Workpiece repair method and apparatus, device, portable additive manufacturing robot, medium

Abstract

This invention relates to the field of metal additive manufacturing technology, and discloses a workpiece repair method, apparatus, equipment, portable additive manufacturing robot, and medium. The method is applied to a portable additive manufacturing robot, which includes a mobile platform, a multi-degree-of-freedom robotic arm, and a tool module. The base of the multi-degree-of-freedom robotic arm is fixed to the mobile platform, and its end is connected to a tool module integrating a DED printhead and a laser profilometer. The method includes: controlling the mobile platform to move to the target position of the workpiece to be repaired; driving the multi-degree-of-freedom robotic arm to approach the workpiece to be repaired, so as to scan the repair area of ​​the workpiece using the laser profilometer to obtain scan data; generating a repair task based on the scan data; and driving the multi-degree-of-freedom robotic arm based on the repair task to repair the workpiece using the DED printhead. This eliminates the need to disassemble and move the workpiece, enabling real-time, on-site repair of the workpiece.

Description

Technical Field

[0001] This invention relates to the field of metal additive manufacturing technology, specifically to a workpiece repair method and apparatus, equipment, portable additive manufacturing robot, and medium. Background Technology

[0002] Currently, metal additive manufacturing, also known as 3D printing, especially Directed Energy Deposition (DED), has been widely used in aerospace, shipbuilding, and energy sectors due to its high forming efficiency, suitability for large components, and ability to manufacture gradient materials. A typical DED device usually employs a fixed structure, including a fixed worktable or base, a multi-degree-of-freedom robotic arm or a gantry with a DED print head, and energy systems such as a laser generator or electron beam generator, process gas supply systems, and control systems. The basic workflow of a DED device is as follows: the workpiece is fixed on the worktable, the operator plans the robotic arm's movement trajectory through offline programming or manual teaching, starts the printing program, and the DED device melts and deposits metal powder or filaments layer by layer onto the substrate according to the preset path, ultimately completing the manufacturing or repair of the part.

[0003] However, existing DED equipment is stationary, typically requiring workpieces to be disassembled, transported to a fixed printing workshop, and then fixed onto the DED equipment's worktable for subsequent metal additive manufacturing. However, existing DED equipment cannot perform subsequent metal additive manufacturing for workpieces that cannot be disassembled.

[0004] Therefore, in order to overcome the above-mentioned technical problems, the present invention provides a workpiece repair method and apparatus, equipment, portable additive manufacturing robot, and medium. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to achieve on-site repair of workpieces. The purpose is to provide a workpiece repair method, device, equipment, portable additive manufacturing robot, and medium to achieve on-site repair of workpieces.

[0006] This invention is achieved through the following technical solution:

[0007] In a first aspect, a workpiece repair method is applied to a portable additive manufacturing robot. The portable additive manufacturing robot includes a mobile platform, a multi-degree-of-freedom (DED) robotic arm, and a tool module. The base of the DED robotic arm is fixed to the mobile platform. The end effector of the DED robotic arm is connected to the tool module. The tool module integrates a directional energy deposition (DED) printhead and a laser profilometer. The method includes: controlling the mobile platform to move to a target position of the workpiece to be repaired; driving the DED robotic arm to approach the workpiece to be repaired, thereby scanning the repair area of ​​the workpiece using the laser profilometer to obtain scan data; generating a repair task based on the scan data; and driving the DED robotic arm based on the repair task to repair the workpiece using the DED printhead.

[0008] In some embodiments, the portable additive manufacturing robot further includes an environmental perception and positioning module; controlling the mobile platform to move to the target location of the workpiece to be repaired includes: using the environmental perception and positioning module to determine the current location of the mobile platform; and using a preset synchronous positioning and mapping algorithm to control the mobile platform to move from the current location to the target location.

[0009] In some embodiments, generating a repair task based on the scan data includes: generating a three-dimensional model corresponding to the area to be repaired based on the scan data; and generating the repair task based on the three-dimensional model.

[0010] In some embodiments, the portable additive manufacturing robot further includes a gas supply module and a micro gas hood; the gas supply module includes a gas cylinder containing inert gas; the micro gas hood is disposed around the DED printhead; the micro gas hood is in communication with the gas supply module; the method further includes: when repairing the workpiece to be repaired using the DED printhead, turning on the gas supply module to introduce the inert gas into the micro gas hood.

[0011] In some embodiments, the gas supply module further includes a flow controller; the flow controller is disposed between the miniature gas hood and the gas cylinder; the tool module also integrates a paraxial vision module; after the gas supply module is turned on, the method further includes: using the paraxial vision module to monitor whether the airflow inside the miniature gas hood is disturbed; and when the airflow inside the miniature gas hood is disturbed, controlling the flow controller to increase the flow rate of the inert gas.

[0012] In some embodiments, the portable additive manufacturing robot further includes a laser energy generator; the laser energy generator is connected to the DED print head via an optical fiber path to transmit a high-energy laser beam into the interior of the DED print head; the tool module also integrates a coaxial vision module and a temperature sensor; the coaxial vision module is used to acquire molten pool images in real time; the temperature sensor is used to acquire temperature field information of the molten pool; the method further includes: acquiring the molten pool image and the temperature field information when repairing the workpiece to be repaired using the DED print head; determining abnormal conditions of the repair temperature based on the molten pool image and the temperature field information; and adjusting the power of the laser energy generator based on the abnormal conditions.

[0013] Secondly, a workpiece repair device is provided, applied to a portable additive manufacturing robot; the portable additive manufacturing robot includes a mobile platform, a multi-degree-of-freedom robotic arm, and a tool module; wherein, the base of the multi-degree-of-freedom robotic arm is fixed to the mobile platform; the end of the multi-degree-of-freedom robotic arm is connected to the tool module; the tool module integrates a directional energy deposition (DED) printhead and a laser profilometer; the device includes: a moving module configured to control the mobile platform to move to a target position of the workpiece to be repaired; a driving module configured to drive the multi-degree-of-freedom robotic arm to approach the workpiece to be repaired, so as to use the laser profilometer to scan the repair area of ​​the workpiece to be repaired and obtain scan data; a generating module configured to generate a repair task based on the scan data; and a repair module configured to drive the multi-degree-of-freedom robotic arm based on the repair task, so as to use the DED printhead to repair the workpiece to be repaired.

[0014] Thirdly, an electronic device includes a processor and a memory storing program instructions, the processor being configured to execute the above-described workpiece repair method when the program instructions are executed.

[0015] Fourthly, a portable additive manufacturing robot includes: a mobile platform, a multi-degree-of-freedom robotic arm, a tool module, and a control module; wherein the base of the multi-degree-of-freedom robotic arm is fixed to the mobile platform; the end of the multi-degree-of-freedom robotic arm is connected to the tool module; the tool module integrates a directional energy deposition (DED) printhead and a laser profilometer; the control module is electrically connected to the mobile platform, the multi-degree-of-freedom robotic arm, the DED printhead, and the laser profilometer; the control module is used to control the mobile platform, the multi-degree-of-freedom robotic arm, the DED printhead, and the laser profilometer based on the workpiece repair method according to any one of claims 1 to 6, so as to repair the workpiece to be repaired.

[0016] Fifthly, a computer-readable storage medium storing a computer program adapted to be loaded and executed by a processor, such that a computer device having the processor performs the methods described above.

[0017] Compared with existing technologies, this invention controls a mobile platform to move to the target location of the workpiece to be repaired, and then drives the multi-degree-of-freedom robotic arm to approach the workpiece. The laser profilometer scans the area to be repaired on the workpiece, obtaining scan data. A repair task is then generated based on the scan data, and the multi-degree-of-freedom robotic arm is driven based on the repair task to repair the workpiece using the DED printhead. This allows for real-time, on-site repair at the target location of the workpiece, eliminating the need to disassemble or move the workpiece and achieving on-site repair. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Figure 1 This is an architectural diagram of a portable additive manufacturing robot provided in an embodiment of this disclosure;

[0020] Figure 2 This is a connection diagram of a portable additive manufacturing robot provided in an embodiment of this disclosure;

[0021] Figure 3 This is a schematic diagram illustrating the formation of a localized anaerobic environment provided in an embodiment of this disclosure;

[0022] Figure 4 This is a schematic flowchart of a workpiece repair method provided in an embodiment of this disclosure;

[0023] Figure 5 This is a schematic diagram of a workpiece repair device provided in an embodiment of this disclosure;

[0024] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0027] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0028] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0029] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0030] Please see Figure 1 and Figure 2 . Figure 1 Architecture diagram for a portable additive manufacturing robot. Figure 2 A connection diagram for a portable additive manufacturing robot.

[0031] like Figure 1 As shown, the portable additive manufacturing robot includes a mobile platform 1, a multi-degree-of-freedom robotic arm 2, a tool module 3, a portable auxiliary module 11, a control module 4, and an environmental perception and positioning module 10.

[0032] Among them, the mobile platform 1 is the mobile module and basic support structure of the portable additive manufacturing robot. It adopts a lightweight design.

[0033] Mobile platform 1 can be a mobile vehicle or a wall-climbing robot. The wall-climbing robot can attach itself via magnetic adhesion.

[0034] The bottom of the mobile platform 1 may be equipped with a traveling mechanism. This traveling mechanism may include ground-mounted moving and bearing components such as omnidirectional wheels, Mecanum wheels, and tracks.

[0035] The mobile platform 1 has a compact overall size. The mobile platform 1 can be configured with multiple sub-platforms, which can be flexibly connected to each other, making it easy for the mobile platform 1 to pass through narrow passages.

[0036] Multi-degree-of-freedom robotic arm 2 is a miniaturized multi-degree-of-freedom robotic arm. It is a lightweight, high-rigidity collaborative robotic arm.

[0037] The base of the multi-degree-of-freedom robotic arm 2 is fixed to the mobile platform. The end of the multi-degree-of-freedom robotic arm 2 is equipped with a quick-change interface for connecting to the tool module 3.

[0038] The multi-degree-of-freedom robotic arm 2 can be connected to the tool module 3 via a quick-change interface. This allows the multi-degree-of-freedom robotic arm 2 to adjust the various spatial positions and postures integrated in the tool module 3.

[0039] Tool module 3 integrates a DED printhead 5, a laser profilometer 6, a vision monitoring module 7, a temperature sensor 8, and a local protection device.

[0040] The DED print head 5 can use a preset metal material to 3D print the workpiece to be repaired, thereby achieving the repair of the workpiece.

[0041] The laser profilometer 6 can be a line structured light profile detection sensor. It can project a line laser onto the surface of the workpiece and use visual imaging and triangulation principles to collect information on the cross-sectional profile, height shape, and dimensional deviation of the workpiece to be repaired, so as to realize online detection and trajectory correction of the workpiece shape.

[0042] The visual monitoring module 7 includes a paraxial vision module and a coaxial vision module.

[0043] It should be noted that the camera of the coaxial vision module is arranged coaxially with the DED printhead, meaning that the camera's shooting direction is the same as the direction perpendicularly downwards along the central axis of the printhead. The coaxial vision module is used to acquire images of the area directly below the DED printhead, specifically the molten pool image of the area being repaired by the DED printhead.

[0044] The camera in the rangefinder vision module is not aligned with the axis of the DED printhead. The rangefinder vision module can be positioned obliquely to the side of the DED printhead. It can acquire images of the workpiece to be repaired and the flexible skirt of the micro-air hood from a rangefinder perspective.

[0045] Temperature sensor 8 can collect temperature parameters of the molten pool and workpiece forming area in real time, forming temperature field information.

[0046] Local protection devices include protective structures surrounding the nozzles of the DED printhead. These protective devices may include miniature air hoods, annular air curtains, or follow-up flexible seals.

[0047] The local protection device can be connected to a preset gas supply module. The gas supply module includes a gas cylinder and a flow controller 9. The gas cylinder can be a small high-pressure gas cylinder. A preset inert gas can be placed inside the gas cylinder. The inert gas can include argon, helium, or nitrogen.

[0048] A flow controller is positioned between the miniature gas shield and the gas cylinder. The inert gas inside the cylinder flows into the protective device through the flow controller. The flow controller can adjust the flow rate of the inert gas.

[0049] It should be noted that, as Figure 3 As shown, Figure 3 This is a schematic diagram illustrating the formation of a localized anaerobic environment.

[0050] The miniature gas hood 301 surrounds the DED printhead 5, forming a semi-enclosed cavity 303 of a small ring or short cylinder; the opening of the miniature gas hood faces the direction of the DED printhead 5; the miniature gas hood 301 is also provided with a gas pipe 302 connected to the gas supply module.

[0051] When the gas supply module is turned on, the inert gas in the gas cylinder can be controlled to enter the semi-enclosed cavity 303 through the gas pipe 302, and the oxygen in the semi-enclosed cavity 303 can be discharged, forming a local oxygen-free environment between the DED print head 5 and the workpiece 304 to be repaired.

[0052] Specifically, by continuously injecting inert gas into the semi-enclosed cavity, excess gas flows out from the opening of the cavity. Initially, the oxygen originally inside the cavity is expelled. After all the oxygen is expelled, the excess inert gas is then expelled. When the DED printhead 5 approaches the workpiece 304 to be repaired, the expelled inert gas... Figure 3 As indicated by the middle arrow, the semi-enclosed cavity flows out from the surface of the workpiece 304 to be repaired, preventing external oxygen from entering between the DED printhead 5 and the workpiece 304 to be repaired, thereby creating a localized oxygen-free environment between the DED printhead 5 and the workpiece 304 to be repaired.

[0053] It should be noted that the opening edge of the miniature gas shield can be equipped with a flexible skirt. The flexible skirt is made of a deformable material.

[0054] As gas exits from the semi-enclosed cavity, the flexible skirt unfolds and conforms to the outflowing gas, suspending itself on the workpiece 304 to be repaired. The shape of the flexible skirt indicates whether the airflow is disturbed.

[0055] For example, when the flexible skirt is not fully unfolded or when the shape of the flexible skirt changes significantly, it can be determined that the airflow is disturbed.

[0056] An annular air curtain is a gas ring formed by airflow. In some embodiments, a ring of small holes communicating with a gas cylinder can be provided around the nozzle of the DED printhead. When inert gas is introduced, the small holes will eject inert gas, thereby forming an inert gas ring that surrounds the molten pool. In this way, the airflow barrier of the inert gas ring can isolate air and create a local oxygen-free environment.

[0057] The flexible, follow-up sealing cover is made of deformable and stretchable material. The upper end of the cover is fixed to the outer periphery of the DED printhead nozzle, while the lower end features a flexible skirt structure. This allows the cover to adapt to the surface of the workpiece to be repaired. Furthermore, when inert gas is introduced, oxygen within the cover is expelled, creating a closed or semi-closed localized oxygen-free environment between the DED printhead and the workpiece. This effectively isolates the area from outside air and inhibits oxidation of the high-temperature molten pool.

[0058] Furthermore, the portable auxiliary module includes a gas supply module, an energy supply module 11, a metal feeding module, a laser energy generator 12, and a water cooling module 13. Each module in the portable auxiliary module can adopt a modular, split design for easy and rapid on-site assembly.

[0059] The energy supply module 11 provides power to the portable additive manufacturing robot. The energy supply module 11 may include a battery pack, which can be a high-energy-density portable battery pack. It can be fixedly installed on the mobile platform 1, supports disassembly and replacement, adapts to on-site operation scenarios without external power supply, and meets the portability requirements for mobile operation of the equipment.

[0060] The energy supply module 11 can also integrate a power interface for connecting to an external power source. This allows for connection to a field power source, enabling continuous and stable power supply, suitable for long-term continuous operation scenarios, and eliminating the need for frequent battery replacements.

[0061] The metal feed module is a dedicated feeding mechanism that continuously delivers metal materials, such as metal powder or metal filament, to the DED printhead. It can be a miniaturized powder feeder or filament feeding mechanism.

[0062] The metal feeding module includes a storage bin and a delivery pipeline. The storage bin contains metal powder or metal wire. The delivery pipeline connects the storage bin and the DED printhead to deliver the metal powder or metal wire stored in the storage bin into the DED printhead.

[0063] The laser energy generator 12 is the core energy source for the cladding process of the DED printhead. The laser energy generator can be a laser or an electron gun.

[0064] The laser energy generator 12 can output a high-energy laser beam. The laser energy generator is connected to the DED printhead via an optical fiber path to conduct the high-energy laser beam into the interior of the DED printhead, melting the metal material fed into the module to form a molten pool.

[0065] It should be noted that the multi-degree-of-freedom robotic arm moves the DED print head, causing the molten pool to cool and solidify rapidly, layer by layer, to achieve additive printing and cladding repair of the workpiece to be repaired.

[0066] The laser energy generator 12 can preferentially adopt a miniaturized fiber laser. Through optimized structure design using air cooling or integrated water cooling, it can significantly reduce module size and weight, adapt to the integration and installation requirements of portable additive manufacturing robots, and provide stable and efficient energy output for the melting and forming of metal materials.

[0067] The water-cooling module 13 can be a compressor-type water-cooling module or an air-cooling module to provide heat dissipation for the portable additive manufacturing robot.

[0068] The compressor-type water-cooled module includes a compressor, condenser, and circulation piping. It features high cooling efficiency, stable heat dissipation, and is suitable for long-term continuous operation.

[0069] The air-cooled cooling module includes a cooling fan and a heat sink. It has a simple structure, is lightweight, and is easy to install, making it suitable for lightweight integration needs.

[0070] The environmental perception and positioning module 10 includes a lidar, a depth camera, and an inertial measurement unit (IMU).

[0071] The lidar and depth camera can be placed at the front end of the mobile platform 1. The inertial measurement unit can be placed at the bottom of the mobile platform 1.

[0072] The lidar can collect distance information and contour features of objects in the environment where the mobile platform 1 is located in real time, and output lidar point cloud data.

[0073] The depth camera can acquire color image information and depth information of the environment in which the mobile platform 1 is located in real time, and output RGB image data and depth point cloud data.

[0074] The inertial measurement unit can collect attitude data such as angular velocity and acceleration of the mobile platform 1 in real time and output the attitude data of the mobile platform 1.

[0075] In this way, the laser point cloud data output by the LiDAR can provide core spatial distance support for positioning, while the RGB image data and depth point cloud data output by the depth camera can supplement the LiDAR's detection blind spots in occluded and detailed areas and provide visual feature constraints. The attitude data collected in real time by the inertial measurement unit can characterize the pose changes of the mobile platform and suppress positioning distortions caused during device movement. By combining the LiDAR, depth camera, and inertial measurement unit, a map of the environment in which the mobile platform 1 is located can be constructed, and the device can achieve self-localization.

[0076] The control module 4 is electrically connected to the mobile platform 1, the multi-degree-of-freedom robotic arm 2, the environmental perception and positioning module 10, the DED print head 5, the laser profilometer 6, the visual monitoring module 7, the temperature sensor 8, the flow controller 9, the energy supply module 11, the laser energy generator 12, and the water cooling module 13.

[0077] Specifically, the control module 4 can determine the current location of the mobile platform based on the environmental perception and positioning module 10, and use a preset synchronous positioning and map building algorithm to control the mobile platform 1 to move from the current location to the target location.

[0078] The control module 4 can drive the multi-degree-of-freedom robotic arm 2 to approach the workpiece to be repaired; based on the repair task, the multi-degree-of-freedom robotic arm is driven to repair the workpiece using the DED print head.

[0079] The control module 4 can use a laser profilometer to scan the area to be repaired on the workpiece and obtain scanning data.

[0080] Control module 4 can acquire images collected by visual monitoring module 7.

[0081] The control module 4 can acquire the temperature collected by the temperature sensor 8 to construct temperature field information.

[0082] The control module 4 can use the flow controller 9 to control the flow rate of the inert gas.

[0083] The control module 4 can be powered by the energy supply module 11.

[0084] The control module 4 can control the power of the laser energy generator 12 to regulate the temperature of the molten pool.

[0085] The control module 4 can turn the water-cooling module 13 on or off to dissipate heat from the portable additive manufacturing robot and improve the lifespan of the device.

[0086] Specifically, the control module can be used for Figure 4 The workpiece repair method shown controls a moving platform, a multi-degree-of-freedom robotic arm, a DED print head, and a laser profilometer to repair the workpiece to be repaired.

[0087] Please see Figure 4 , Figure 4 This is a schematic flowchart illustrating a workpiece repair method according to an exemplary embodiment of this application. Figure 3 As shown, this disclosure provides a workpiece repair method, which is applied to... Figure 1 and Figure 2 The portable additive manufacturing robot shown; the method includes:

[0088] Step S401: Control the mobile platform to move to the target position of the workpiece to be repaired.

[0089] In step S402, the multi-degree-of-freedom robotic arm is driven to approach the workpiece to be repaired, so as to use a laser profilometer to scan the area to be repaired of the workpiece and obtain scanning data.

[0090] Step S403: Generate a repair task based on the scan data.

[0091] Step S404: Drive a multi-degree-of-freedom robotic arm based on the repair task to repair the workpiece using a DED print head.

[0092] In this embodiment, the mobile platform is moved to the target location of the workpiece to be repaired, and then a multi-degree-of-freedom robotic arm is driven to approach the workpiece. A laser profilometer is used to scan the area to be repaired on the workpiece, obtaining scan data. A repair task is then generated based on the scan data, and the multi-degree-of-freedom robotic arm is driven based on the repair task to repair the workpiece using a DED printhead. This method, compared to existing technologies, enables real-time, on-site repair at the target location of the workpiece without disassembling or moving it, achieving on-site repair of the workpiece.

[0093] At the same time, it realizes an integrated closed-loop process of movement, scanning, task generation and automatic repair, which improves the automation level of workpiece repair.

[0094] Furthermore, in step S401, controlling the mobile platform to move to the target location of the workpiece to be repaired includes: determining the current location of the mobile platform using the environmental perception positioning module; and controlling the mobile platform to move from the current location to the target location using a preset synchronous positioning and map building algorithm.

[0095] In this way, by using the environmental perception and positioning module to determine the current position of the mobile platform, the accurate self-positioning of the mobile platform at the current position is achieved. Then, combined with the preset synchronous positioning and map building algorithm, the mobile platform is controlled to move from the current position to the target position, realizing the autonomous positioning of the mobile platform to the target position of the workpiece to be repaired. This eliminates the dependence on manual guidance and fixed-point placement of auxiliary markers, and realizes the intelligent movement of the mobile platform.

[0096] Furthermore, the current location of the mobile platform is determined using the environmental perception and positioning module. This includes constructing an environmental map of the mobile platform's environment using laser point cloud data collected by LiDAR, RGB image data collected by a depth camera, and depth point cloud data, and determining a reference position for the mobile platform within this environmental map. Attitude data collected by the inertial measurement unit is then used to correct the reference position on the environmental map to obtain the current location of the mobile platform.

[0097] It should be noted that, due to the movement of the mobile platform, the reference position determined by the laser point cloud data collected by the LiDAR, the RGB image data collected by the depth camera, and the depth point cloud data may contain errors. Attitude data collected by the inertial measurement unit can be used to calculate the instantaneous motion changes of the mobile platform in real time. This allows for pose compensation, drift correction, and motion distortion elimination based on the environmental map, accurately determining the current position of the mobile platform.

[0098] Simultaneous localization and mapping (SLAM) algorithms reconstruct the environmental map and localize the device with each movement. This enables the mobile platform to accurately move from its current location to its target location. Specific movement algorithms can be found in existing algorithms and will not be elaborated upon here.

[0099] In step S402, the multi-degree-of-freedom robotic arm is driven to approach the workpiece to be repaired, so that the laser profilometer can scan the area to be repaired on the workpiece to obtain scanning data. That is, the end effector of the multi-degree-of-freedom robotic arm is driven to approach the area to be repaired on the workpiece. Then the laser profilometer is activated to scan the area to be repaired on the workpiece to obtain scanning data.

[0100] Specifically, driving the end effector of the multi-degree-of-freedom robotic arm to approach the repair area of ​​the workpiece includes: obtaining the homogeneous transformation matrix corresponding to each link in the multi-degree-of-freedom robotic arm; multiplying the homogeneous transformation matrices to obtain the end effector pose matrix of the multi-degree-of-freedom robotic arm; obtaining the target pose matrix corresponding to the repair area; using a preset Jacobian iteration algorithm to obtain the control increment of each joint in the multi-degree-of-freedom robotic arm based on the target pose matrix and the end effector pose matrix; and controlling the multi-degree-of-freedom robotic arm based on the control increment. During the control process, the distance between the DED printhead and the repair area is acquired in real time; if this distance is less than or equal to a preset distance threshold, the end effector of the multi-degree-of-freedom robotic arm is determined to approach the repair area of ​​the workpiece.

[0101] It should be noted that for the i-th link, its corresponding homogeneous transformation matrix is: .in, Let be the homogeneous transformation matrix corresponding to the i-th link, which defines the homogeneous transformation of the (i-1)-th link relative to the i-th link. It is the joint angle corresponding to the i-th link, that is, the angle value of rotation from the axis of the (i-1)-th link to the axis of the i-th link; The link torsion angle corresponding to the i-th link is the spatial angle between the axes of the joints at both ends of the i-th link. Let be the length of the link corresponding to the i-th link; Let be the joint offset corresponding to the i-th link, which is the distance value of translating along the axis of the i-th joint from the axis of the (i-1)-th link to the axis of the i-th link.

[0102] It should be noted that obtaining the target pose matrix corresponding to the area to be repaired can be achieved by using a laser profilometer to pre-scan the area to be repaired, obtaining the coordinates and orientation of the center target of the area to be repaired, and then constructing the target pose matrix based on the coordinates and orientation of the center target of the area to be repaired.

[0103] It should be noted that the distance between the DED printhead and the area to be repaired can be obtained in real time using a laser profilometer by measuring the distance between the DED printhead and the area to be repaired using the triangulation method.

[0104] Furthermore, in step S403, generating a repair task based on the scan data includes: generating a three-dimensional model corresponding to the area to be repaired based on the scan data; and generating a repair task based on the three-dimensional model.

[0105] In this way, by first generating a 3D model of the area to be repaired based on the scanned data, and then generating a repair task based on the 3D model, the entire process from physical shape acquisition to digital task issuance is automated, providing reliable task support for the subsequent accurate and automated completion of additive repair operations by the DED printhead.

[0106] The area to be repaired can be a damaged area or a cracked area.

[0107] It should be noted that the process involves generating a 3D model of the area to be repaired based on the scanned data. This means reconstructing the 3D shape of the area to be repaired using the scanned data to obtain a real-time model. A complete model of the workpiece to be repaired is then obtained; by comparing the real-time model and the complete model, a 3D model of the area to be repaired is obtained.

[0108] It should be noted that the real-time model represents the damage or cracks in the area to be repaired. The complete model of the workpiece to be repaired is the ideal model after the repair is completed.

[0109] The 3D model corresponding to the area to be repaired is an ideal model of the area to be repaired, determined by comparing the real-time model and the complete model.

[0110] It should be noted that the repair task generation based on the 3D model includes: slicing the 3D model into equal-thickness layers according to a preset printing layer thickness to obtain several 3D sub-models; extracting the inner and outer contour boundaries and filled area contours of each 3D sub-model to obtain the corresponding geometric trajectory data; planning the repair path based on the geometric trajectory data; obtaining the defect thickness and metal material of the workpiece to be repaired; determining the repair process parameters based on the defect thickness and metal material; determining the control information of the multi-degree-of-freedom robotic arm based on the planned repair path; and generating the repair task based on the control information and repair process parameters.

[0111] It should be noted that planning the repair path based on geometric trajectory data means that the repair path can be planned based on the geometric trajectory data in the order from the innermost layer to the outermost layer.

[0112] It should be noted that the thickness of the defect in the workpiece to be repaired can be obtained through a 3D model.

[0113] It should be noted that the repair process parameters are determined based on the defect thickness and the metal material. This involves using a pre-defined process parameter database to perform a lookup operation on the defect thickness and the metal material to obtain the corresponding repair process parameters. In some embodiments, the repair process parameters may include: the reference power of the laser energy generator, the reference feeding rate of the metal feeding module, etc.

[0114] The control information for a multi-degree-of-freedom robotic arm can include its movement trajectory and posture information.

[0115] It should be noted that in step S404, the multi-degree-of-freedom robotic arm is driven based on the repair task to repair the workpiece to be repaired using the DED print head. That is, the movement of the multi-degree-of-freedom robotic arm is controlled based on the control information in the repair task. At the same time, the laser energy generator and the metal feeding module are controlled based on the repair process parameters. The metal feeding module continuously feeds metal material to the DED print head according to the reference feeding rate, and the laser energy generator emits a high-energy laser beam according to the reference power to melt the metal material fed by the metal feeding module and form a molten pool.

[0116] In this way, the multi-degree-of-freedom robotic arm moves while controlling the movement of the DED print head. At the DED print head, a molten pool is formed by controlling the laser energy generator and the metal feeding module. As the DED print head continues to move, the temperature of the previously formed molten pool decreases, cools and solidifies, and layers are stacked one by one to achieve additive printing and cladding repair of the workpiece to be repaired.

[0117] Furthermore, the workpiece repair method also includes: when repairing the workpiece using the DED printhead, turning on the gas supply module to control the inert gas in the gas cylinder to enter the semi-enclosed cavity through the gas pipeline, and expelling the oxygen in the semi-enclosed cavity, thereby creating a local oxygen-free environment between the DED printhead and the workpiece to be repaired.

[0118] In this way, while the DED printhead is repairing the workpiece, the gas supply module is turned on to introduce inert gas into the micro gas hood, so as to form a closed or semi-closed local oxygen-free environment between the DED printhead and the workpiece. This can effectively isolate the outside air, inhibit the oxidation of the high-temperature molten pool, and ensure the repair quality.

[0119] Furthermore, after activating the gas supply module, the system also includes: monitoring the shape of the flexible skirt using the off-axis vision module; determining whether the airflow is disturbed based on the shape of the flexible skirt; and controlling the flow controller to increase the flow rate of the inert gas when the airflow inside the micro gas hood is disturbed.

[0120] In this way, by using a cross-axis vision module to monitor the airflow inside the miniature gas hood in real time, it can automatically determine whether the airflow is disturbed. Then, if it is determined that the airflow inside the miniature gas hood is disturbed, the flow controller is controlled to increase the flow of inert gas, thereby quickly restoring a stable inert gas curtain inside the gas hood and improving the stability and anti-interference capability of inert gas protection.

[0121] It should be noted that the shape of the flexible skirt is monitored using the rangefinder vision module, that is, the shape image of the flexible skirt is continuously acquired using the rangefinder vision module.

[0122] Optionally, determining whether airflow is disturbed based on the shape of the flexible skirt includes: obtaining the area of ​​the flexible skirt in the shape image; obtaining the absolute value of the difference between this area and a preset fully unfolded area; if the absolute value is greater than or equal to a preset area difference threshold, determining that the flexible skirt is not fully unfolded, and then determining that the airflow is disturbed; otherwise, determining that the flexible skirt is fully unfolded, and then determining that the airflow is not disturbed. It should be noted that the fully unfolded area is the area of ​​the flexible skirt in the shape image when the flexible skirt is fully unfolded. This area can be measured in advance and stored in memory.

[0123] Optionally, determining whether airflow is disturbed based on the shape of the flexible skirt includes: acquiring the area of ​​the flexible skirt in multiple consecutively acquired shape images to obtain an area sequence; and calculating the standard deviation based on the area sequence. If the standard deviation is greater than or equal to a preset reference threshold, it is determined that the shape change of the flexible skirt is significant, and therefore the airflow is disturbed; otherwise, it is determined that the change of the flexible skirt is not significant, and therefore the airflow is not disturbed. It should be noted that the fully deployed area is the area of ​​the flexible skirt in the shape image when the flexible skirt is fully deployed.

[0124] In some embodiments, when the ambient wind disturbance is too great, outside air may breach the barrier formed by the airflow inside the miniature gas hood, creating gaps in the airflow topography and causing the local anoxic environment to fail. In this case, the flow controller increases the flow rate of the inert gas to re-stabilize the local anoxic environment and ensure the protective function of the inert gas.

[0125] Furthermore, the workpiece repair method also includes: acquiring a molten pool image and temperature field information when repairing the workpiece using a DED printhead; determining the area of ​​the molten pool based on the molten pool image; determining the molten pool temperature based on the temperature field information; determining abnormal conditions of the repair temperature based on the area and temperature of the molten pool; and adjusting the power of the laser energy generator based on the abnormal conditions.

[0126] In this way, while the DED printhead is repairing the workpiece, it can acquire the molten pool image and temperature field information in real time. This makes it easy to accurately determine abnormalities in the repair temperature through the molten pool image and temperature field information. Then, based on the abnormalities, the power of the laser energy generator is adjusted, thus constructing a closed-loop control mechanism for coordinated monitoring of molten pool morphology and temperature and adaptive control of laser power. This enhances the stability, robustness and intelligence of DED printhead repair.

[0127] It should be noted that there are abnormal situations where the repair temperature is determined based on the area and temperature of the molten pool, i.e.

[0128] If the area of ​​the molten pool is greater than the preset upper limit threshold or the temperature of the molten pool is greater than the preset upper limit threshold, the repair temperature is determined to be too high; if the area of ​​the molten pool is less than the preset lower limit threshold or the temperature of the molten pool is less than the preset lower limit threshold, the repair temperature is determined to be too low.

[0129] Furthermore, the power of the laser energy generator can be adjusted based on abnormal conditions, including: reducing the power of the laser energy generator when the repair temperature is determined to be too high, and increasing the power of the laser energy generator when the repair temperature is determined to be too low.

[0130] It should be noted that after driving the multi-degree-of-freedom robotic arm based on the repair task to repair the workpiece using the DED print head, the process also includes: generating a repair log.

[0131] The repair log can include repair process parameters, images of the molten pool collected during the repair process, and temperature field information.

[0132] This solution can achieve the following beneficial effects:

[0133] 1. By miniaturizing, integrating, and modularizing the DED system, the entire portable additive manufacturing robot can be easily transported to any work site, facilitating in-situ repair or manufacturing of large, non-removable workpieces. This greatly reduces transportation and disassembly costs, improves work efficiency and emergency response capabilities, and enables portable additive manufacturing on-site.

[0134] 2. Through local protection devices and precise flow control, a stable local oxygen-free environment can be created between the print head and the workpiece to be repaired in an open, unprotected field environment, solving the oxidation problem in on-site DED operations and ensuring the metallurgical quality and mechanical properties of the molded parts.

[0135] 3. By integrating the environmental perception module and the 3D scanning and reconstruction module, and combining them with intelligent algorithms, the device has achieved autonomous navigation, automatic identification and modeling of workpieces, automatic planning of printing paths, and autonomous setting of process parameters. This has enabled a leap from "passive execution" to "active adaptation," significantly improving the level of automation and intelligence.

[0136] 4. By integrating the paraxial vision module, coaxial vision module, and temperature sensor, and introducing an online monitoring and closed-loop control system, real-time monitoring and dynamic adjustment of the DED process were achieved, significantly improving the yield and repair quality. This enabled intelligent closed-loop manufacturing of "printing, monitoring, and adjusting simultaneously," achieving high-quality process control.

[0137] Combination Figure 5 As shown, this disclosure provides a workpiece repair device 400, which is applied to... Figure 1 and Figure 2 The portable additive manufacturing robot shown; the workpiece repair device includes: a moving module 501, a driving module 502, a generating module 503 and a repair module 504.

[0138] The moving module 501 is configured to control the moving platform to move to the target position of the workpiece to be repaired.

[0139] The drive module 502 is configured to drive the multi-degree-of-freedom robotic arm to approach the workpiece to be repaired, so as to use a laser profilometer to scan the area to be repaired of the workpiece and obtain scanning data.

[0140] The generation module 503 is configured to generate a repair task based on the scan data.

[0141] Repair module 504 is configured to drive a multi-degree-of-freedom robotic arm based on a repair task to repair the workpiece using a DED printhead.

[0142] The workpiece repair apparatus provided in this disclosure involves controlling a mobile platform to move to the target location of the workpiece to be repaired, then driving a multi-degree-of-freedom robotic arm to approach the workpiece. A laser profilometer scans the area to be repaired on the workpiece to obtain scan data. A repair task is then generated based on the scan data, and the multi-degree-of-freedom robotic arm is driven to repair the workpiece using a DED printhead. Compared to existing technologies, this method enables real-time, on-site repair at the target location of the workpiece without disassembling or moving it, achieving on-site workpiece repair.

[0143] Furthermore, the portable additive manufacturing robot also includes an environmental perception and positioning module; the mobile module is configured to control the mobile platform to move to the target location of the workpiece to be repaired by: using the environmental perception and positioning module to determine the current location of the mobile platform; and using a preset synchronous positioning and mapping algorithm to control the mobile platform to move from the current location to the target location.

[0144] Furthermore, the generation module is configured to generate repair tasks based on scan data in the following manner: generate a 3D model corresponding to the area to be repaired based on the scan data; generate repair tasks based on the 3D model.

[0145] Furthermore, the portable additive manufacturing robot also includes a gas supply module and a micro gas hood; the gas supply module includes a gas cylinder containing inert gas; the micro gas hood is arranged around the DED printhead; the micro gas hood is connected to the gas supply module; the workpiece repair device also includes a protection module. The protection module is configured to activate the gas supply module to introduce inert gas into the micro gas hood when repairing the workpiece using the DED printhead.

[0146] Furthermore, the gas supply module also includes a flow controller; the flow controller is positioned between the miniature gas hood and the gas cylinder; the tool module also integrates a paraxial vision module; the workpiece repair device also includes a flow increase module. The flow increase module is configured to, after the gas supply module is activated, use the paraxial vision module to monitor whether the airflow within the miniature gas hood is disturbed; if the airflow within the miniature gas hood is disturbed, it controls the flow controller to increase the flow rate of the inert gas.

[0147] Furthermore, the portable additive manufacturing robot also includes a laser energy generator; the laser energy generator is connected to the DED print head via an optical fiber path to transmit a high-energy laser beam into the DED print head; the tool module also integrates a coaxial vision module and a temperature sensor; the coaxial vision module is used to acquire real-time images of the molten pool; the temperature sensor is used to acquire temperature field information of the molten pool; the workpiece repair device also includes a power adjustment module. The power adjustment module is configured to acquire molten pool images and temperature field information when repairing the workpiece using the DED print head; determine abnormal conditions of the repair temperature based on the molten pool images and temperature field information; and adjust the power of the laser energy generator based on the abnormal conditions.

[0148] Combination Figure 6 As shown, this embodiment of the disclosure provides an electronic device 600, including a processor 601 and a memory 602. Optionally, the device may further include a communication interface 603 and a bus 604. The processor 601, communication interface 603, and memory 602 can communicate with each other via the bus 604. The communication interface 603 can be used for information transmission. The processor 601 can call logical instructions in the memory 602 to execute the above-mentioned... Figure 3 The workpiece repair method shown.

[0149] Furthermore, the logic instructions in the aforementioned memory 602 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0150] The memory 602, as a storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in this embodiment. The processor 601 executes functional applications and data processing by running the program instructions / modules stored in the memory 602, thus achieving the above-described functionality. Figure 4 The workpiece repair method shown.

[0151] The memory 602 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 602 may include high-speed random access memory and may also include non-volatile memory.

[0152] In some embodiments, the processor may include a control module.

[0153] This disclosure provides a computer-readable storage medium storing a computer program adapted to be loaded and executed by a processor, so that a computer device having a processor performs the above-described workpiece repair method.

[0154] The aforementioned storage media can be either transient computer-readable storage media or non-transitory computer-readable storage media. Non-transitory storage media include 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, and can also be transient storage media.

[0155] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0156] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. 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. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown 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. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, 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.

Claims

1. A method for repairing a workpiece, characterized in that, An application is made to a portable additive manufacturing robot; the portable additive manufacturing robot includes a mobile platform, a multi-degree-of-freedom robotic arm, and a tool module; wherein, the base of the multi-degree-of-freedom robotic arm is fixed to the mobile platform; the end effector of the multi-degree-of-freedom robotic arm is connected to the tool module; the tool module integrates a directional energy deposition (DED) printhead and a laser profilometer; the method includes: Control the mobile platform to move to the target location of the workpiece to be repaired; The multi-degree-of-freedom robotic arm is driven to approach the workpiece to be repaired, so as to use the laser profilometer to scan the area to be repaired of the workpiece and obtain scanning data; A repair task is generated based on the scan data; The multi-degree-of-freedom robotic arm is driven based on the repair task to repair the workpiece using the DED printhead.

2. The method according to claim 1, characterized in that, The portable additive manufacturing robot also includes an environmental perception and positioning module; the control of the mobile platform to move to the target location of the workpiece to be repaired includes: The current location of the mobile platform is determined using the environmental perception and positioning module. Using a preset synchronous positioning and map building algorithm, the mobile platform is controlled to move from the current location to the target location.

3. The method according to claim 1, characterized in that, The process of generating a repair task based on the scan data includes: A three-dimensional model corresponding to the area to be repaired is generated based on the scan data; The repair task is generated based on the three-dimensional model.

4. The method according to claim 1, characterized in that, The portable additive manufacturing robot further includes a gas supply module and a local protection device; the local protection device is a miniature gas hood; the gas supply module includes a gas cylinder containing inert gas; the miniature gas hood is arranged around the DED printhead; the miniature gas hood surrounds the DED printhead, forming a semi-enclosed cavity of a small ring or short cylinder; the opening of the miniature gas hood faces the direction of the DED printhead; the miniature gas hood is also provided with a gas pipe communicating with the gas supply module; the method further includes: When using the DED printhead to repair the workpiece, the gas supply module is turned on to control the inert gas in the gas cylinder to enter the semi-enclosed cavity through the gas pipeline, thereby venting the oxygen in the semi-enclosed cavity and creating a local oxygen-free environment between the DED printhead and the workpiece to be repaired.

5. The method according to claim 4, characterized in that, The gas supply module also includes a flow controller; the flow controller is disposed between the miniature gas hood and the gas cylinder; the opening edge of the miniature gas hood is provided with a flexible skirt; the tool module also integrates a rangefinder vision module; after the gas supply module is turned on, it also includes: The shape of the flexible skirt is monitored using the rangefinder vision module; Whether the airflow is disturbed is determined based on the shape of the flexible skirt; When the airflow within the miniature gas hood is disturbed, the flow controller is controlled to increase the flow rate of the inert gas.

6. The method according to claim 1, characterized in that, The portable additive manufacturing robot also includes a laser energy generator; the laser energy generator is connected to the DED print head via an optical fiber path to transmit a high-energy laser beam into the DED print head; the tool module also integrates a coaxial vision module and a temperature sensor; the coaxial vision module is used to acquire images of the molten pool in real time. The temperature sensor is used to acquire temperature field information of the molten pool; the method further includes: When repairing the workpiece using the DED printhead, the molten pool image and the temperature field information are acquired; Determine the area of ​​the molten pool based on the molten pool image; Determine the molten pool temperature based on temperature field information; Anomalies in the repair temperature are determined based on the area and temperature of the molten pool. Adjust the power of the laser energy generator based on the abnormal situation.

7. A workpiece repair device, characterized in that, An application is made in a portable additive manufacturing robot; the portable additive manufacturing robot includes a mobile platform, a multi-degree-of-freedom robotic arm, and a tool module; wherein, the base of the multi-degree-of-freedom robotic arm is fixed to the mobile platform; the end effector of the multi-degree-of-freedom robotic arm is connected to the tool module; the tool module integrates a directional energy deposition (DED) printhead and a laser profilometer; the device includes: The moving module is configured to control the moving platform to move to the target location of the workpiece to be repaired. The drive module is configured to drive the multi-degree-of-freedom robotic arm to approach the workpiece to be repaired, so as to use the laser profilometer to scan the area to be repaired of the workpiece and obtain scan data. The generation module is configured to generate a repair task based on the scan data; The repair module is configured to drive the multi-degree-of-freedom robotic arm based on the repair task to repair the workpiece to be repaired using the DED printhead.

8. An electronic device comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to perform the workpiece repair method as described in any one of claims 1 to 6 when executing the program instructions.

9. A portable additive manufacturing robot, characterized in that, include: The system comprises a mobile platform, a multi-degree-of-freedom robotic arm, a tool module, and a control module; wherein the base of the multi-degree-of-freedom robotic arm is fixed to the mobile platform; the end of the multi-degree-of-freedom robotic arm is connected to the tool module; the tool module integrates a directional energy deposition (DED) printhead and a laser profilometer; the control module is electrically connected to the mobile platform, the multi-degree-of-freedom robotic arm, the DED printhead, and the laser profilometer; the control module is used to control the mobile platform, the multi-degree-of-freedom robotic arm, the DED printhead, and the laser profilometer based on the workpiece repair method of claim 1, to repair the workpiece to be repaired.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 16.

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