigger method to synchronously measure the printed workpiece to obtain the external contour of the printed part. In step S1, use the line laser vision module to scan and measure the external contour data of the printed workpiece in the external trigger mode, that is, through the preset anchor points or calibration targets, unify the global coordinate systems of the line laser vision module, the processing robot coordinate system and the workpiece digital model. When the scanning end of the line laser vision module reaches the target position, the external controller (such as PLC) sends a pulse signal to trigger the line laser vision module to perform a single data acquisition. The scanning speed in the scanning parameters is preferably 8 mm / s , where: The calculation method of the scanning length L each time during scanning is: (1) In the formula, is Y the distance between direction points, N is the number of acquisitions, V is the scanning speed, F is the sensor scanning frame rate, T is the period.

[0032] In step S1, the steps of generating the grinding path curve by using the contour line method include: S101 uses the triangulation method to discretize the standard geometric model of the printed part into a tetrahedral finite element model.

[0033] Specifically, first obtain the standard geometric model: ensure that the geometric model of the printed part exists in a common format (such as STL, IGES, etc.). The STL format is a commonly used format in 3D printing, which represents the surface of an object as a series of triangles. Then perform necessary preprocessing on the geometric model, such as repairing topological errors (such as non-manifold edges, overlapping faces, etc.) in the model to ensure the integrity and accuracy of the model. For the surface of a 3D model, the Delaunay triangulation algorithm can be used for triangulation. Delaunay triangulation is a commonly used algorithm that can generate high-quality triangular meshes. For example, the scipy.spatial.Delaunay function in Python can be used to triangulate a point set.

[0034] After completing the surface triangulation, it is necessary to extend the surface mesh to the inside to generate a tetrahedral mesh. Specialized mesh generation tools (such as Gmsh, TetGen) can be used. These tools can generate internal tetrahedral elements based on the surface mesh.

[0035] Finally, mesh optimization is performed, that is, the quality of the generated tetrahedral mesh is checked, including the shape, size, and angle of the elements, etc. Low-quality elements may affect the accuracy of finite element analysis. Therefore, it is necessary to optimize and adjust the elements that do not meet the quality standards. Specifically, mesh optimization algorithms such as node smoothing and edge flipping can be used to improve the accuracy of finite element analysis.

[0036] According to the material properties of the printed parts, corresponding material properties, loads, and boundary conditions are assigned to each tetrahedral element, a finite element model file is generated, and finally, information such as the discretized tetrahedral mesh, material properties, loads, and boundary conditions is saved in a format recognizable by finite element analysis software (such as ABAQUS and ANSYS).

[0037] S102 Calculate the height values of the triangle vertices in the tetrahedral finite element model to obtain the contour positions (i.e., contour points).

[0038] The specific calculation method is exemplified as follows: Take the i vertices of the tetrahedral finite element model and judge the height of each vertex h i and the set height value h respectively. As Figure 3 shown, take the three vertices 1, 2, and 3 in the figure. If the heights corresponding to the 3 vertices h 1 , h 2 、h 3 are all greater than h , or h 1 , h 2 、h 3 are all less than h , then the contour line does not pass through this triangle; if h 1 , h 2 are all greater than h , h 3 is less than h , then the contour line passes through the contour point between line segment L 13 and line segment L 23 ; if , then the contour line passes through the contour point between line segment L 12 , line segment L 23 .

[0039] S103 Connect all the contour positions in sequence according to the printed path topology to obtain the grinding path curve.

[0040] Starting from the position of the bottom contour line, connect the positions of each layer of contour lines upwards in sequence. For the contour lines of adjacent layers, connection points can be found through interpolation or fitting methods to ensure the continuity of the path. Optimize the connected path to ensure its smoothness and continuity. Curve fitting methods such as Bezier curves or spline curves can be used to smooth the path to obtain the grinding path curve. And the distance between adjacent path points in the grinding path curve is the same.

[0041] In step S2, the grinding path curve is discretized using an equidistant discretization method. In a preferred embodiment, the distance between adjacent discrete points is , which can significantly improve the machining accuracy, cladding quality, material utilization rate and surface performance, while reducing the heat affected zone and machining cost.

[0042] In step S3, first, the point cloud data and the external contour data are respectively filtered to make the number of points in the point cloud approximately the same, and then the filtered point cloud data and the external contour data are aligned. The filtering method is as follows: For example, using Gaussian filtering to smooth the point cloud data can effectively reduce noise and make the data cleaner; or performing median filtering on the point cloud data can remove outliers and maintain the overall characteristics of the data. After filtering, downsampling is also performed according to the distance between points in the point cloud data, etc., retaining key points and removing redundant points. The alignment of the point cloud data and the external contour data can be achieved through the above methods or similar methods.

[0043] In step S3, the method for sorting the external contour data is: constructing a KD-tree based on the external contour data and recursively traversing the KD-tree to achieve the sorting of the external contour data.

[0044] The KD-tree is a variant of the binary search tree. Each node represents a point in a k-dimensional space and divides the space into two half-spaces. By recursively dividing the space, the KD-tree can effectively organize and store data points in a high-dimensional space.

[0045] The construction process is as follows: 1) Select the division dimension: Usually, it is selected in sequence according to the dimension order. For example, in a two-dimensional space, first divide by the x-axis, then divide by the y-axis, and then loop.

[0046] 2) Select the division point: Find the median of the data points in the selected dimension and use it as the current node.

[0047] 3) Divide the space: Using the current node as a reference, divide the space into two half-spaces. Points smaller than the median form the left subtree, and points larger than the median form the right subtree.

[0048] 4) Recursive construction: Repeat the above steps for the left and right subtrees respectively until there are no data points or only one data point left in the subtree, at which point the KD-tree construction is completed.

[0049] The search process is as follows: 1) Nearest neighbor search: Starting from the root node, according to the value of the query point in the current partitioning dimension, decide whether to search in the left subtree or the right subtree until reaching the leaf node. Then backtrack to check if there are closer points in other subtrees.

[0050] 2) Range search: Starting from the root node, determine whether the current node is within the query range. If it is within the range, add the node to the result set and recursively traverse the subtree.

[0051] After sorting the external contour data and generating the triangular mesh model according to the foregoing steps, as Figure 4 shown, in step S4, obtain the intersection points of the normal extension lines of each discrete point and the corresponding triangular sub-patches in the triangular mesh model, and then obtain the Cartesian space distance values between each discrete point and the corresponding intersection points as the required grinding allowance values. The calculation of the Cartesian space distance values is a conventional calculation method in the technical field of the present application. For example, the coordinate values of the discrete point and the corresponding intersection point can be obtained, and then the Euclidean formula is introduced for calculation. This application will not elaborate further. The final obtained Cartesian space distance values corresponding to all discrete points form a set of grinding allowance values, and subsequent grinding can be accurately performed along the grinding path curve based on these grinding allowance values.

[0052] In another embodiment, there is also provided a system for implementing the foregoing method for detecting the grinding allowance of a composite manufacturing profile based on point cloud matching. The system includes: A grinding path curve acquisition module, configured to acquire the external contour data of a printed workpiece and generate a grinding path curve by using the contour line method based on the external contour data; A discrete processing module, configured to discretize the grinding path curve to obtain a plurality of discrete points; and also configured to discretize the digital model of the printed workpiece into point cloud data; A triangular mesh model generation module, configured to align the point cloud data with the external contour data based on a preset anchor point, and sort and generate a triangular mesh model for the external contour data; A grinding allowance acquisition module, configured to obtain the intersection points of the normal extension lines of the discrete points and the corresponding triangular sub-patches in the triangular mesh model; and also configured to obtain the Cartesian space distance values between the discrete points and the intersection points as the grinding allowance values.

[0053] It can be understood that the detailed function implementations of the above-mentioned various units / modules can be referred to the descriptions in the foregoing method embodiments, and will not be elaborated here.

[0054] It should be understood that the above device is used to execute the method in the above embodiment. For the corresponding program modules in the device, their implementation principles and technical effects are similar to those described in the above method. The working process of the device can refer to the corresponding process in the above method, which will not be elaborated here.

[0055] Based on the method in the above embodiment, an embodiment of the present application provides an electronic device, which may include: a processor 410, a communications interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communications interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the logical instructions in the memory 430 to execute the method in the above embodiment.

[0056] In addition, when the logical instructions in the above memory 430 are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0057] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program runs on a processor, the processor is caused to execute the method in the above embodiment.

[0058] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor is caused to execute the method in the above embodiment.

[0059] It can be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0060] The method steps in the embodiments of the present application may be implemented in a hardware manner or by a processor executing software instructions. The software instructions may be composed of corresponding software modules, and the software modules may be stored in a random access memory (RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, hard disks, removable hard disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may be located in an ASIC.

[0061] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)), etc.

[0062] It can be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0063] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A composite manufacturing contour grinding allowance detection method based on point cloud matching, characterized in that: The following steps are involved: S1 acquires external contour data of a printed workpiece, and generates a grinding path curve based on the external contour data using a contour line method; S2 discretizes the grinding path curve to obtain a plurality of discrete points; discretizing the digital model of the printed workpiece into point cloud data; S3 aligns the point cloud data with the external contour data based on a preset anchor point; Sorting the external contour data and generating a triangular mesh model; S4 obtains the intersection of the normal extension line of each discrete point and the corresponding triangular sub-face in the triangular mesh model; obtains the Cartesian space distance value between each discrete point and the corresponding intersection point as the grinding allowance value.

2. The composite manufacturing contour grinding allowance detection method based on point cloud matching according to claim 1 is characterized in that: In step S1, a line laser vision module is used to scan and measure the external contour data of the printed workpiece in an external triggering manner.

3. The composite manufacturing contour grinding allowance detection method based on point cloud matching according to claim 1, wherein in step S1, the step of generating a grinding path curve using a contour line method comprises: S101 discretizes the standard geometric model of the printed part into a tetrahedral finite element model by using a triangulation method; S102 calculates the height values ​​of the triangle vertices in the tetrahedron finite element model to obtain the contour line positions; S103 connects all contour line positions in sequence according to the printed path topology structure to obtain a grinding path curve.

4. The composite manufacturing contour grinding allowance detection method based on point cloud matching according to claim 1, characterized in that: The distances between adjacent path points in the grinding path curve are the same.

5. The composite manufacturing contour grinding allowance detection method based on point cloud matching according to claim 1, characterized in that: In step S2, the grinding path curve is discretized using an equidistant discretization method.

6. The composite manufacturing contour grinding allowance detection method based on point cloud matching according to claim 5, characterized in that: The distance between adjacent discrete points is the diameter of the laser cladding head outlet. .

7. The composite manufacturing contour grinding allowance detection method based on point cloud matching according to claim 1, characterized in that: In step S3, the point cloud data and the external contour data are first filtered and processed until the number of point clouds is the same, and then the filtered point cloud data and the external contour data are aligned; and / or, the coordinate system direction of the preset anchor point is consistent with the coordinate system direction of each processing robot used in the composite manufacturing process, and the coordinate system position of the preset anchor point is the same as the coordinate system position of the workpiece to be printed.

8. A system for implementing the composite manufacturing contour grinding allowance detection method based on point cloud matching as described in any one of claims 1 to 7, characterized in that: include: A grinding path curve acquisition module is used to acquire the external contour data of the printed workpiece, and generate a grinding path curve based on the external contour data using a contour line method; A discrete processing module, used for discretizing the grinding path curve to obtain a plurality of discrete points; and also used for discretizing the digital model of the printed workpiece into point cloud data; A triangular mesh model generation module, used to align the point cloud data with the external contour data based on a preset anchor point, sort the external contour data and generate a triangular mesh model; The grinding allowance acquisition module is used to obtain the intersection of the normal extension line of the discrete point and the corresponding triangle sub-face in the triangle mesh model; and is also used to obtain the Cartesian space distance value between the discrete point and the intersection as the grinding allowance value.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor is enabled to execute the grinding allowance detection method according to any one of claims 1 to 7.

10. A computer program product, characterized in that When the computer program product runs on a processor, the processor is enabled to execute the grinding allowance detection method according to any one of claims 1 to 7.

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