Method for modeling profile curve of cladding coating under action of high-speed laser
By constructing a coating contour curve model through 3D modeling and RGB color analysis, the problems of cladding accuracy and safety in existing technologies are solved, and a high-precision and safe laser cladding process is realized.
Patent Information
- Application Number
- CN202511245486.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-02
- Publication Date
- 2025-12-16
AI Technical Summary
Existing high-speed laser cladding technology is difficult to achieve high-precision coating cladding and cannot provide early warning of anomalies in the cladding process, resulting in inaccurate cladding results and potential substrate damage.
A cladding substrate model was constructed using 3D modeling and LiDAR scanning technology. The coating edge was identified through RGB color analysis, a coating contour curve model was established, and real-time anomaly warnings were issued during the cladding process.
It achieves high-precision coating cladding operation, ensuring the safety and accuracy of the cladding process and avoiding damage to the substrate.
Smart Images
Figure CN121147397A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of laser cladding and involves 3D modeling technology, specifically a method for modeling the contour curve of cladding coatings under high-speed laser action. Background Technology
[0002] Existing high-speed laser cladding technology has the following specific drawbacks when applying coatings to substrates: Existing high-speed laser cladding technology relies on manual operation by cladding workers to clad the substrate with a coating. Laser cladding equipment is difficult to perform high-precision cladding on the substrate, which easily leads to inaccurate cladding results. Existing high-speed laser cladding technology cannot perform laser cladding on the target substrate based on the cladding coating contour curve model, nor can it provide early warning of cladding operation anomalies based on the cladding process, which can easily lead to damage to the cladding substrate.
[0003] To address this, we propose a method for modeling the contour curve of cladding coatings under high-speed laser irradiation. Summary of the Invention
[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method for modeling the contour curve of cladding coatings under high-speed laser irradiation, thereby improving the cladding accuracy of cladding coatings.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a method for modeling the contour curve of a cladding coating under high-speed laser action, which further includes the following specific steps: Step S1: Perform a three-dimensional model of the area where the target substrate to be clad is located to obtain a three-dimensional model of the cladding processing area. Then, perform a spatial model of the target substrate to be clad in the three-dimensional model of the cladding processing area to obtain a cladding substrate sub-model. Define the three-dimensional model of the cladding processing area and the cladding substrate sub-model as the initial model creation data. Step S2: Identify and connect the coating edge sampling points of the target substrate to be clad to obtain the cladding coating contour curve, and mark the cladding coating contour curve in the cladding substrate sub-model to obtain the cladding coating contour curve model. Step S3: Perform laser cladding on the target substrate based on the cladding coating contour curve model, and provide early warning of cladding operation anomalies based on the cladding process.
[0006] Furthermore, step S1 also includes the following specific steps: Step S11: Obtain the substrate to be clad by high-speed laser cladding to obtain the target substrate to be clad; Step S12: Obtain the cladding construction area where the target substrate to be clad is located, obtain the target cladding construction area, and use 3D modeling technology to perform 3D modeling of the target cladding construction area to obtain a three-dimensional model of the cladding processing area. Step S13: Mark the geometric features in the target cladding construction area and create a three-dimensional coordinate system for the construction area based on the marking results; Step S14: Simultaneously create the three-dimensional coordinate system of the construction area on the three-dimensional model of the cladding processing area to obtain the three-dimensional coordinate system of the model area; Step S15: In the target cladding construction area, use lidar to perform a three-dimensional scan of the target substrate to be clad, obtain the three-dimensional point cloud data corresponding to the target substrate to be clad, and synchronize the three-dimensional point cloud data corresponding to the target substrate to the three-dimensional model of the cladding processing area. Use point cloud reconstruction technology to reconstruct the model of the three-dimensional point cloud data to obtain the cladding substrate sub-model. Step S16: Define the 3D model of the cladding processing area and the sub-model of the cladding substrate as the initial model creation data.
[0007] Furthermore, step S13 also includes the following specific steps: The ground of the target cladding construction area is marked as the first regional feature plane. The geometric center of the first regional feature plane is obtained to obtain the first regional location feature point. In the first regional feature plane, any straight line is drawn through the first regional location feature point to obtain the first regional location feature line. A straight line perpendicular to the first regional location feature line is drawn through the first regional feature point to obtain the second regional location feature line. Draw a plane perpendicular to the first region feature plane through the first region position feature line to obtain the second region position feature plane. In the second region position feature plane, draw a line perpendicular to the first region position feature line through the first region position feature point to obtain the third region position feature line. The location feature points of the first region are marked as the origin of the coordinate system, the location feature lines of the first region are marked as the x-axis, the location feature lines of the second region are marked as the y-axis, and the location feature lines of the third region are marked as the z-axis, thus obtaining the three-dimensional coordinate system of the construction area.
[0008] Furthermore, step S2 also includes the following specific steps: Step S21: Obtain preliminary model creation data, and obtain the 3D model of the cladding processing area and the cladding substrate sub-model based on the preliminary model creation data; Step S22: Divide the surface of the target substrate to be clad into several base surface pixels, and divide the surface of the cladding substrate sub-model into several model sampling points, with each model sampling point corresponding one-to-one with the base surface pixels in the target substrate to be clad. Step S23: Obtain the color image corresponding to each base surface pixel through the image acquisition device, and map it to the corresponding model sampling point in the cladding substrate sub-model to obtain the cladding substrate color sub-model; Step S24: Perform pixel color analysis on each model sampling point in the cladding substrate color sub-model, and obtain the coating edge sampling points based on the analysis results; Step S25: Obtain the cladding coating contour curve corresponding to each cladding sub-region to obtain multiple cladding coating contour curves, and draw the multiple cladding coating contour curves on the cladding substrate color sub-model to obtain the cladding coating contour curve model.
[0009] Furthermore, step S24 also includes the following specific steps: Step S241: Divide the cladding substrate color sub-model into several cladding sub-regions, and acquire images for each cladding sub-region respectively; Step S242: Select a sample cladding sub-region from the acquired multiple cladding sub-regions, and mark the region image corresponding to the sample cladding sub-region as the sample cladding sub-region image; Step S243: By performing color analysis on the sample cladding sub-region, obtain the cladding coating contour curve corresponding to the sample cladding sub-region based on the analysis results; Step S244: Perform distance analysis on the multiple coating edge sampling points obtained, and connect them according to the analysis results to obtain multiple cladding coating contour curves.
[0010] Furthermore, step S243 also includes the following specific steps: Step S2431: Obtain the model sampling points existing in the sample cladding sub-region to obtain multiple model sampling points, and mark any two model sampling points as a model sampling point set to obtain multiple model sampling point sets, and arbitrarily select a sample model sampling point set from the multiple obtained model sampling point sets; Step S2432: Perform RGB color deviation analysis on the sample model sampling point set, and obtain the RGB deviation corresponding to the sample model sampling point set based on the analysis results; Step S2433: Repeat the process of obtaining the RGB deviation corresponding to the sample point set of the sample model, and obtain the two RGB deviations corresponding to each sample point set of the model respectively; Step S2434: If one of the two RGB deviations corresponding to the model sampling point set has an RGB deviation value of 0 and the other RGB deviation value has an RGB deviation value of not 0, then the model sampling point with the RGB deviation value of not 0 is marked as a coating edge sampling point, and multiple coating edge sampling points are obtained.
[0011] Furthermore, step S2432 also includes the following specific steps: The two model sampling points existing in the sample model sampling point set are respectively labeled as the first model sampling point and the second model sampling point; The first sampled R value is obtained by acquiring the color R value corresponding to the first model sampling point through the RGB color model; the first sampled G value is obtained by acquiring the color G value corresponding to the first model sampling point through the RGB color model; and the first sampled B value is obtained by acquiring the color B value corresponding to the first model sampling point through the RGB color model. The second sampled R value is obtained by acquiring the color R value corresponding to the sampling point of the second model through the RGB color model; the second sampled G value is obtained by acquiring the color G value corresponding to the sampling point of the second model through the RGB color model; and the second sampled B value is obtained by acquiring the color B value corresponding to the sampling point of the second model through the RGB color model. The surface of the target substrate that is not covered by the cladding material is obtained, and the RGB values of the corresponding colors of the substrate that is not covered by the cladding material are obtained and decomposed into the reference sample R value, the reference sample B value, and the reference sample B value.
[0012] Furthermore, the RGB deviation corresponding to the first model sample is obtained by calculating the first sample R value, the first sample G value, the first sample B value, the reference sample R value, the reference sample B value, and the reference sample B value; The RGB deviation corresponding to the sampling of the first model is calculated using the following formula: ; Where Rgp1 is the RGB deviation corresponding to the first model sampling, Rcy1 is the first sampling R value, Gcy1 is the first sampling G value, Bcy1 is the first sampling B value, Rjj is the baseline sampling R value, Gjj is the baseline sampling G value, and Bjj is the baseline sampling B value. The RGB deviation corresponding to the second model sampling is obtained by calculating the second sample R value, the second sample G value, the second sample B value, the reference sample R value, the reference sample B value, and the reference sample B value; The RGB deviation corresponding to the second model sampling is calculated using the following formula: ; Where Rgp2 is the RGB deviation corresponding to the second model sampling, Rcy2 is the R value of the second sampling, Gcy2 is the G value of the second sampling, Bcy2 is the B value of the second sampling, Rjj is the R value of the baseline sampling, Gjj is the G value of the baseline sampling, and Bjj is the B value of the baseline sampling.
[0013] Furthermore, step S244 also includes the following specific steps: Select a sample coating edge sampling point from the multiple obtained coating edge sampling points, obtain the straight-line distance value between the sample coating edge sampling point and each coating edge sampling point, compare the obtained straight-line distance values, and mark the coating edge sampling point corresponding to the smallest straight-line distance value as the matching coating edge sampling point corresponding to the sample coating edge sampling point. Repeat the process of obtaining the matching coating edge sampling points corresponding to the sample coating edge sampling points, and obtain the matching coating edge sampling points corresponding to each coating edge sampling point respectively; Each coating edge sampling point is then connected to its corresponding matching coating edge sampling point to obtain multiple cladding coating contour curves.
[0014] Furthermore, step S3 also includes the following specific steps: Obtain the cladding coating contour curve model, and obtain the closed area enclosed by multiple cladding coating contour curves in the cladding coating contour curve model to obtain the model cladding coating marked area. And simultaneously mark the target substrate surface with the obtained model cladding coating marking area to obtain the substrate cladding coating marking area; High-speed laser cladding equipment is used to perform laser cladding on the target substrate, and the cladding process is synchronized in real time on the cladding coating contour curve model; If the real-time high-speed laser cladding ray is located in the marked area of the cladding coating on the model, there is no need to issue a cladding anomaly warning; If the real-time high-speed laser cladding ray is not located in the marked area of the cladding coating on the model, an cladding anomaly warning will be issued.
[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. This invention obtains a cladding substrate sub-model by spatial modeling the cladding substrate, models the cladding coating contour curve in the cladding substrate sub-model, and uses the established model to realize high-precision cladding of the cladding substrate by laser cladding equipment, thereby ensuring the accuracy of the cladding operation. 2. This invention performs laser cladding on the target substrate based on the cladding coating contour curve model, and provides early warning of cladding operation anomalies based on the cladding process, which can avoid damage to the cladding substrate caused by laser cladding and ensure the safety of the cladding process. Attached Figure Description
[0016] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.
[0017] Figure 1 This is a diagram illustrating the implementation steps of the present invention; Figure 2 This is a schematic diagram of the marked area of the cladding coating of the model of the present invention. Detailed Implementation
[0018] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention. Example 1
[0019] Please see Figure 1 This invention provides a technical solution: a method for modeling the contour curve of a cladding coating under high-speed laser irradiation, comprising the following specific steps: Step S1: Perform a three-dimensional model of the area where the target substrate to be clad is located to obtain a three-dimensional model of the cladding processing area. Then, perform a spatial model of the target substrate to be clad in the three-dimensional model of the cladding processing area to obtain a cladding substrate sub-model. Define the three-dimensional model of the cladding processing area and the cladding substrate sub-model as the initial model creation data. Step S1 further includes the following specific steps: The substrate to be clad is obtained by acquiring the substrate to be clad using high-speed laser cladding. It should be noted here that: In this application, the target substrate surface to be clad is covered with cladding material, that is, the cladding material needs to be pre-covered on the substrate; The target cladding substrate is located in the cladding construction area, and the target cladding construction area is obtained. Then, 3D modeling technology is used to create a 3D model of the target cladding construction area to obtain a three-dimensional model of the cladding processing area. Geometric features are marked in the target cladding construction area, and a three-dimensional coordinate system for the construction area is created based on the marking results; Specifically as follows: The ground of the target cladding construction area is marked as the first regional feature plane. The geometric center of the first regional feature plane is obtained to obtain the first regional location feature point. In the first regional feature plane, any straight line is drawn through the first regional location feature point to obtain the first regional location feature line. A straight line perpendicular to the first regional location feature line is drawn through the first regional feature point to obtain the second regional location feature line. Draw a plane perpendicular to the first region feature plane through the first region position feature line to obtain the second region position feature plane. In the second region position feature plane, draw a line perpendicular to the first region position feature line through the first region position feature point to obtain the third region position feature line. The location feature points of the first region are marked as the origin of the coordinate system, the location feature lines of the first region are marked as the x-axis, the location feature lines of the second region are marked as the y-axis, and the location feature lines of the third region are marked as the z-axis, thus obtaining the three-dimensional coordinate system of the construction area. The three-dimensional coordinate system of the construction area is created synchronously in the three-dimensional model of the cladding processing area to obtain the three-dimensional coordinate system of the model area. It should be noted here that: In this application, the three-dimensional coordinate system of the model area is located in the same position as the three-dimensional coordinate system of the construction area in the target cladding construction area.
[0020] In the target cladding construction area, a lidar is used to perform a three-dimensional scan of the target substrate to be clad, and the three-dimensional point cloud data corresponding to the target substrate to be clad is obtained. The three-dimensional point cloud data corresponding to the target substrate to be clad is then synchronized to the three-dimensional model of the cladding processing area. Point cloud reconstruction technology is used to reconstruct the model of the three-dimensional point cloud data to obtain the cladding substrate sub-model. It should be noted here that: In this application, the point cloud reconstruction technology specifically refers to the TSDF fusion algorithm; The three-dimensional model of the cladding processing area and the sub-model of the cladding substrate are defined as the initial model creation data; It should be noted here that: The above step S1 has the following advantages: 1. Through 3D modeling and coordinate system synchronization technology, precise digital construction of the cladding processing environment was achieved: 2. Based on lidar scanning and point cloud reconstruction technology, a high-precision cladding substrate sub-model is generated, which can accurately capture the geometric features of the substrate and provide a reliable basis for subsequent processing path planning; 3. By creating a coordinate system in the 3D model that is completely isomorphic to the construction area, the positional mapping between the virtual model and the physical space is completely consistent, effectively eliminating processing positioning errors.
[0021] Step S2: Identify and connect the coating edge sampling points of the target substrate to be clad to obtain the cladding coating contour curve, and mark the cladding coating contour curve in the cladding substrate sub-model to obtain the cladding coating contour curve model. Step S2 further includes the following specific steps: Obtain preliminary model creation data, and based on the preliminary model creation data, obtain the 3D model of the cladding processing area and the cladding substrate sub-model respectively; It should be noted here that: In this application, the cladding substrate sub-model involved herein is located inside the three-dimensional model of the cladding processing area; The surface of the target substrate to be clad is divided into several base surface pixels, and the surface of the cladding substrate sub-model is divided into several model sampling points, with each model sampling point corresponding one-to-one with the base surface pixels in the target substrate to be clad. The color image corresponding to each base pixel is obtained by the image acquisition device and mapped to the corresponding model sampling point in the cladding substrate sub-model to obtain the cladding substrate color sub-model. By performing pixel color analysis on each model sampling point in the cladding substrate color sub-model, the coating edge sampling points are obtained based on the analysis results. Specifically as follows: The color sub-model of the cladding substrate is divided into several cladding sub-regions, and images are acquired for each cladding sub-region. Select a sample cladding sub-region from the multiple acquired cladding sub-regions, and mark the region image corresponding to the sample cladding sub-region as the sample cladding sub-region image; By performing color analysis on the sample cladding sub-region, the contour curve of the cladding coating corresponding to the sample cladding sub-region is obtained based on the analysis results; Specifically as follows: The model sampling points existing in the sample cladding sub-region are acquired to obtain multiple model sampling points. Any two model sampling points are marked as a model sampling point set to obtain multiple model sampling point sets. Then, one sample model sampling point set is randomly selected from the multiple acquired model sampling point sets. The two model sampling points existing in the sample model sampling point set are respectively labeled as the first model sampling point and the second model sampling point; The first sampled R value is obtained by acquiring the color R value corresponding to the first model sampling point through the RGB color model; the first sampled G value is obtained by acquiring the color G value corresponding to the first model sampling point through the RGB color model; and the first sampled B value is obtained by acquiring the color B value corresponding to the first model sampling point through the RGB color model. The second sampled R value is obtained by acquiring the color R value corresponding to the sampling point of the second model through the RGB color model; the second sampled G value is obtained by acquiring the color G value corresponding to the sampling point of the second model through the RGB color model; and the second sampled B value is obtained by acquiring the color B value corresponding to the sampling point of the second model through the RGB color model. The surface of the target substrate that is not covered by the cladding material is obtained, the cladding surface is obtained, the corresponding color RGB value of the cladding surface is obtained, and it is decomposed into the reference sample R value, the reference sample B value and the reference sample B value. It should be noted here that: In this application, the RGB values of each pixel on the surface of the substrate to be clad are the same, even though the substrate surface is not covered with cladding material.
[0022] The RGB deviation corresponding to the first model sample is obtained by calculating the first sample R value, the first sample G value, the first sample B value, the reference sample R value, the reference sample B value, and the reference sample B value. The RGB deviation corresponding to the sampling of the first model is calculated using the following formula: ; Where Rgp1 is the RGB deviation corresponding to the first model sampling, Rcy1 is the first sampling R value, Gcy1 is the first sampling G value, Bcy1 is the first sampling B value, Rjj is the baseline sampling R value, Gjj is the baseline sampling G value, and Bjj is the baseline sampling B value. The RGB deviation corresponding to the second model sampling is obtained by calculating the second sample R value, the second sample G value, the second sample B value, the reference sample R value, the reference sample B value, and the reference sample B value; The RGB deviation corresponding to the second model sampling is calculated using the following formula: ; Where Rgp2 is the RGB deviation corresponding to the second model sampling, Rcy2 is the R value of the second sampling, Gcy2 is the G value of the second sampling, Bcy2 is the B value of the second sampling, Rjj is the R value of the baseline sampling, Gjj is the G value of the baseline sampling, and Bjj is the B value of the baseline sampling. Repeat the process of obtaining the RGB deviations corresponding to the sample point set of the sample model, and obtain the two RGB deviations corresponding to each sample point set of the model respectively; If one of the two RGB deviations corresponding to the model sampling point set is 0 and the other RGB deviation is not 0, then the model sampling point with the non-zero RGB deviation value is marked as a coating edge sampling point, resulting in multiple coating edge sampling points. Distance analysis was performed on the multiple coating edge sampling points obtained, and the lines were connected according to the analysis results to obtain the cladding coating contour curve; Specifically as follows: Select a sample coating edge sampling point from the multiple obtained coating edge sampling points, obtain the straight-line distance value between the sample coating edge sampling point and each coating edge sampling point, compare the obtained straight-line distance values, and mark the coating edge sampling point corresponding to the smallest straight-line distance value as the matching coating edge sampling point corresponding to the sample coating edge sampling point. Repeat the process of obtaining the matching coating edge sampling points corresponding to the sample coating edge sampling points, and obtain the matching coating edge sampling points corresponding to each coating edge sampling point respectively; Then, each coating edge sampling point is connected to the corresponding matching coating edge sampling point to obtain multiple cladding coating contour curves; The cladding coating contour curves corresponding to the cladding sub-regions of the repeated samples are obtained. Multiple cladding coating contour curves are obtained, and the multiple cladding coating contour curves are drawn on the cladding substrate color sub-model to obtain the cladding coating contour curve model. The following advantages exist in step S2 above: 1. High-precision extraction of coating edges was achieved through multispectral color analysis and geometric matching technology: First, a pixel-level mapping relationship between the substrate surface and the three-dimensional model was constructed based on the RGB color model. The coating boundary was accurately identified through reference color value comparison technology, effectively eliminating the error of manual interpretation. 2. By adopting a sub-region division and sample analysis strategy, complex curved surfaces are decomposed into local regions for parallel processing, which significantly improves the efficiency of contour recognition. Furthermore, by using the bidirectional RGB deviation calculation threshold method, the coating-covered area and the exposed substrate can be automatically distinguished, avoiding the misjudgment problem of the traditional single-parameter threshold method. 3. Based on the nearest neighbor matching algorithm, intelligent connection of edge points is realized to ensure the geometric continuity of the contour curve, and finally a digital coating contour model with spatial coordinate information is formed, which provides accurate boundary constraints for subsequent laser cladding path planning and effectively improves the accuracy and consistency of complex curved surface coating processing.
[0023] Step S3: Perform laser cladding on the target substrate according to the cladding coating contour curve model, and provide early warning of cladding operation anomalies on the target substrate according to the cladding process; Step S3 further includes the following specific steps: Please see Figure 2 The model of the cladding coating contour curve is obtained. Multiple cladding coating contour curves are obtained in the closed area enclosed by the cladding coating contour curve model to obtain the model cladding coating marking area. And simultaneously mark the target substrate surface with the obtained model cladding coating marking area to obtain the substrate cladding coating marking area; High-speed laser cladding equipment is used to perform laser cladding on the target substrate, and the cladding process is synchronized in real time on the cladding coating contour curve model; If the real-time high-speed laser cladding ray is located in the marked area of the cladding coating on the model, there is no need to issue a cladding anomaly warning; If the real-time high-speed laser cladding ray is not located in the marked area of the cladding coating on the model, an cladding anomaly warning will be issued; It should be noted here that: In this application, the situation where no warning of cladding anomalies is required includes situations where the real-time high-speed laser cladding ray is at the edge of the marked area of the model cladding coating.
[0024] In this application, if a corresponding calculation formula appears, the above calculation formula is a dimensionless calculation. The weighting coefficient, proportional coefficient and other coefficients in the formula are set to quantify each parameter to obtain a result value. The size of the weighting coefficient and proportional coefficient is only required to not affect the proportional relationship between the parameter and the result value.
[0025] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims
1. A method for modeling the contour curve of a cladding coating under high-speed laser irradiation, characterized in that, include: Step S1: Perform a three-dimensional model of the area where the target substrate to be clad is located to obtain a three-dimensional model of the cladding processing area. Then, perform a spatial model of the target substrate to be clad in the three-dimensional model of the cladding processing area to obtain a cladding substrate sub-model. Define the three-dimensional model of the cladding processing area and the cladding substrate sub-model as the initial model creation data. Step S2: Identify and connect the coating edge sampling points of the target substrate to be clad to obtain the cladding coating contour curve, and mark the cladding coating contour curve in the cladding substrate sub-model to obtain the cladding coating contour curve model. Step S3: Perform laser cladding on the target substrate based on the cladding coating contour curve model, and provide early warning of cladding operation anomalies based on the cladding process.
2. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 1, characterized in that, Step S1 further includes the following specific steps: Step S11: Obtain the substrate to be clad by high-speed laser cladding to obtain the target substrate to be clad; Step S12: Obtain the cladding construction area where the target substrate to be clad is located, obtain the target cladding construction area, and use 3D modeling technology to perform 3D modeling of the target cladding construction area to obtain a three-dimensional model of the cladding processing area. Step S13: Mark the geometric features in the target cladding construction area and create a three-dimensional coordinate system for the construction area based on the marking results; Step S14: Simultaneously create the three-dimensional coordinate system of the construction area in the three-dimensional model of the cladding processing area to obtain the three-dimensional coordinate system of the model area; Step S15: In the target cladding construction area, use lidar to perform a three-dimensional scan of the target substrate to be clad, obtain the three-dimensional point cloud data corresponding to the target substrate to be clad, and synchronize the three-dimensional point cloud data corresponding to the target substrate to the three-dimensional model of the cladding processing area. Use point cloud reconstruction technology to reconstruct the model of the three-dimensional point cloud data to obtain the cladding substrate sub-model. Step S16: Define the 3D model of the cladding processing area and the sub-model of the cladding substrate as the initial model creation data.
3. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 2, characterized in that, Step S13 further includes the following specific steps: The ground of the target cladding construction area is marked as the first regional feature plane. The geometric center of the first regional feature plane is obtained to obtain the first regional location feature point. In the first regional feature plane, any straight line is drawn through the first regional location feature point to obtain the first regional location feature line. A straight line perpendicular to the first regional location feature line is drawn through the first regional feature point to obtain the second regional location feature line. Draw a plane perpendicular to the first region feature plane through the first region position feature line to obtain the second region position feature plane. In the second region position feature plane, draw a line perpendicular to the first region position feature line through the first region position feature point to obtain the third region position feature line. The location feature points of the first region are marked as the origin of the coordinate system, the location feature lines of the first region are marked as the x-axis, the location feature lines of the second region are marked as the y-axis, and the location feature lines of the third region are marked as the z-axis, thus obtaining the three-dimensional coordinate system of the construction area.
4. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 1, characterized in that, Step S2 further includes the following specific steps: Step S21: Obtain preliminary model creation data, and obtain the 3D model of the cladding processing area and the cladding substrate sub-model based on the preliminary model creation data; Step S22: Divide the surface of the target substrate to be clad into several base surface pixels, and divide the surface of the cladding substrate sub-model into several model sampling points, with each model sampling point corresponding one-to-one with the base surface pixels in the target substrate to be clad. Step S23: Obtain the color image corresponding to each base surface pixel through the image acquisition device, and map it to the corresponding model sampling point in the cladding substrate sub-model to obtain the cladding substrate color sub-model; Step S24: Perform pixel color analysis on each model sampling point in the cladding substrate color sub-model, and obtain the coating edge sampling points based on the analysis results; Step S25: Obtain the cladding coating contour curve corresponding to each cladding sub-region to obtain multiple cladding coating contour curves, and draw the multiple cladding coating contour curves on the cladding substrate color sub-model to obtain the cladding coating contour curve model.
5. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 4, characterized in that, Step S24 further includes the following specific steps: Step S241: Divide the cladding substrate color sub-model into several cladding sub-regions, and acquire images for each cladding sub-region respectively; Step S242: Select a sample cladding sub-region from the acquired multiple cladding sub-regions, and mark the region image corresponding to the sample cladding sub-region as the sample cladding sub-region image; Step S243: By performing color analysis on the sample cladding sub-region, obtain the cladding coating contour curve corresponding to the sample cladding sub-region based on the analysis results; Step S244: Perform distance analysis on the multiple coating edge sampling points obtained, and connect them according to the analysis results to obtain multiple cladding coating contour curves.
6. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 5, characterized in that, Step S243 further includes the following specific steps: Step S2431: Obtain the model sampling points existing in the sample cladding sub-region to obtain multiple model sampling points, and mark any two model sampling points as a model sampling point set to obtain multiple model sampling point sets, and arbitrarily select a sample model sampling point set from the multiple obtained model sampling point sets; Step S2432: Perform RGB color deviation analysis on the sample model sampling point set, and obtain the RGB deviation corresponding to the sample model sampling point set based on the analysis results; Step S2433: Repeat the process of obtaining the RGB deviation corresponding to the sample point set of the sample model, and obtain the two RGB deviations corresponding to each sample point set of the model respectively; Step S2434: If one of the two RGB deviations corresponding to the model sampling point set has an RGB deviation value of 0 and the other RGB deviation value has an RGB deviation value of not 0, then the model sampling point with the RGB deviation value of not 0 is marked as a coating edge sampling point, and multiple coating edge sampling points are obtained.
7. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 6, characterized in that, Step S2432 further includes the following specific steps: The two model sampling points existing in the sample model sampling point set are respectively labeled as the first model sampling point and the second model sampling point; The first sampled R value is obtained by acquiring the color R value corresponding to the first model sampling point through the RGB color model; the first sampled G value is obtained by acquiring the color G value corresponding to the first model sampling point through the RGB color model; and the first sampled B value is obtained by acquiring the color B value corresponding to the first model sampling point through the RGB color model. The second sampled R value is obtained by acquiring the color R value corresponding to the sampling point of the second model through the RGB color model; the second sampled G value is obtained by acquiring the color G value corresponding to the sampling point of the second model through the RGB color model; and the second sampled B value is obtained by acquiring the color B value corresponding to the sampling point of the second model through the RGB color model. The surface of the target substrate that is not covered by the cladding material is obtained, and the RGB values of the corresponding colors of the substrate that is not covered by the cladding material are obtained and decomposed into reference sample R value, reference sample G value and reference sample B value.
8. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 7, characterized in that, The RGB deviation corresponding to the first model sample is obtained by calculating the first sample R value, the first sample G value, the first sample B value, the reference sample R value, the reference sample G value, and the reference sample B value; The RGB deviation corresponding to the sampling of the first model is calculated using the following formula: ； Where Rgp1 is the RGB deviation corresponding to the first model sampling, Rcy1 is the first sampling R value, Gcy1 is the first sampling G value, Bcy1 is the first sampling B value, Rjj is the baseline sampling R value, Gjj is the baseline sampling G value, and Bjj is the baseline sampling B value. The RGB deviation corresponding to the second model sampling is obtained by calculating the second sample R value, the second sample G value, the second sample B value, the reference sample R value, the reference sample B value, and the reference sample B value; The RGB deviation corresponding to the second model sampling is calculated using the following formula: ； Where Rgp2 is the RGB deviation corresponding to the second model sampling, Rcy2 is the R value of the second sampling, Gcy2 is the G value of the second sampling, Bcy2 is the B value of the second sampling, Rjj is the R value of the baseline sampling, Gjj is the G value of the baseline sampling, and Bjj is the B value of the baseline sampling.
9. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 5, characterized in that, Step S244 further includes the following specific steps: Select a sample coating edge sampling point from the multiple obtained coating edge sampling points, obtain the straight-line distance value between the sample coating edge sampling point and each coating edge sampling point, compare the obtained straight-line distance values, and mark the coating edge sampling point corresponding to the smallest straight-line distance value as the matching coating edge sampling point corresponding to the sample coating edge sampling point. Obtain the matching coating edge sampling point corresponding to each coating edge sampling point; Then, each coating edge sampling point is connected to the corresponding matching coating edge sampling point to obtain multiple cladding coating contour curves.
10. The method for modeling the contour curve of a cladding coating under high-speed laser irradiation according to claim 1, characterized in that, Step S3 further includes the following specific steps: Obtain the cladding coating contour curve model, and obtain the closed area enclosed by multiple cladding coating contour curves in the cladding coating contour curve model to obtain the model cladding coating marked area. And simultaneously mark the target substrate surface with the obtained model cladding coating marking area to obtain the substrate cladding coating marking area; High-speed laser cladding equipment is used to perform laser cladding on the target substrate, and the cladding process is synchronized in real time on the cladding coating contour curve model; If the real-time high-speed laser cladding ray is located in the marked area of the cladding coating on the model, there is no need to issue a cladding anomaly warning; If the real-time high-speed laser cladding ray is not located in the marked area of the cladding coating on the model, an cladding anomaly warning will be issued.