Workpiece thermal spraying method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a workpiece thermal spraying method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a moving path of a to-be-sprayed target workpiece in the thermal spraying process of a fixed spray gun; and in the process that the target workpiece moves along the moving path, temperature data of the target workpiece are obtained, the moving path is adjusted according to the temperature data, so that the target workpiece continues to move along the adjusted moving path, and the fixed spray gun continues to conduct thermal spraying on the target workpiece. According to the technical scheme of the embodiment of the invention, the problem of non-uniform spraying of the thermal spraying workpiece is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of control technology, and in particular, to a workpiece thermal spraying method, device, electronic device, and storage medium. Background Art

[0002] In the field of high-end equipment manufacturing, thermal spraying technology, as a key surface treatment process, is widely used in the preparation of protective coatings for complex workpieces such as aero-engine blades and nuclear power reactor components.

[0003] However, the current thermal spraying workpiece solution has the problem of uneven spraying, which urgently needs to be solved. Summary of the Invention

[0004] The embodiments of the present invention provide a workpiece thermal spraying method, device, electronic device, and storage medium, which solve the problem of uneven spraying of thermal spraying workpieces.

[0005] According to one aspect of the present invention, a workpiece thermal spraying method is provided, which may include:

[0006] Determine the movement path of the target workpiece to be sprayed during the thermal spraying process by a fixed spray gun;

[0007] During the movement of the target workpiece along the movement path, obtain the temperature data of the target workpiece, and adjust the movement path according to the temperature data, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to thermally spray the target workpiece.

[0008] According to another aspect of the present invention, a workpiece thermal spraying device is provided, which may include:

[0009] A movement path determination module, configured to determine the movement path of the target workpiece to be sprayed during the thermal spraying process by a fixed spray gun;

[0010] A movement path adjustment module, configured to obtain the temperature data of the target workpiece during the movement of the target workpiece along the movement path, and adjust the movement path according to the temperature data, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to thermally spray the target workpiece.

[0011] According to another aspect of the present invention, an electronic device is provided, which may include:

[0012] At least one processor; and

[0013] A memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by at least one processor. When the computer program is executed by the at least one processor, the at least one processor is caused to implement the workpiece thermal spraying method provided by any embodiment of the present invention when executed.

[0015] According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer instructions for causing a processor to implement the workpiece thermal spraying method provided by any embodiment of the present invention when executed.

[0016] In the technical solution of the embodiment of the present invention, the movement path of the target workpiece to be sprayed during the thermal spraying by the fixed spray gun is determined, so that the target workpiece is thermally sprayed by the fixed spray gun during the movement along the movement path. Then, during the movement of the target workpiece along the movement path, the temperature data of the target workpiece is acquired, and according to the temperature data, the movement path is adjusted, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to thermally spray the target workpiece, so as to realize the adjustment of the movement path during the thermal spraying of the workpiece. In the above technical solution, by adjusting the movement path according to the temperature data, the adjusted movement path can be suitable for the thermal spraying of the target workpiece deformed due to temperature change, thereby solving the problem of uneven spraying of the thermally sprayed workpiece.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a flowchart of a workpiece thermal spraying method provided by an embodiment of the present invention;

[0020] Figure 2 is a flowchart of another workpiece thermal spraying method provided by an embodiment of the present invention;

[0021] Figure 3 is a flowchart of an optional example in another workpiece thermal spraying method provided by an embodiment of the present invention;

[0022] Figure 4 is a flowchart of another optional example in another workpiece thermal spraying method provided by an embodiment of the present invention;

[0023] Figure 5 is a structural block diagram of a workpiece thermal spraying device provided according to an embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of an electronic device for implementing the workpiece thermal spraying method according to an embodiment of the present invention. Detailed implementation manners

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The same is true for "target", "original", etc., which will not be elaborated herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Before introducing the embodiments of the present invention, an exemplary explanation will be given to the reason why the current solution for thermal spraying workpieces has the problem of uneven spraying, so as to better understand the reason why the solution proposed in the embodiments of the present invention solves the problem of uneven spraying of thermal spraying workpieces.

[0028] The temperature of thermal spraying is usually high-temperature spraying, and the spraying temperature can even reach above 3000 degrees Celsius. Therefore, high-temperature thermal spraying may cause thermal deformation of the target workpiece. For example, the thermal deformation can reach 0.15 mm / 100 °C or the local thermal expansion displacement exceeds 50 μm. If the deformed target workpiece moves along the movement path determined for the undeformed target workpiece and the fixed spray gun continues to perform thermal spraying on the target workpiece, it may cause problems such as uneven spraying, for example, the coating sprayed on the area of the target workpiece that was once at a higher temperature is thicker after cooling. Therefore, the current solution for thermal spraying workpieces has the problem of uneven spraying.

[0029] In view of this, in the embodiments of the present invention, the movement path is adjusted according to temperature data, so that the adjusted movement path can be applicable to the thermal spraying of a target workpiece deformed due to temperature change, thereby solving the problem of uneven spraying of the thermal spraying workpiece. The following will elaborate on this in detail.

[0030] Figure 1 FIG. 4 is a flowchart of a workpiece thermal spraying method provided in an embodiment of the present invention. This embodiment is applicable to the case of workpiece thermal spraying. This method can be executed by a workpiece thermal spraying device provided in an embodiment of the present invention. The device can be implemented in a software and / or hardware manner. The device can be integrated on an electronic device, and the electronic device can be various user terminals or servers.

[0031] See Figure 1 , the method of the embodiment of the present invention specifically includes the following steps:

[0032] S110. Determine the movement path during the thermal spraying of a target workpiece to be sprayed by a fixed spray gun.

[0033] Among them, the target workpiece can be understood as the workpiece to be thermally sprayed; the target workpiece can be, for example, a special-shaped part such as an aeroengine blade or a rocket nozzle, anti-corrosion of a nuclear power spent fuel tank, a gas turbine, a battery housing of a new energy vehicle, or an artificial joint, etc. Correspondingly, the thermal spraying of the target workpiece can be the spraying of a special-shaped part such as an aeroengine blade or a rocket nozzle, the spraying of an anti-corrosion coating on a nuclear power spent fuel tank, the spraying of a thermal barrier coating on a gas turbine, the spraying of a protective coating on a battery housing of a new energy vehicle, or the spraying of a wear-resistant coating on an artificial joint, etc.

[0034] The fixed spray gun can be understood as a spray gun with a fixed position for thermally spraying the target workpiece.

[0035] The movement path can be understood as the path along which the target workpiece moves; the movement path can include at least one of a movement trajectory and a workpiece pose.

[0036] In the embodiment of the present invention, the movement path can be determined. For example, in the case where the clamping mechanism can be controlled to move along the movement path by controlling a robotic arm, the movement path can be determined by a time-optimal cubic spline interpolation algorithm, where the time-optimal cubic spline interpolation algorithm needs to satisfy the acceleration constraint where q i is the acceleration of the joint angle of the robotic arm, T j is the acceleration of the joint torque of the robotic arm, and T max is the maximum acceleration allowed for the joint torque; for another example, the movement path can be determined by integrating a process database through a process parameter recommendation system built with a random forest machine learning model; and so on.

[0037] In an embodiment of the present invention, a spray gun vector of a fixed spray gun can be obtained, and a point cloud model of a target workpiece can be determined. According to the spray gun vector and the point cloud model, a movement path can be determined. It should be noted that before determining the movement path according to the spray gun vector and the point cloud model, calibration methods such as an Eye-to-Hand calibration method with a calibration residual < 0.03 mm can be used to calibrate the spray gun coordinate system where the spray gun vector is located and the point cloud coordinate system where the point cloud model is located, and a calibration result can be obtained, so as to achieve coordinate unification of the spray gun vector and the point cloud model when determining the movement path. That is, determining the movement path according to the spray gun vector and the point cloud model can include: determining the movement path according to the calibration result, the spray gun vector, and the point cloud model.

[0038] S120. During the process of the target workpiece moving along the movement path, temperature data of the target workpiece is obtained, and the movement path is adjusted according to the temperature data, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to perform thermal spraying on the target workpiece.

[0039] Wherein, the temperature data is data of the temperature of the target workpiece, and the temperature data can also be data of the temperature within a preset space range of the target workpiece, and the temperature can also be data of the temperature of the target workpiece and / or the clamping mechanism clamping the target workpiece.

[0040] In an embodiment of the present invention, during the process of the target workpiece moving along the movement path, temperature data can be obtained, and the movement path can be adjusted according to the temperature data, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to perform thermal spraying on the target workpiece.

[0041] Exemplarily, when the temperature data indicates that there is a high-temperature area on the target workpiece with a temperature greater than the preset temperature and not yet sprayed, a high-temperature sub-path for spraying the high-temperature area can be determined from the movement path, and the high-temperature sub-path can be adjusted. For example, the high-temperature sub-path can be adjusted according to the difference between the temperature of the high-temperature area and the preset temperature; and / or when the temperature data indicates that there is a low-temperature area on the target workpiece that is a super-high-temperature area, with a temperature less than or equal to the preset temperature and not yet sprayed, a low-temperature sub-path for spraying the low-temperature area can be determined from the movement path, and the low-temperature sub-path can be adjusted. For example, the low-temperature sub-path can be adjusted according to the difference between the temperature of the low-temperature area and the preset temperature.

[0042] In an embodiment of the present invention, during the process of the target workpiece moving along the movement path, temperature data can be collected in real time or periodically to obtain temperature data in real time or periodically, so that the movement path can be adjusted in real time or periodically.

[0043] In an embodiment of the present invention, infrared temperature measurement can be performed on a target workpiece by an infrared temperature measurement device. The infrared temperature measurement device may include, for example, a dual-band infrared sensor (3-5 μm and 8-12 μm) and a laser positioning spot. The sampling rate of the infrared temperature measurement device can be 50-100 Hz, and the temperature measurement range of the infrared temperature measurement device can be 300-1600 °C, so that the infrared temperature measurement device is more suitable for the thermal spraying scenario of the embodiment of the present invention.

[0044] In an embodiment of the present invention, before or after adjusting the movement path according to the temperature data, the movement path can also be dynamically adjusted according to the Lyapunov stability theory according to the formula to adjust the movement path, where V(e) is the Lyapunov function, which can describe the energy of the system state, e is the trajectory tracking error, P is a positive definite symmetric matrix, and λ>0, where λ is used to represent the attenuation rate.

[0045] In an embodiment of the present invention, a three-dimensional (3D) visualization operation platform based on Qt can be developed to support gesture control for adjusting the movement path of the thermal spraying of the target workpiece or the pose of the target workpiece, etc., and augmented reality (AR) preview of the thermal spraying scenario or movement path of the target workpiece, etc.

[0046] The solution of the embodiment of the present invention can not only solve the problem of uneven spraying of the thermal spraying workpiece and reduce the spraying error by 72%, but also can realize the autonomous optimization of the movement path compared with the related solutions that cannot autonomously optimize the movement path. Moreover, compared with the spraying of asymmetric parts such as spacecraft fuel nozzles that require manual intervention up to 3-5 times per part and cause a production efficiency loss of about 30%, it can reduce the manual debugging time by 80% and avoid frequent manual optimization, thereby improving the production efficiency.

[0047] In an embodiment of the present invention, it can also be to determine the movement path during the thermal spraying of a fixed target workpiece to be sprayed by a movable spray gun; during the movement of the spray gun along the movement path, obtain the temperature data of the target workpiece, and adjust the movement path according to the temperature data, so that the spray gun continues to move along the adjusted movement path and continues to thermally spray the target workpiece.

[0048] In the technical solution of the embodiment of the present invention, the movement path of the target workpiece to be thermally sprayed during the thermal spraying by the fixed spray gun is determined, so that the target workpiece can be thermally sprayed by the fixed spray gun during the movement along the movement path. Then, during the movement of the target workpiece along the movement path, the temperature data of the target workpiece is acquired, and according to the temperature data, the movement path is adjusted, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to thermally spray the target workpiece, so as to realize the adjustment of the movement path during the thermal spraying of the workpiece. In the above technical solution, according to the temperature data, the movement path is adjusted, so that the adjusted movement path can be applicable to the thermal spraying of the target workpiece deformed due to temperature change, thereby solving the problem of uneven spraying of the thermally sprayed workpiece.

[0049] An alternative technical solution is to adjust the movement path according to the temperature data, including: calling a thermal field prediction model to use the thermal field prediction model to predict the workpiece thermal field of the target workpiece according to the temperature data; adjusting the movement path according to the workpiece thermal field.

[0050] Among them, the thermal field prediction model can be understood as a model for predicting the thermal field of the target workpiece.

[0051] The workpiece thermal field can be understood as the thermal field of the target workpiece. The workpiece thermal field can also be the thermal field within a preset space range including the target workpiece, or the thermal field of the target workpiece and / or the clamping mechanism; the workpiece thermal field can be the predicted thermal field at the current moment, or the predicted thermal field after a preset time period after the current moment, and so on.

[0052] In the embodiment of the present invention, a thermal field prediction model can be called to use the thermal field prediction model to predict the workpiece thermal field according to the temperature data. For example, the temperature data can be input into the thermal field prediction model to predict the workpiece thermal field output by the thermal field prediction model; the movement path is adjusted according to the workpiece thermal field. In the above technical solution, by adjusting the movement path according to the predicted workpiece thermal field, the adjusted movement path can be more applicable to the thermal spraying of the target workpiece deformed due to temperature change, thereby further solving the problem of uneven spraying of the thermally sprayed workpiece.

[0053] Another alternative technical solution is that the target workpiece is clamped by a clamping mechanism under a clamping force; the method further includes: controlling the clamping mechanism to move along the movement path so that the target workpiece moves along the movement path; acquiring the clamping impedance between the target workpiece and the clamping mechanism, and adjusting the clamping force according to the clamping impedance so that the clamping mechanism clamps the target workpiece under the adjusted clamping force.

[0054] Among them, the clamping mechanism can be understood as a mechanism for clamping a target workpiece; for example, the clamping mechanism can adopt a composite structure of vacuum adsorption and mechanical grippers with a clamping force control accuracy of ±0.2N. The adsorption force of the vacuum adsorption is adjustable within the range of 0-80 kPa. The clamping contact surface of the clamping mechanism can be coated with a high-temperature resistant ceramic coating such as Al2O3-ZrO2 gradient material, so that the clamping mechanism is more suitable for the thermal spraying scenario of the embodiment of the present invention.

[0055] The clamping force can be understood as the force with which the clamping mechanism clamps the target workpiece; in the case where the clamping mechanism adopts a composite structure of vacuum adsorption and mechanical grippers, the clamping force can include the adsorption force and the gripper force.

[0056] In the embodiment of the present invention, the clamping mechanism can be controlled to move along a moving path, so that the target workpiece clamped by the clamping mechanism can move along the moving path.

[0057] The clamping impedance can be understood as the impedance between the clamping mechanism and the target workpiece.

[0058] It can be understood that the clamping mechanisms in the related art usually clamp workpieces with a fixed clamping force according to the design of a specific geometric shape. However, when such a clamping mechanism faces special-shaped workpieces with a curvature change rate exceeding 35%, such as aero-engine blades, it is easy to cause deformation of the workpiece, resulting in uneven spraying, and it cannot meet the accuracy requirements of the new generation of aero-engines for the coverage of small fluctuations in the thickness of the gas film cooling hole coating. In some cases, it may even cause micro-cracks in the coating interface due to excessive stress generated by clamping, reducing the service life of the coating. Therefore, in the embodiment of the present invention, the adaptive adjustment of the clamping force can be achieved through impedance control, that is, according to the clamping impedance, the clamping force is adjusted adaptively, further solving the problem of uneven spraying of thermally sprayed workpieces, especially solving the problem of uneven spraying of thin-walled special-shaped thermally sprayed workpieces, and improving the service life of the coating.

[0059] In the embodiment of the present invention, the clamping impedance can be obtained, and according to the clamping impedance, the clamping force is adjusted. For example, when the clamping impedance increases, the clamping force can be adjusted correspondingly according to the increase in the clamping impedance, that is, the greater the clamping impedance, the smaller the clamping force, so that the clamping mechanism clamps the target workpiece with the adjusted clamping force.

[0060] In the embodiment of the present invention, the clamping force can also be adjusted according to the clamping impedance and a preset torque constraint; it can also be adjusted according to the clamping impedance and a preset clamping force range (for example, it can be 5±0.2N).

[0061] In an embodiment of the present invention, the clamping mechanism can be connected to a robotic arm to control the clamping mechanism to move along a moving path by controlling the robotic arm. The robotic arm can be, for example, a six-degree-of-freedom robotic arm with a dynamic positioning accuracy of ±0.05 mm. A replaceable clamping mechanism is mounted at the end of the six-degree-of-freedom robotic arm. The joints of the six-degree-of-freedom robotic arm can be integrated with high-precision encoders with a resolution of ±0.001° to achieve precise control, error compensation, and stability guarantee of the six-degree-of-freedom robotic arm.

[0062] The technical solution of the embodiment of the present invention can be applied to an adaptive positioning algorithm module. The adaptive positioning algorithm module can determine and adjust the moving path with a period of 1 ms based on the temperature data obtained through a Real-Time Interface (RTI), and send the determined or adjusted moving path to the main control module through an Ethernet for Control Automation Technology (EtherCAT) bus, so that the main control module controls the clamping mechanism to move along the moving path. The main control module can be, for example, built-in with a multi-modal data fusion processor and a motion control card to facilitate the implementation of closed-loop control of the clamping mechanism in real time.

[0063] In an embodiment of the present invention, the clamping force is adjusted according to the clamping impedance, so that the clamping mechanism clamps the target workpiece under the adjusted clamping force, further solving the problem of uneven spraying of thermally sprayed workpieces, especially solving the problem of uneven spraying of thin-walled and shaped thermally sprayed workpieces, and improving the service life of the coating.

[0064] Figure 2 It is a flowchart of another workpiece thermal spraying method provided in an embodiment of the present invention. This embodiment is optimized based on the above technical solutions. In this embodiment, optionally, before adjusting the moving path according to the temperature data, the workpiece thermal spraying method further includes: determining a point cloud model of the target workpiece; adjusting the moving path according to the temperature data, including: adjusting the moving path according to the temperature data and the point cloud model.

[0065] Among them, the explanations of the same or corresponding terms as those in the above embodiments are not repeated here.

[0066] See Figure 2 , the method of this embodiment can specifically include the following steps:

[0067] S210. Determine the moving path of the target workpiece to be sprayed during the thermal spraying process by a fixed spray gun.

[0068] S220. During the process of the target workpiece moving along the moving path, determine the point cloud model of the target workpiece, obtain the temperature data of the target workpiece, and adjust the moving path according to the temperature data and the point cloud model, so that the target workpiece continues to move along the adjusted moving path, and the fixed spray gun continues to thermally spray the target workpiece.

[0069] Among them, the point cloud model can be understood as the model composed of the point cloud of the target workpiece; the point cloud model can be the point cloud model in the spray gun coordinate system.

[0070] In the embodiment of the present invention, the point cloud model can be determined. For example, the target workpiece can be scanned with point cloud, and the point cloud model can be determined according to the scanned point cloud.

[0071] In the embodiment of the present invention, the moving path can be adjusted according to the temperature data and the point cloud model. For example, the moving path can be adjusted according to the temperature data and the point cloud model through the trajectory planning model with normal vector constraint. For another example, in the embodiment of the present invention, the moving path can be determined; for another example, when the clamping mechanism can be controlled to move along the moving path by controlling the robotic arm, the moving path can be adjusted according to the temperature data and the point cloud model through the time-optimal cubic spline interpolation algorithm. Among them, the time-optimal cubic spline interpolation algorithm needs to satisfy the acceleration constraint.

[0072] The technical solution of the embodiment of the present invention determines the point cloud model of the target workpiece before adjusting the moving path according to the temperature data, and then adjusts the moving path according to the temperature data and the point cloud model, which can make the adjusted moving path more corresponding to the deformation situation of the target workpiece, so that the adjusted moving path can be more suitable for the thermal spraying of the target workpiece deformed due to temperature change, and further solves the problem of uneven spraying of the thermally sprayed workpiece.

[0073] An optional technical solution for adjusting the moving path according to the temperature data and the point cloud model includes: obtaining the spray gun vector of the fixed spray gun, and determining at least one spraying point from the point cloud model according to the moving path; for each spraying point, determining the point temperature of the spraying point according to the temperature data, determining the point vector of the spraying point according to the point cloud model, and determining the adjustment parameter of the spraying point according to the point temperature, the point vector and the spray gun vector; adjusting the moving path according to the adjustment parameters corresponding to at least one spraying point respectively.

[0074] Among them, the spray gun vector can be understood as the vector of the fixed spray gun; the spray gun vector can be, for example, the vector of the fixed spray gun in the spray gun coordinate system.

[0075] The spraying point can be understood as the point in the point cloud model for adjusting the movement path; for example, the spraying point can be the point in the point cloud model corresponding to the area of the target workpiece that has not been sprayed, or for another example, it can be the point in the point cloud model corresponding to the currently sprayable area or the currently required spraying area in the area of the target workpiece that has not been sprayed, and so on.

[0076] In the embodiment of the present invention, the spray gun vector can be obtained, and at least one spraying point can be determined from the point cloud model according to the movement path. For example, according to the movement path, the point in the point cloud model corresponding to the area of the target workpiece that has not been sprayed can be determined as at least one spraying point.

[0077] The point temperature can be understood as the temperature of the area on the target workpiece corresponding to the spraying point.

[0078] The point vector can be understood as the vector of the spraying point; for example, the point vector can be the vector of the spraying point in the spray gun coordinate system.

[0079] In the embodiment of the present invention, for each spraying point, the point temperature can be determined according to the temperature data, the point vector can be determined according to the point cloud model, and the adjustment parameter of the spraying point can be determined according to the point temperature, the point vector, and the spray gun vector.

[0080] Exemplarily, according to the point temperature, the point vector, and the spray gun vector, through formula A θ =α·‖n θ -v p ‖+β·‖T θ -T set ‖, the adjustment parameter A θ of the spraying point θ can be determined, where α and β respectively represent the vector weight and the temperature weight, n θ is the point vector of the spraying point θ, v p is the spray gun vector, T θ is the point temperature of the spraying point θ, and T set is the preset ideal temperature.

[0081] Exemplarily, according to the adjustment parameters respectively corresponding to at least one spraying point, the minimum point with the smallest adjustment parameter among at least one spraying point can be determined. For example, according to the adjustment parameters respectively corresponding to at least one spraying point, through formula the minimum point can be determined, where A θ represents the adjustment parameters respectively corresponding to at least one spraying point, and θ optRefers to the minimum point; according to the minimum point, adjust the movement path. For example, the area on the target workpiece corresponding to the minimum point (this area can be, for example, an area within a preset range centered on the minimum point or an area with the minimum point as a point on the edge of the area, etc.) can be used as the thermal spraying area that needs to be thermally sprayed currently. According to the thermal spraying area, adjust the movement path so that the target workpiece moves along the movement path to a position where the thermal spraying area can be thermally sprayed by a fixed spray gun.

[0082] Exemplarily, the target parameter in the adjustment parameters corresponding to at least one spraying point can be determined. The target parameter can be the minimum adjustment parameter, the maximum adjustment parameter, the median of the adjustment parameters, the mode of the adjustment parameters, and / or the average value of the adjustment parameters, etc. According to the target parameter, adjust the movement path. For example, when the target parameter is greater than a preset parameter threshold, it means that the movement path is not suitable for thermally spraying the target workpiece. The adjustment degree can be determined based on the difference between the target parameter and the parameter threshold, and the movement path can be adjusted according to the adjustment degree.

[0083] In the embodiments of the present invention, by determining the adjustment parameter of each spraying point according to the point temperature, the point vector, and the spray gun vector, and adjusting the movement path according to the adjustment parameters corresponding to at least one spraying point respectively, the adjusted movement path can be made more suitable for thermally spraying the target workpiece deformed due to temperature change by a fixed spray gun, further solving the problem of uneven spraying of thermally sprayed workpieces.

[0084] Another alternative technical solution is to determine the point cloud model of the target workpiece, including: for each of at least two scanning angles, perform point cloud scanning on the target workpiece to obtain the workpiece point cloud of the target workpiece at the scanning angle, and perform key point detection on the workpiece point cloud to obtain the workpiece key points at the scanning angle; determine the point cloud model of the target workpiece according to the workpiece key points corresponding to at least two scanning angles respectively.

[0085] Among them, the scanning angle can be understood as the angle for performing point cloud scanning on the target workpiece.

[0086] The workpiece point cloud can be understood as the point cloud obtained by performing point cloud scanning on the target workpiece at the corresponding scanning angle.

[0087] The workpiece key points can be understood as the key points in the workpiece point cloud at the corresponding scanning angle that can represent the target workpiece; the workpiece key points can be, for example, the points in the workpiece point cloud corresponding to the contour of the target workpiece, that is, performing key point detection on the workpiece point cloud can be to extract the points belonging to the contour line in the workpiece point cloud.

[0088] In the embodiments of the present invention, for each scanning angle, point cloud scanning can be performed on the target workpiece to obtain the workpiece point cloud at the scanning angle, and key point detection can be performed on the workpiece point cloud to obtain the workpiece key points at the scanning angle. For example, the key point detection can be performed on the workpiece point cloud based on the Intrinsic Shape Signatures (ISS) algorithm, and the key points can be extracted to obtain the workpiece key points at the scanning angle.

[0089] In the embodiments of the present invention, a point cloud scanning module can be used to perform point cloud scanning on the target workpiece at at least two scanning angles respectively, or at least two point cloud scanning modules located at different angles can be used to perform point cloud scanning on the target workpiece. The point cloud scanning module can be a structured light 3D scanner with an accuracy of ±0.02 mm and / or a scanning speed of 200,000 - 500,000 points per second, so that the point cloud scanning module is more suitable for the thermal spraying scenario of the embodiments of the present invention.

[0090] In the embodiments of the present invention, after obtaining the workpiece point cloud of the target workpiece at the scanning angle, noise reduction processing can also be performed on the workpiece point cloud. For example, the noise reduction processing can be performed on the workpiece point cloud in the way of radius filtering (r = 0.1 mm) + statistical filtering (mean K = 50), and the workpiece point cloud can be updated according to the obtained noise reduction result.

[0091] In the embodiments of the present invention, a point cloud model can be determined according to the workpiece key points respectively corresponding to at least two scanning angles. For example, the workpiece key points respectively corresponding to at least two scanning angles can be registered to register the workpiece key points respectively corresponding to at least two scanning angles in the same coordinate system to obtain the point cloud model.

[0092] In the embodiments of the present invention, the determination of the point cloud model through the workpiece point cloud at multiple angles can make the obtained point cloud model more accurate, and the point cloud model can be determined through the workpiece key points, reducing the calculation amount of adjusting the movement path through the point cloud model subsequently.

[0093] Based on the above solution, in another alternative technical solution, determining the point cloud model of the target workpiece according to the workpiece key points respectively corresponding to at least two scanning angles includes: for each of the at least two scanning angles, according to the workpiece point cloud at the scanning angle, feature extraction is performed on the workpiece key points at the scanning angle; according to the obtained feature extraction results respectively corresponding to the at least two scanning angles, the workpiece key points respectively corresponding to the at least two scanning angles are registered, and according to the obtained registration result, the point cloud model of the target workpiece is determined.

[0094] Among them, the feature extraction result can be understood as the result obtained by performing feature extraction on the workpiece key points.

[0095] The registration result can be understood as the result obtained by registering the workpiece key points corresponding to at least two scanning angles respectively.

[0096] Exemplarily, through the fast and verifiable point cloud registration (Task-Efficient and Accurate Sensor Estimation and Registration, Teaser)++ technology, according to the feature extraction result, the rough registration of the workpiece key points corresponding to at least two scanning angles is performed to obtain a rough registration result; through the Levenberg-Marquardt Iterative Closest Point Algorithm (LM-ICP) algorithm (the number of iterations ≤ 20) that can achieve sub-pixel-level registration or other robust registration algorithms, the rough registration result is finely registered to obtain a registration result.

[0097] In the embodiment of the present invention, for each scanning angle, according to the workpiece point cloud at the scanning angle, feature extraction is performed on the workpiece key points at the scanning angle, and then according to the obtained feature extraction results corresponding to at least two scanning angles respectively, the workpiece key points corresponding to at least two scanning angles are registered, and according to the obtained registration result, a point cloud model is determined, which can make the accuracy of the obtained point cloud model higher.

[0098] To better understand the technical solution of the above embodiment of the present invention, an optional example is provided here. Exemplarily, see Figure 3, for each of at least two scanning angles, point cloud scanning can be performed on the target workpiece to obtain the workpiece point cloud; preprocess the workpiece point cloud by noise reduction filtering (radius filtering plus statistical filtering) to obtain the workpiece point cloud thinned by the noise reduction filtering; perform key point detection on the workpiece point cloud based on the ISS algorithm to obtain the workpiece key points; through the Fast Point Feature Histograms (FPFH) feature descriptor technology, extract features from the workpiece key points according to the workpiece point cloud; through the Teaser++ technology, perform rough registration of global matching on the workpiece key points corresponding to at least two scanning angles respectively according to the feature extraction results to obtain the rough registration result; through the LM-ICP algorithm, perform fine registration on the rough registration result to obtain the registration result; evaluate the registration error of the registration result, and when the Root Mean Squared Error (RMSE) < 0.05mm, output the registration result as the transformation matrix, and when RMSE ≥ 0.05mm, manually intervene in the registration result to achieve the registration of the workpiece key points corresponding to at least two scanning angles respectively. The registration speed of the above registration scheme is < 0.8s, and its registration speed is 2.5 times that of the relevant registration scheme.

[0099] To better understand the technical solution of the above embodiment of the present invention, another optional example is provided here. Exemplarily, see Figure 4 , generate a movement path through a path planner; control the clamping mechanism to clamp the target workpiece to move along the movement path through a robotic arm, and the movement process satisfies the acceleration constraint; adjust the clamping force through an impedance controller so that the clamping mechanism executes the clamping force; obtain temperature data, and adjust the movement trajectory in the movement path according to the temperature data, the thermal field prediction model, and the trajectory compensation algorithm; determine the point cloud model, and adjust the workpiece pose in the movement path according to the point cloud model. The comparison of the above technical solution with the relevant solution is as shown in Table 1 below. It can be seen that the above technical solution is superior to the relevant solution.

[0100] Table 1 Comparison

[0101]

[0102]

[0103] To better understand the technical solutions of the above embodiments of the present invention, an alternative example is provided here. Exemplarily, a movement path can be determined; the robotic arm of a KUKA KR 60HA six-axis robot with an anti-collision sensor (measurement range: 0 - 50 mm, response time < 2 ms) installed at the end is controlled to move the clamping mechanism along the movement path; during the movement of the target workpiece along the movement path, a FLIR A6735 series dual-color infrared thermometer equipped with a sapphire protection window is selected to collect temperature data, and a GOM ATOS Q 3D scanner with a high-reflective surface treatment spray (particle size < 5 μm) is used to perform point cloud scanning on the target workpiece to determine the point cloud model, and the movement path is adjusted according to the temperature data and the point cloud model.

[0104] Figure 5 The structural block diagram of the workpiece thermal spraying device provided by the embodiment of the present invention is shown. This device is used to execute the workpiece thermal spraying method provided in any of the above embodiments. This device and the workpiece thermal spraying methods of the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiment of the workpiece thermal spraying device, reference can be made to the embodiments of the above workpiece thermal spraying method. Refer to Figure 5 This device may specifically include: a movement path determination module 310 and a movement path adjustment module 320.

[0105] Among them, the movement path determination module 310 is used to determine the movement path during the thermal spraying of the target workpiece to be sprayed by a fixed spray gun.

[0106] The movement path adjustment module 320 is used to obtain the temperature data of the target workpiece during the movement of the target workpiece along the movement path, and adjust the movement path according to the temperature data, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to perform thermal spraying on the target workpiece.

[0107] Optionally, this device may further include:

[0108] A point cloud model determination module, which is used to determine the point cloud model of the target workpiece before adjusting the movement path according to the temperature data.

[0109] The movement path adjustment module 320 may include:

[0110] A movement path adjustment sub-module, which is used to adjust the movement path according to the temperature data and the point cloud model.

[0111] Optionally, based on the above device, the movement path adjustment sub-module may include:

[0112] A spraying point determination unit, which is used to obtain the spray gun vector of the fixed spray gun, and determine at least one spraying point from the point cloud model according to the movement path.

[0113] An adjustment parameter determination unit, configured to determine, for each spraying point, the point temperature of the spraying point according to temperature data, determine the point vector of the spraying point according to the point cloud model, and determine the adjustment parameter of the spraying point according to the point temperature, the point vector, and the spray gun vector;

[0114] A movement path adjustment unit, configured to adjust the movement path according to the adjustment parameters respectively corresponding to at least one spraying point.

[0115] Optionally, based on the above device, the point cloud model determination module may include:

[0116] A workpiece key point obtaining unit, configured to perform point cloud scanning on the target workpiece for each of at least two scanning angles, obtain the workpiece point cloud of the target workpiece at the scanning angle, and perform key point detection on the workpiece point cloud to obtain the workpiece key points at the scanning angle;

[0117] A point cloud model determination unit, configured to determine the point cloud model of the target workpiece according to the workpiece key points respectively corresponding to at least two scanning angles.

[0118] Optionally, based on the above device, the point cloud model determination unit may include:

[0119] A feature extraction subunit, configured to perform feature extraction on the workpiece key points at the scanning angle according to the workpiece point cloud at the scanning angle for each of at least two scanning angles;

[0120] A point cloud model determination subunit, configured to register the workpiece key points respectively corresponding to at least two scanning angles according to the obtained feature extraction results corresponding to at least two scanning angles, and determine the point cloud model of the target workpiece according to the obtained registration results.

[0121] Optionally, the movement path adjustment module 320 may include:

[0122] A workpiece thermal field obtaining sub-module, configured to call a thermal field prediction model to predict the workpiece thermal field of the target workpiece according to temperature data by using the thermal field prediction model;

[0123] A movement path adjustment sub-module, configured to adjust the movement path according to the workpiece thermal field.

[0124] Optionally, the target workpiece is clamped by a clamping mechanism under a clamping force;

[0125] The device may further include:

[0126] A clamping mechanism control module, configured to control the clamping mechanism to move along the movement path so that the target workpiece moves along the movement path;

[0127] The clamping force adjustment module is used to obtain the clamping impedance between the target workpiece and the clamping mechanism, and adjust the clamping force according to the clamping impedance, so that the clamping mechanism clamps the target workpiece under the adjusted clamping force.

[0128] In the workpiece thermal spraying device provided by the embodiment of the present invention, the moving path determination module determines the moving path of the target workpiece to be sprayed during the thermal spraying by the fixed spray gun, so that the target workpiece can be thermally sprayed by the fixed spray gun during the movement along the moving path. Then, through the moving path update module, during the movement of the target workpiece along the moving path, the temperature data of the target workpiece is obtained, and the moving path is adjusted according to the temperature data, so that the target workpiece continues to move along the adjusted moving path, and the fixed spray gun continues to thermally spray the target workpiece, so as to realize the adjustment of the moving path during the thermal spraying of the workpiece. The above device adjusts the moving path according to the temperature data, so that the adjusted moving path can be applicable to the thermal spraying of the target workpiece deformed due to temperature change, thereby solving the problem of uneven spraying of the thermal spraying workpiece.

[0129] The workpiece thermal spraying device provided by the embodiment of the present invention can execute the workpiece thermal spraying method provided by any embodiment of the present invention, and has the corresponding function modules and beneficial effects for executing the method.

[0130] It should be noted that in the embodiments of the above workpiece thermal spraying device, the various units and modules included are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0131] Figure 6 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0132] As Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0133] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0134] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the workpiece thermal spraying method.

[0135] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-mentioned functions defined in the method of the embodiment of the present invention are executed.

[0136] In some embodiments, the workpiece thermal spraying method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the workpiece thermal spraying method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the workpiece thermal spraying method by any other suitable means (e.g., by means of firmware).

[0137] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0141] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0143] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0144] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A workpiece thermal spraying method, characterized in that Including: Determine the movement path of the target workpiece to be sprayed during the thermal spraying process of the fixed spray gun; During the process of the target workpiece moving along the movement path, obtain the temperature data of the target workpiece, and adjust the movement path according to the temperature data, so that the target workpiece continues to move along the adjusted movement path, and the fixed spray gun continues to thermally spray the target workpiece.

2. The method according to claim 1, wherein Before adjusting the movement path according to the temperature data, it further includes: Determine the point cloud model of the target workpiece; Adjusting the movement path according to the temperature data includes: Adjust the movement path according to the temperature data and the point cloud model.

3. The method according to claim 2, wherein Adjusting the movement path according to the temperature data and the point cloud model includes: Obtain the spray gun vector of the fixed spray gun, and determine at least one spraying point from the point cloud model according to the movement path; For each spraying point, determine the point temperature of the spraying point according to the temperature data, determine the point vector of the spraying point according to the point cloud model, and determine the adjustment parameter of the spraying point according to the point temperature, the point vector and the spray gun vector; Adjust the movement path according to the adjustment parameters corresponding to the at least one spraying point respectively.

4. The method according to claim 2, characterized in that, Determining the point cloud model of the target workpiece includes: For each of at least two scanning angles, perform point cloud scanning on the target workpiece to obtain the workpiece point cloud of the target workpiece at the scanning angle, and perform key point detection on the workpiece point cloud to obtain the workpiece key points at the scanning angle; Determine the point cloud model of the target workpiece according to the workpiece key points corresponding to the at least two scanning angles respectively.

5. The method according to claim 4, characterized in that Determining the point cloud model of the target workpiece according to the workpiece key points corresponding to the at least two scanning angles respectively includes: For each of at least two scanning angles, perform feature extraction on the workpiece key points at the scanning angle according to the workpiece point cloud at the scanning angle; Perform registration on the workpiece key points corresponding to the at least two scanning angles according to the obtained feature extraction results corresponding to the at least two scanning angles respectively, and determine the point cloud model of the target workpiece according to the obtained registration results.

6. The method according to claim 1, wherein Adjusting the movement path according to the temperature data includes: Call the thermal field prediction model to use the thermal field prediction model to predict the workpiece thermal field of the target workpiece according to the temperature data; Adjust the movement path according to the workpiece thermal field.

7. The method according to claim 1, wherein The target workpiece is clamped by a clamping mechanism under a clamping force; The method further includes: By controlling the clamping mechanism to move along the movement path, so that the target workpiece moves along the movement path; Obtain the clamping impedance between the target workpiece and the clamping mechanism, and adjust the clamping force according to the clamping impedance, so that the clamping mechanism clamps the target workpiece under the adjusted clamping force.

8. A workpiece thermal spraying device, characterized in that, Including: A movement path determination module, configured to determine the movement path of the target workpiece to be sprayed during the thermal spraying process of the fixed spray gun; The moving path adjustment module is configured to obtain the temperature data of the target workpiece during the movement of the target workpiece along the moving path, and adjust the moving path according to the temperature data, so that the target workpiece continues to move along the adjusted moving path, and the fixed spray gun continues to thermally spray the target workpiece.

9. An electronic device, characterized in that, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to cause the at least one processor to execute the workpiece thermal spraying method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to implement the workpiece thermal spraying method according to any one of claims 1-7 when executed.

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