Inner hole thermal spraying optimization track generation method and related device

Abstract

The invention provides an inner hole thermal spraying optimization track generation method and a related device, and relates to the technical field of inner hole thermal spraying. The method comprises the steps that a measurement execution module is controlled to move along a preset path of a workpiece inner hole according to a motion relational expression, so that the measurement execution module measures the distance to the surface of the workpiece inner hole in the motion process. And on the basis of the motion relational expression and the measurement data sent by the measurement execution module, section line point cloud data of the workpiece inner hole surface are generated. And processing the section line point cloud data to obtain a key track point set representing the surface contour of the inner hole of the workpiece. And integrally translating all key track points in the key track point set by a target spraying distance along the direction facing the center of the inner hole of the workpiece to generate an inner hole thermal spraying optimized track. According to the inner hole thermal spraying optimization track generation method, the workpiece inner hole thermal spraying quality can be improved, and motion interference between tool workpieces is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of internal hole thermal spraying, in particular to an internal hole thermal spraying optimized trajectory generation method and related device. BACKGROUND

[0002] When performing the spraying operation of the internal hole of a workpiece by using the atmospheric thermal spraying process, the spraying distance is an important spraying parameter, which represents the straight-line distance between the particle impact center point of the outlet point on the center axis of the thermal spraying gun outlet and the surface of the internal hole of the workpiece. The spraying distance determines the physical state such as the particle flight speed and the particle temperature of the metal or oxide ceramic powder heated to the molten or semi-molten state, and further affects the deposition efficiency of the high-temperature particles on the base material. In the actual spraying process, the spraying distance between the thermal spraying gun and the surface of the internal hole of the workpiece needs to be kept within the range required by the process parameters. Therefore, before spraying, the spraying distance of each trajectory point on the spraying path needs to be measured, and then the spraying angle and other parameters of the thermal spraying gun are dynamically adjusted to keep the outlet of the thermal spraying gun and the internal surface of the workpiece at the same spraying distance.

[0003] In the traditional internal hole thermal spraying scene, before spraying, the operator generally uses naked eyes to observe and roughly estimate the vertical distance between the outlet of the thermal spraying gun and the surface of the internal hole of the workpiece according to the image transmitted back by the endoscope. However, this method is highly dependent on the experience and operation accuracy of the observer, and therefore there may be a large spraying distance error in some local positions, which leads to uneven coating thickness, reduced bonding force, and even quality defects such as local over-melting or poor spraying in the internal hole thermal spraying of the workpiece. Moreover, since the diameter of the internal hole is usually small, the thermal spraying gun may collide during movement in the cavity, which further leads to damage of the spraying gun or the machined part.

[0004] In summary, how to improve the internal hole thermal spraying quality of the workpiece and avoid the motion interference between the tool and the workpiece is a technical problem to be solved by the person skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide an internal hole thermal spraying optimized trajectory generation method and related device to improve the internal hole thermal spraying quality of the workpiece and avoid the motion interference between the tool and the workpiece.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: In a first aspect, the present application provides an internal hole thermal spraying optimized trajectory generation method applied to a processing module in an internal hole thermal spraying device, the internal hole thermal spraying device further comprising a measurement execution module, the processing module being in communication connection with the measurement execution module, and the method comprising: The measurement execution module is controlled to move along a preset path along the inner hole of the workpiece according to a motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement. Based on the motion relationship and the measurement data sent by the measurement execution module, the cross-sectional point cloud data of the inner hole surface of the workpiece is generated; The point cloud data of the cut line is processed to obtain a set of key trajectory points that characterize the surface contour of the inner hole of the workpiece; All key trajectory points in the set of key trajectory points are translated along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole.

[0007] Furthermore, the measurement execution module includes: a measurement module, an execution mechanism, and a thermal spray gun; the measurement module is installed at the outlet position of the thermal spray gun, and both the measurement module and the execution mechanism are communicatively connected to the processing module; The step of controlling the measurement execution module to move along a preset path along the inner hole of the workpiece according to a motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement, includes: The actuator is controlled to carry the thermal spray gun equipped with the measuring module and move at a constant speed and synchronously along the central axis of the inner hole of the workpiece according to the motion relationship, so that the measuring module measures the distance from the outlet position of the thermal spray gun to the surface of the inner hole of the workpiece during the movement.

[0008] Furthermore, the motion relationship is: v = nf; where v is the motion speed of the actuator, f is the acquisition frequency of the measurement module, and n is a natural number; The steps for generating cross-sectional point cloud data of the workpiece inner hole surface based on the motion relationship and the measurement data sent by the measurement execution module include: Based on the aforementioned motion relationship, the measurement data are unified to the same coordinate system to generate point cloud data of the cross-section of the inner hole surface of the workpiece.

[0009] Furthermore, after the step of translating all key trajectory points in the set of key trajectory points along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole, the method further includes: The actuator is controlled to carry the thermal spray gun and move along the optimized thermal spraying trajectory of the inner hole to spray the inner hole of the workpiece.

[0010] Further, the step of processing the sectional point cloud data to obtain a set of key trajectory points characterizing the surface contour of the workpiece's inner hole includes: Identify the straight line segment regions and curved line segment regions in the intercept point cloud data; For the aforementioned straight line segment region, the first and last endpoints of the straight line segment are selected as key trajectory points; For the curved segment region, the equal length method is used to perform iterative calculation and filtering of points in order to pick out multiple key trajectory points in the curved segment region; The key trajectory points are obtained by arranging the multiple key trajectory points picked in the straight line segment region and the multiple key trajectory points picked in the curved line segment region in order of position.

[0011] Furthermore, the step of distinguishing between straight line segment regions and curved line segment regions in the intercept point cloud data includes: Based on the slope changes of continuous points in the intercept point cloud data, the data points are segmented: The section with a slope change rate less than a preset value is identified as the straight line segment region; The segment with a slope change rate greater than or equal to a preset value is determined as the curve segment region.

[0012] Furthermore, for the curved segment region, the step of iteratively calculating and filtering points using the equal-length method to pick up multiple key trajectory points in the curved segment region includes: The starting point of the curve segment region is taken as the first key trajectory point and used as the current reference point; Starting from the current reference point, calculate the Euclidean distance between each subsequent point and the current reference point sequentially along the point sequence; When the Euclidean distance is greater than or equal to the preset length threshold for the first time, the corresponding point is selected as the next key trajectory point and updated as the new current reference point; Repeat the above iteration and selection process until the entire curve segment region has been traversed, and mark the end point of the curve segment region as the last key trajectory point; The starting point, ending point, and all key trajectory points selected during the iteration process of the curve segment region are collectively used as multiple key trajectory points of the curve segment region.

[0013] Secondly, this application also provides an internal hole thermal spraying optimized trajectory generation device, applied to a processing module in an internal hole thermal spraying equipment, wherein the internal hole thermal spraying equipment further includes a measurement execution module, and the processing module is communicatively connected to the measurement execution module; the device is used to execute the internal hole thermal spraying optimized trajectory generation method as described in any of the first aspects, and the device includes: The control module is used to control the measurement execution module to move along a preset path along the inner hole of the workpiece according to the motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement. The first processing module is used to generate cross-sectional point cloud data of the inner hole surface of the workpiece based on the motion relationship and the measurement data sent by the measurement execution module. The second processing module is used to process the cut-off point cloud data to obtain a set of key trajectory points that characterize the surface contour of the inner hole of the workpiece. The output module is used to translate all the key trajectory points in the key trajectory point set along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole.

[0014] Thirdly, this application also provides an electronic device, including a processor and a memory, the memory storing a computer program executable by the processor, the processor being able to execute the computer program to implement the internal hole thermal spraying optimized trajectory generation method as described in any of the first aspects.

[0015] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the internal hole thermal spraying optimized trajectory generation method as described in any of the first aspects.

[0016] Compared with the prior art, this application has the following advantages: The method for generating optimized trajectories for internal hole thermal spraying provided in this application is applied to the processing module of an internal hole thermal spraying equipment. This equipment also includes a measurement execution module, and the processing module is communicatively connected to the measurement execution module. The method includes: controlling the measurement execution module to move along a preset path along the inner hole of the workpiece according to a motion relationship, so that the measurement execution module measures its distance to the surface of the inner hole of the workpiece during the movement. Based on the motion relationship and the measurement data sent by the measurement execution module, cross-sectional point cloud data of the inner hole surface of the workpiece is generated. The cross-sectional point cloud data is processed to obtain a set of key trajectory points characterizing the contour of the inner hole surface of the workpiece. All key trajectory points in the set are translated along a direction towards the center of the inner hole of the workpiece by a target spraying distance to generate an optimized trajectory for internal hole thermal spraying.

[0017] Because the processing module and the measurement execution module are connected wirelessly, the constraints of physical cables are eliminated. This separate design effectively avoids the risk of motion interference between the equipment and the inner wall of the workpiece caused by tangled or pulled wires. The processing module controls the measurement execution module to move along a preset path and collect distance data in real time via wireless commands. Then, it processes and analyzes the collected point cloud data, and finally automatically generates an optimized trajectory for internal hole thermal spraying that allows the thermal spray gun to maintain a constant spraying distance throughout the process and avoids collision with the inner surface of the workpiece. This not only makes the thickness of the coating after spraying closer to the theoretical value, but also maintains a better coating surface flatness, thus improving the quality of internal hole thermal spraying of the workpiece. Attached Figure Description

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] Figure 1 One of the flowcharts for generating optimized trajectories for internal thermal spraying provided in this application embodiment; Figure 2 A second schematic flowchart illustrating an optimized trajectory generation method for internal hole thermal spraying provided in this application embodiment; Figure 3 A third schematic flowchart illustrating an optimized trajectory generation method for internal hole thermal spraying provided in this application embodiment; Figure 4 This application provides a schematic diagram of key trajectory point picking in an embodiment. Figure 5 This is a structural block diagram of an internal thermal spraying optimized trajectory generation device provided in an embodiment of this application.

[0020] Icons: 10-Inner hole thermal spraying optimized trajectory generation device; 11-Control module; 12-First processing module; 13-Second processing module; 14-Output module. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0024] As described in the background section, existing methods for internal thermal spraying involve the operator visually estimating the vertical distance between the thermal spray gun outlet and the workpiece's internal bore surface based on images transmitted from an endoscope before spraying. However, this method heavily relies on the observer's experience and operational precision, potentially leading to significant spraying distance errors in certain areas, resulting in the following problems: (1) When the spraying distance is too large, the high-temperature particles need to travel a relatively long flight distance to reach the substrate surface after being heated and accelerated in the hot spray gun. This may result in insufficient kinetic energy due to the excessive flight time of the particles, thus making it impossible to effectively deposit on the substrate surface.

[0025] (2) When the spraying distance is too small, the time for high-temperature particles to reach the substrate surface from the hot spray gun outlet is too short, and the particles do not reach an effective melting state, thus affecting their deposition efficiency.

[0026] (3) Since the inner diameter is usually small, the hot spray gun may collide during its movement in the cavity, which may lead to damage to the spray gun or the workpiece. This is an unacceptable major loss for the expensive hot spray gun or the workpiece.

[0027] Therefore, how to improve the quality of thermal spraying of the inner hole of the workpiece and avoid motion interference between the tool and the workpiece is a technical problem that urgently needs to be solved by those skilled in the art.

[0028] To address the aforementioned technical problems, this application provides a method for generating optimized trajectories for internal hole thermal spraying. This method is applied to a processing module in an internal hole thermal spraying device, which also includes a measurement execution module, and the processing module and the measurement execution module are communicatively connected.

[0029] Understandably, the internal bore thermal spraying equipment consists of two parts: a processing module and a measurement execution module, which are communicatively connected (e.g., using Bluetooth wireless communication). The measurement execution module moves according to instructions sent by the processing module and collects measurement data in real time. The processing module, essentially a handheld device, controls, displays, and processes the measurement data, and executes an optimized trajectory generation algorithm to plan the optimized trajectory path for internal bore thermal spraying of the thermal spray gun.

[0030] Specifically, please refer to Figure 1 The method for generating optimized trajectories for internal thermal spraying in this application includes the following steps: Step S100: Control the measurement execution module to move along a preset path of the workpiece inner hole according to the motion relationship, so that the measurement execution module measures the distance to the surface of the workpiece inner hole during the movement.

[0031] Step S200: Based on the motion relationship and the measurement data sent by the measurement execution module, generate the cross-sectional point cloud data of the inner hole surface of the workpiece.

[0032] In this embodiment, the cross-section point cloud data represents a set of discrete data points that characterizes a longitudinal profile of the inner hole surface of a workpiece along a preset path. This is achieved by fusing a series of discrete distance measurements collected by the measurement execution module along a preset path with corresponding spatial position information based on the motion relationship.

[0033] Step S300: Process the cross-section point cloud data to obtain a set of key trajectory points that characterize the surface contour of the inner hole of the workpiece.

[0034] In this embodiment of the application, by performing geometric feature analysis and intelligent simplification on the cross-section point cloud data, the number of data points used to describe the contour can be significantly reduced while retaining the key shape information of the inner hole surface of the workpiece. This allows for the extraction of key trajectory points for path planning, and these key trajectory points form a set of key trajectory points.

[0035] Step S400: All key trajectory points in the key trajectory point set are translated along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole.

[0036] Therefore, the wireless communication between the processing module and the measurement execution module eliminates the constraints of physical cables. This separate design effectively avoids the risk of motion interference between the equipment and the inner wall of the workpiece caused by tangled or pulled wires. The processing module controls the measurement execution module to move along a preset path and collect distance data in real time via wireless commands. It then processes and analyzes the collected point cloud data, ultimately automatically generating an optimized trajectory for internal hole thermal spraying that maintains a constant spraying distance throughout the process and avoids collisions with the inner surface of the workpiece. This not only makes the thickness of the coating closer to the theoretical value but also maintains a better surface smoothness, improving the quality of internal hole thermal spraying.

[0037] In one optional implementation, the measurement execution module includes a measurement module, an actuator, and a thermal spray gun. The measurement module is mounted at the outlet of the thermal spray gun, ensuring that it can move with the thermal spray gun. Furthermore, both the measurement module and the actuator are communicatively connected to the processing module.

[0038] The step S100 of the above-mentioned control measurement execution module moving along the preset path of the workpiece inner hole according to the motion relationship is as follows: The processing module controls the actuator to carry the thermal spray gun equipped with the measurement module, and moves at a constant speed and synchronously along the central axis of the inner hole of the workpiece according to the preset motion relationship, so that the measurement module can measure the distance from the outlet position of the thermal spray gun to the surface of the inner hole of the workpiece in real time during the movement.

[0039] For example, the actuator can be a robot or a robotic arm. The processing module consists of a data processing unit, a Bluetooth wireless master module, and an LCD display module, while the measurement module consists of a laser rangefinder and a Bluetooth wireless slave module. The laser rangefinder uses RS232 serial communication, has a range of 10mm or more, and employs a 1~10Hz continuous measurement mode to transmit measurement data values ​​in real time. The distance data between the laser rangefinder and the inner hole surface is transmitted in a binary encoding format, with each byte of data encoded using 8 bits of binary data. These data bits are then converted to decimal and output as the spraying distance value. The laser rangefinder and the data processing unit exchange data via the Bluetooth wireless transmission protocol. The Bluetooth wireless communication uses a transparent master-slave module (i.e., a Bluetooth master module and a Bluetooth slave module), with an effective transmission distance of over 10m and a power rating greater than Class 2. This allows for reliable cooperation with the data processing unit and the LCD display module to achieve real-time reception, storage, and display of measurement data.

[0040] In one optional implementation, the motion relationship is: v = nf. Where v is the speed of the actuator, f is the sampling frequency of the measurement module, and n is a natural number. Based on this motion relationship, the processing module can control the speed of the actuator according to the sampling frequency of the measurement module, so as to quickly generate equally spaced spraying paths.

[0041] Optionally, in the embodiments of this application, n=1, that is, v=f. For example, assuming the acquisition frequency of the measurement module is f=10Hz (acquiring 10 times per second), the processing module controls the movement speed of the actuator to v=10mm / s, so that the measurement module acquires distance data exactly once for every 1mm movement of the actuator.

[0042] Understandably, the actuator, carrying a thermal spray gun equipped with a measurement module, moves synchronously and uniformly along the central axis of the workpiece's inner hole. This ensures that the actuator's speed *v* matches the measurement module's acquisition frequency *f*, maintaining a direct proportional relationship. Because *v* and *f* are strictly synchronized, the spatial interval between each data point acquired by the measurement module remains constant (1 mm when *n*=1), resulting in a uniform and equidistant spatial distribution of all data points. This provides regular input data for subsequent trajectory generation.

[0043] Furthermore, step S200, which generates the cross-sectional point cloud data of the workpiece's inner hole surface based on the motion relationship and the measurement data sent by the measurement execution module, specifically includes: Based on the motion relationship, the measurement data are unified to the same coordinate system to obtain the point cloud data of the cross-section of the inner hole surface of the workpiece.

[0044] Understandably, by using the motion relation v=nf, the discrete distance values ​​collected by the measurement module in time can be mapped one by one to the continuous motion position of the actuator in space, thereby converting the time-series measurement data into a geometric point set with unified spatial coordinates, that is, constructing the cross-sectional point cloud data that reflects the longitudinal profile of the inner hole surface of the workpiece by collecting data along the central axis of the inner hole of the workpiece.

[0045] Since cross-sectional point cloud data typically contains a large number of densely and uniformly distributed measurement points, directly using all of these points as the basis for spray trajectory planning would lead to redundant motion paths, complex control commands, and low execution efficiency. In order to generate a concise, efficient, and smooth spray trajectory while preserving the key geometric features of the workpiece's inner hole, it is necessary to perform a reduction process on the cross-sectional point cloud data to extract the key trajectory points that characterize the shape of the inner hole contour.

[0046] like Figure 2As shown, in an optional embodiment, step S300, which processes the cross-section point cloud data to obtain a set of key trajectory points characterizing the surface contour of the inner hole of the workpiece, includes sub-steps S310 to S340.

[0047] Step S310: Identify the straight line segment region and the curved line segment region in the point cloud data.

[0048] Specifically, the method for distinguishing between straight line segments and curved line segments in the point cloud data is as follows: the data points are segmented based on the slope changes of continuous points in the point cloud data. Segments with a slope change rate less than a preset value (i.e., areas with constant slope) are identified as straight line segments, while segments with a slope change rate greater than or equal to a preset value (i.e., areas with significant curvature changes) are identified as curved line segments.

[0049] Step S320: For the straight line segment area, pick the first and last endpoints of the straight line segment as key trajectory points.

[0050] Step S330: For the curved segment region, the equal length method is used to perform iterative calculation and filtering of points in order to pick out multiple key trajectory points in the curved segment region.

[0051] Step S340: Arrange the multiple key trajectory points picked in the straight line segment region and the multiple key trajectory points picked in the curve segment region in order of position to obtain a set of key trajectory points.

[0052] Understandably, since the geometry of a straight line segment can be uniquely determined by its starting and ending points, and the points in between are linearly distributed, simply picking the two endpoints of the straight line segment is sufficient to fully characterize the path direction of that segment, thus achieving maximum simplification of the trajectory points in that area. In contrast, curved segments have complex shapes, requiring the use of an equal-length method to iteratively select multiple representative key trajectory points along the curve at approximately equal arc length intervals. This ensures accurate fitting of the geometric contour while reducing the amount of data. Finally, all key trajectory points extracted from the straight and curved segments are arranged according to their spatial position in the direction of the actuator's movement, resulting in a complete, ordered, and simplified set of key trajectory points.

[0053] In one alternative implementation, please refer to Figure 3 For the curved segment region, the step S330, which uses the equal length method to iteratively calculate and filter points to pick up multiple key trajectory points in the curved segment region, includes sub-steps S331 to S335.

[0054] Step S331: Take the starting point of the curve segment region as the first key trajectory point and use it as the current reference point.

[0055] Step S332: Starting from the current reference point, calculate the Euclidean distance between each subsequent point and the current reference point sequentially along the point sequence.

[0056] Step S333: When the Euclidean distance is greater than or equal to the preset length threshold for the first time, the corresponding point is selected as the next key trajectory point and updated as the new current reference point.

[0057] Step S334: Repeat the above iteration and selection process until the entire curve segment region has been traversed, and mark the end point of the curve segment region as the last key trajectory point.

[0058] Step S335: The starting point (i.e., the first key trajectory point), the ending point (i.e., the last key trajectory point), and all key trajectory points selected during the iteration process (i.e., intermediate key trajectory points) of the curve segment region are collectively used as multiple key trajectory points of the curve segment region.

[0059] To better understand the entire key trajectory point picking method, please refer to Figure 4 Assume the point cloud dataset is { , , , , , , ,..., ,..., }(Right now Figure 4 (The sequence of blue dots). Let be the first endpoint of the line segment. It is both the endpoint of a straight line segment and the starting point of a curve segment. This is the endpoint of the curve segment.

[0060] First, and Mark these points as key trajectory points and record them in the key trajectory point set. Then, for the remaining points... to The picking method is: As the current reference point, from Start calculating backwards and , , ,..., ,..., The Euclidean distance between them, if and If the Euclidean distance is less than the preset length threshold, then... Delete, continue searching for the next point. ;like and If the Euclidean distance is less than the preset length threshold, then... Delete, continue searching for the next point. ;like and If the Euclidean distance is greater than or equal to the preset length threshold (i.e., the Euclidean distance is greater than or equal to the preset length threshold for the first time), then... Mark them as key trajectory points and record them in the key trajectory point set. Next, ... Update to the new current reference point, and calculate its subsequent relationship with... The first point whose Euclidean distance is greater than or equal to the preset length threshold is retrieved again and recorded in the key trajectory point set. This process continues until the entire curve segment point set has been traversed. Finally, the endpoint of the curve segment region is recorded. Mark it as the last key trajectory point and record it in the key trajectory point set. The final key trajectory point set is { , , ,..., ,..., }

[0061] Finally, the set of key trajectory points { , , ,..., ,..., All key trajectory points in} are offset downwards by the target spraying distance value L, thus obtaining a series of new trajectory points { , , ,..., ,..., }(Right now Figure 4 (The sequence of red dots in the middle) is used as the optimized trajectory for internal hole thermal spraying.

[0062] As an optional implementation, after step S400, which involves translating all key trajectory points in the key trajectory point set along the direction toward the center of the workpiece's inner hole by a target spraying distance to generate an optimized thermal spraying trajectory for the inner hole, the method for generating an optimized thermal spraying trajectory for the inner hole provided in this application further includes: controlling an actuator to carry a thermal spray gun and move along the optimized thermal spraying trajectory for the inner hole to spray the inner hole of the workpiece.

[0063] In other words, during the actual spraying operation, the processing module controls the actuator (such as an industrial robot) to carry the thermal spray gun and move strictly according to the optimized trajectory of internal hole thermal spraying, thereby realizing automated and high-precision spraying operation on the surface of the workpiece's internal hole.

[0064] Based on the above methodological concept, in one optional implementation, please refer to... Figure 5This application also provides an internal hole thermal spraying optimized trajectory generation device 10, applied to a processing module in an internal hole thermal spraying equipment. The internal hole thermal spraying equipment further includes a measurement execution module, and the processing module is communicatively connected to the measurement execution module. This device is used to execute the internal hole thermal spraying optimized trajectory generation method as described in any of the foregoing embodiments. The device includes: The control module 11 is used to control the measurement execution module to move along a preset path of the inner hole of the workpiece according to the motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement.

[0065] The first processing module 12 is used to generate cross-sectional point cloud data of the inner hole surface of the workpiece based on the motion relationship and the measurement data sent by the measurement execution module.

[0066] The second processing module 13 is used to process the cross-section point cloud data to obtain a set of key trajectory points that characterize the surface contour of the inner hole of the workpiece.

[0067] Output module 14 is used to translate all key trajectory points in the key trajectory point set along the direction toward the center of the workpiece inner hole by the target spraying distance to generate an optimized trajectory for inner hole thermal spraying.

[0068] Specific limitations regarding the internal hole thermal spraying optimized trajectory generation device 10 can be found in the limitations of the internal hole thermal spraying optimized trajectory generation method described above, and will not be repeated here. Each module in the aforementioned internal hole thermal spraying optimized trajectory generation device 10 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory of the electronic device in software form, so that the processor can call and execute the operations corresponding to each module.

[0069] Furthermore, embodiments of this application also provide an electronic device, including a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the internal hole thermal spraying optimized trajectory generation method as described in any of the foregoing embodiments.

[0070] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the internal hole thermal spraying optimized trajectory generation method as described in any of the foregoing embodiments.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0072] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0073] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for generating optimized trajectories for internal thermal spraying, characterized in that, A processing module is applied in an internal hole thermal spraying equipment, the internal hole thermal spraying equipment further comprising a measurement execution module, the processing module being communicatively connected to the measurement execution module, the method comprising: The measurement execution module is controlled to move along a preset path along the inner hole of the workpiece according to a motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement. Based on the motion relationship and the measurement data sent by the measurement execution module, the cross-sectional point cloud data of the inner hole surface of the workpiece is generated; The point cloud data of the cut line is processed to obtain a set of key trajectory points that characterize the surface contour of the inner hole of the workpiece; All key trajectory points in the set of key trajectory points are translated along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole.

2. The method for generating optimized trajectories for internal thermal spraying according to claim 1, characterized in that, The measurement execution module includes: a measurement module, an actuator, and a thermal spray gun; the measurement module is installed at the outlet of the thermal spray gun, and both the measurement module and the actuator are communicatively connected to the processing module; The step of controlling the measurement execution module to move along a preset path along the inner hole of the workpiece according to a motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement, includes: The actuator is controlled to carry the thermal spray gun equipped with the measuring module and move at a constant speed and synchronously along the central axis of the inner hole of the workpiece according to the motion relationship, so that the measuring module measures the distance from the outlet position of the thermal spray gun to the surface of the inner hole of the workpiece during the movement.

3. The method for generating optimized trajectories for internal thermal spraying according to claim 2, characterized in that, The motion relationship is: v = nf; where v is the motion speed of the actuator, f is the acquisition frequency of the measurement module, and n is a natural number; The steps for generating cross-sectional point cloud data of the workpiece inner hole surface based on the motion relationship and the measurement data sent by the measurement execution module include: Based on the aforementioned motion relationship, the measurement data are unified to the same coordinate system to generate point cloud data of the cross-section of the inner hole surface of the workpiece.

4. The method for generating optimized trajectories for internal thermal spraying according to claim 2, characterized in that, After the step of translating all key trajectory points in the set of key trajectory points along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole, the method further includes: The actuator is controlled to carry the thermal spray gun and move along the optimized thermal spraying trajectory of the inner hole to spray the inner hole of the workpiece.

5. The method for generating optimized trajectories for internal thermal spraying according to claim 1, characterized in that, The steps for processing the sectional point cloud data to obtain a set of key trajectory points characterizing the surface contour of the workpiece's inner hole include: Identify the straight line segment regions and curved line segment regions in the intercept point cloud data; For the straight line segment region, the first and last endpoints of the straight line segment are selected as key trajectory points; For the curved segment region, the equal length method is used to iteratively calculate and filter points to pick out multiple key trajectory points in the curved segment region; The key trajectory points are obtained by arranging the multiple key trajectory points picked in the straight line segment region and the multiple key trajectory points picked in the curved line segment region in order of position.

6. The method for generating optimized trajectories for internal thermal spraying according to claim 5, characterized in that, The steps for identifying straight line segment regions and curved line segment regions in the intercept point cloud data include: Based on the slope changes of continuous points in the intercept point cloud data, the data points are segmented: The section with a slope change rate less than a preset value is identified as the straight line segment region; The section with a slope change rate greater than or equal to a preset value is determined as the curve segment region.

7. The method for generating optimized trajectories for internal thermal spraying according to claim 5, characterized in that, For the curved segment region, the steps of iteratively calculating and filtering points using the equal-length method to pick up multiple key trajectory points in the curved segment region include: The starting point of the curve segment region is taken as the first key trajectory point and used as the current reference point; Starting from the current reference point, calculate the Euclidean distance between each subsequent point and the current reference point sequentially along the point sequence; When the Euclidean distance is greater than or equal to the preset length threshold for the first time, the corresponding point is selected as the next key trajectory point and updated as the new current reference point; Repeat the above iteration and selection process until the entire curve segment region has been traversed, and mark the end point of the curve segment region as the last key trajectory point; The starting point, ending point, and all key trajectory points selected during the iteration process of the curve segment region are collectively used as multiple key trajectory points of the curve segment region.

8. An optimized trajectory generation device for internal thermal spraying, characterized in that, A processing module is applied in an internal hole thermal spraying equipment, the internal hole thermal spraying equipment further comprising a measurement execution module, the processing module being communicatively connected to the measurement execution module; the device is used to execute the internal hole thermal spraying optimized trajectory generation method as described in any one of claims 1-7, the device comprising: The control module is used to control the measurement execution module to move along a preset path along the inner hole of the workpiece according to the motion relationship, so that the measurement execution module measures the distance to the surface of the inner hole of the workpiece during the movement. The first processing module is used to generate cross-sectional point cloud data of the inner hole surface of the workpiece based on the motion relationship and the measurement data sent by the measurement execution module. The second processing module is used to process the cut-off point cloud data to obtain a set of key trajectory points that characterize the surface contour of the inner hole of the workpiece. The output module is used to translate all the key trajectory points in the key trajectory point set along the direction toward the center of the workpiece's inner hole by the target spraying distance to generate an optimized trajectory for thermal spraying of the inner hole.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program that can be executed by the processor, the processor being able to execute the computer program to implement the internal hole thermal spraying optimized trajectory generation method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for generating optimized trajectories for internal thermal spraying as described in any one of claims 1-7.

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