阅读说明：本技术 一种直升机尾喷管激光冲击强化轨迹编程方法与装置 (Helicopter tail nozzle laser shock peening track programming method and device ) 是由 赵德乾 陈岗 李伟超 吴清源 张永康 于 2021-08-10 设计创作，主要内容包括：本发明提供了一种直升机尾喷管激光冲击强化轨迹编程方法与装置,通过输入三维模型以及三维模型的表面图像并获取三维模型的应力分布图,对三维模型的表面图像进行分割得到多个分区图,依次对各个分区图进行监测筛选出多个待强化区域,进而计算各个待强化区域之间的连接序列,以此进行激光冲击强化,实现了对机器人在直升机尾喷管不规则表面上的激光强化轨迹的可控性监控,达到了在尾喷管不规则表面上的进行激光强化的效果。(The invention provides a programming method and a programming device for a laser shock peening track of a helicopter tail nozzle.)

1. A helicopter tail nozzle laser shock peening track programming method is characterized by comprising the following steps:

s100, inputting a three-dimensional model and a surface image of the three-dimensional model;

s200, acquiring a stress distribution numerical diagram of the three-dimensional model;

s300, segmenting the surface image of the three-dimensional model to obtain a plurality of subarea images;

s400, monitoring each subarea graph in sequence, and screening out a plurality of areas to be strengthened;

s500, calculating a connection sequence between the regions to be strengthened;

and S600, performing laser shock peening according to the connection sequence.

2. The method for programming the laser shock peening trajectory of the helicopter jet pipe according to claim 1, wherein in S100, the method for inputting the three-dimensional model and the surface image of the three-dimensional model comprises: a three-dimensional model of the helicopter jet nozzle and a surface image of the three-dimensional model are used as input.

3. The method for programming the laser shock peening trajectory of the helicopter jet nozzle according to claim 1, wherein in S200, the method for obtaining the stress distribution numerical map of the three-dimensional model comprises: and analyzing by using finite element analysis software to obtain a stress distribution diagram of the three-dimensional model, wherein the finite element analysis software comprises any one of ABAQUS, ANSYS, Hyperworks, Comsol and MSC, and further converting the numerical value of a pixel point on the stress distribution diagram into a [0,255] pixel value through image binarization and recording the pixel value as a distribution numerical value, thereby obtaining the stress distribution numerical value diagram.

4. The method for programming the laser shock peening trajectory of the helicopter jet pipe according to claim 2, wherein in S300, the method for segmenting the surface image of the three-dimensional model to obtain a plurality of segmentation maps comprises: and processing the surface image of the three-dimensional model by a watershed algorithm, and segmenting the boundary points obtained by processing to obtain a plurality of subarea images as a set hits.

5. The method for programming the laser shock peening trajectory of the helicopter jet nozzle according to claim 4, wherein in S400, each partition map is monitored in sequence, and the method for screening out a plurality of areas to be emphasized comprises the following steps: the method comprises the steps of making each partition map in a set Pats correspond to a stress distribution value map, calculating an arithmetic mean of distribution values of each pixel point on the stress distribution value map corresponding to each partition map, and recording the arithmetic mean as a partition value p, wherein a function Lo () is a function for calculating the partition value p from the input partition map, wherein a variable i represents a sequence number of each partition map in the set Pats, a variable n represents the total number of partition maps in the set Pats, a partition map with a sequence number i in the set Pats is Pats (i), a partition value in the partition map Pats (i) is p (i), Lo (Pats (i)) represents that the partition value p (i) is calculated from the partition map Pats (i), a function () is recorded in a set of a plurality of partition maps which are connected to the partition map (i) with the sequence number i) in the set Pats as a set Voisin (i), and a function Voisin represents a plurality of partition maps which are connected to the set of the partition maps (i) which obtain the input sequence number, then, a variable j represents the serial number of each partition map in the set voisin (i), a variable m represents the total number of partition maps in the set voisin (i), a hits (i, j) represents the partition map with the serial number j in the set voisin (i), and hits (i, j) belongs to voisin (i), the partition value of the partition map hits (i, j) is represented by ρ (i, j), a Lo (hits (i, j)) represents the threshold value of the partition map in the set voisin (i) of the plurality of partition maps connected to the partition map hits (i, j) with the serial number i in the set hits, a variable t (i) represents the threshold value of the partition map in the set voisin (i) of the plurality of partition maps connected to the partition map hits (i) with the serial number i), a function exp () represents an exponent with a natural constant e as the base, and the formula for calculating t (i) is:

in the set Pats, if the partition value ρ (i) of the partition map Pats (i) with the sequence number i satisfies the constraint ρ (i) > t (i), the partition map Pats (i) is used as a reinforcement area, and all sets of the partition maps Pats (i) satisfying the constraint ρ (i) > t (i) in the set Pats are used as sets Hrei, which is the set of the areas to be reinforced.

6. The method for programming the laser shock peening trajectory of the helicopter jet nozzle according to claim 5, wherein in S500, the method for calculating the connection sequence between the areas to be strengthened is as follows: the specific steps of recording the number of elements in the set Hrei as k, the sequence number of the elements in the set Hrei as h, and the partition map Pats (h), i.e., the elements with the sequence number of h in the set Hrei, calculating and acquiring the input array or vector or the element with the minimum value in the set by using the function min (), calculating and acquiring the number of the input array or vector or the element in the set by using the function len () are as follows:

s501, starting a program; setting an empty set Hset; setting an empty set Cset, wherein the set Cset has reciprocity, and elements in the set Cset have orderliness according to the sequence of the elements added into the set;

s502, adding elements in the set Hrei into the set Hset;

s503, setting a variable q as the sequence number of an element in the set Hset, wherein Pats (q) represents a partition map with the sequence number q in the set Hset; recording a set formed by partition maps with sequence numbers not being q in the set Hset as a set Hset (-q), wherein a variable u represents the sequence number of the partition map in the set Hset (-q), and a variable pats (u) represents the partition map with the sequence number being u in the Hset (-q);

s504, enabling the value of q to be 1;

s505, selecting a partition map Pats (q) with sequence number q in Hset, acquiring a set formed by partition maps with sequence numbers not q in the set Hset as a set Hset (-q), and selecting a partition map Pats (u) with sequence number u in the Hset (-q); adding the partition map Pats (q) to the set Cset;

s506, calculating the connectivity between the Pats (q) and each partition map in the set Hset (-q), wherein each partition map in the set Hset (-q) is represented by a variable Pats (u), the partition value in the partition map Pats (q) is rho (q), the partition value in the partition map Pats (u) is Lo (Pats (u)), and the connectivity between the Pats (q) and the variable Pats (u) is V (q, u), so that the formula for calculating V (q, u) is as follows:

respectively calculating the connectivity of the partition maps Pats (q) and each partition map in the set Hset (-q) through the formula of V (q, u) to be used as an array Varr, and recording the sequence numbers of the partition maps Pats (u) corresponding to each element in the array Varr in the set Hrei, wherein V (q, u) belongs to the Varr;

s507, calculating and obtaining the element with the minimum value in the array Varr as min (Varr) through a function min (), further obtaining the sequence number of the partition map corresponding to min (Varr) in the set Hrei as epsilon, and recording the partition map corresponding to min (Varr) as lots (epsilon);

s508, deleting the partition map Pats (epsilon) in the set Hset, and adding the partition map Pats (epsilon) in the set Cset; go to S509;

s509, judging whether the number of elements in the set Hset, namely len (Hset), is equal to or less than zero, if so, turning to S511, otherwise, turning to S510;

s510, increasing the value of q by 1; go to S505;

s511, outputting a set Cset; ending the program;

and each element in the output set Cset is used as each partition map of the area to be reinforced, and a sequence formed by the sequence of each element in the set Cset is a connecting sequence between the areas to be reinforced.

7. The method for programming the trajectory of the laser shock peening of the helicopter jet nozzle according to claim 6, wherein in S600, the method for performing the laser shock peening according to the connection sequence comprises: and performing laser shock peening on the corresponding regions to be strengthened on the surface of the helicopter tail nozzle by using a robot through a laser shock peening technology according to a connection sequence among the regions to be strengthened, which are sequentially formed by the elements in the set Cset.

8. The laser shock peening track programming device for the helicopter tail nozzle is characterized by comprising the following components: the processor, the memory and the computer program stored in the memory and capable of running on the processor, when the processor executes the computer program, the steps in the helicopter jet pipe laser shock peening track programming method in claim 1 are implemented for controlling the robot and the device applying the laser shock peening technology, the helicopter jet pipe laser shock peening track programming can run in the computing devices of desktop computers, robots, notebooks, mobile phones, palm computers and cloud data centers, and the system which can run can include the processor, the memory and the server cluster.

Technical Field

The disclosure belongs to the technical field of robot track optimization, and particularly relates to a helicopter tail nozzle laser shock peening track programming method and device.

Background

With the vigorous development of the aviation industry, the helicopter is widely used, the forging process of the helicopter tail nozzle has a key effect on the safety and the continuity of the flight of the helicopter, and the laser shock peening technology has a remarkable effect on the part manufacturing aspect of the aviation industry and is beneficial to strengthening the surface strength of the helicopter tail nozzle. The laser shock peening technology has a great deal of application in the field of surface treatment processes of aeroengines, however, the requirements on laser shock motion trajectories are extremely high in the manufacturing processes of various irregular-shaped parts of helicopters and various light shock peening with complex structures. The shortest distance between the nodes of each motion track needs to be calculated and selected, so that the regions subjected to laser strengthening have uniform and accurate strengthening density.

Disclosure of Invention

The present invention is directed to a method and apparatus for programming a laser shock peening trajectory of a helicopter jet nozzle, which solves one or more of the problems of the prior art and provides at least one of the advantages of the present invention.

The invention provides a programming method and a programming device for a laser shock peening track of a helicopter tail nozzle.

In order to achieve the above object, according to an aspect of the present disclosure, there is provided a method for programming a laser shock peening trajectory of a helicopter jet nozzle, the method including the steps of:

s100, inputting a three-dimensional model and a surface image of the three-dimensional model;

s200, acquiring a stress distribution numerical diagram of the three-dimensional model;

s300, segmenting the surface image of the three-dimensional model to obtain a plurality of subarea images;

s400, monitoring each subarea graph in sequence, and screening out a plurality of areas to be strengthened;

s500, calculating a connection sequence between the regions to be strengthened;

and S600, performing laser shock peening according to the connection sequence.

Further, in S100, the method of inputting the three-dimensional model and the surface image of the three-dimensional model includes: a three-dimensional model of the helicopter jet nozzle and a surface image of the three-dimensional model are used as input.

Further, in S200, the method for obtaining the stress distribution numerical map of the three-dimensional model includes: and analyzing by using finite element analysis software to obtain a stress distribution diagram of the three-dimensional model, wherein the finite element analysis software comprises any one of ABAQUS, ANSYS, Hyperworks, Comsol and MSC, and further converting the numerical value of a pixel point on the stress distribution diagram into a [0,255] pixel value through image binarization and recording the pixel value as a distribution numerical value, thereby obtaining the stress distribution numerical value diagram.

Further, in S300, the method for segmenting the surface image of the three-dimensional model to obtain a plurality of partition maps includes: and processing the surface image of the three-dimensional model by a watershed algorithm, and segmenting the boundary points obtained by processing to obtain a plurality of subarea images as a set hits.

Further, in S400, the method for sequentially monitoring each partition map and screening out a plurality of regions to be enhanced includes: the method comprises the steps of making each partition map in a set Pats correspond to a stress distribution value map, calculating an arithmetic mean of distribution values of each pixel point on the stress distribution value map corresponding to each partition map, and recording the arithmetic mean as a partition value p, wherein a function Lo () is a function for calculating the partition value p from the input partition map, wherein a variable i represents a sequence number of each partition map in the set Pats, a variable n represents the total number of partition maps in the set Pats, a partition map with a sequence number i in the set Pats is Pats (i), a partition value in the partition map Pats (i) is p (i), Lo (Pats (i)) represents that the partition value p (i) is calculated from the partition map Pats (i), a function () is recorded in a set of a plurality of partition maps which are connected to the partition map (i) with the sequence number i) in the set Pats as a set Voisin (i), and a function Voisin represents a plurality of partition maps which are connected to the set of the partition maps (i) which obtain the input sequence number, then, a variable j represents the serial number of each partition map in the set voisin (i), a variable m represents the total number of partition maps in the set voisin (i), a hits (i, j) represents the partition map with the serial number j in the set voisin (i), and hits (i, j) belongs to voisin (i), the partition value of the partition map hits (i, j) is represented by ρ (i, j), a Lo (hits (i, j)) represents the threshold value of the partition map in the set voisin (i) of the plurality of partition maps connected to the partition map hits (i, j) with the serial number i in the set hits, a variable t (i) represents the threshold value of the partition map in the set voisin (i) of the plurality of partition maps connected to the partition map hits (i) with the serial number i), a function exp () represents an exponent with a natural constant e as the base, and the formula for calculating t (i) is:

in the set Pats, if the partition value ρ (i) of the partition map Pats (i) with the sequence number i satisfies the constraint ρ (i) > t (i), the partition map Pats (i) is used as a reinforcement area, and all sets of the partition maps Pats (i) satisfying the constraint ρ (i) > t (i) in the set Pats are used as sets Hrei, which is the set of the areas to be reinforced.

Further, in S500, the method for calculating the connection sequence between the regions to be enhanced includes: the specific steps of recording the number of elements in the set Hrei as k, the sequence number of the elements in the set Hrei as h, and the partition map Pats (h), i.e., the elements with the sequence number of h in the set Hrei, calculating and acquiring the input array or vector or the element with the minimum value in the set by using the function min (), calculating and acquiring the number of the input array or vector or the element in the set by using the function len () are as follows:

s501, starting a program; setting an empty set Hset; setting an empty set Cset, wherein the set Cset has reciprocity, and elements in the set Cset have orderliness according to the sequence of the elements added into the set;

s502, adding elements in the set Hrei into the set Hset;

s503, setting a variable q as the sequence number of an element in the set Hset, wherein Pats (q) represents a partition map with the sequence number q in the set Hset; recording a set formed by partition maps with sequence numbers not being q in the set Hset as a set Hset (-q), wherein a variable u represents the sequence number of the partition map in the set Hset (-q), and a variable pats (u) represents the partition map with the sequence number being u in the Hset (-q);

s504, enabling the value of q to be 1;

s505, selecting a partition map Pats (q) with sequence number q in Hset, acquiring a set formed by partition maps with sequence numbers not q in the set Hset as a set Hset (-q), and selecting a partition map Pats (u) with sequence number u in the Hset (-q); adding the partition map Pats (q) to the set Cset;

s506, calculating the connectivity between the Pats (q) and each partition map in the set Hset (-q), wherein each partition map in the set Hset (-q) is represented by a variable Pats (u), the partition value in the partition map Pats (q) is rho (q), the partition value in the partition map Pats (u) is Lo (Pats (u)), and the connectivity between the Pats (q) and the variable Pats (u) is V (q, u), so that the formula for calculating V (q, u) is as follows:

respectively calculating the connectivity of the partition maps Pats (q) and each partition map in the set Hset (-q) through the formula of V (q, u) to be used as an array Varr, and recording the sequence numbers of the partition maps Pats (u) corresponding to each element in the array Varr in the set Hrei, wherein V (q, u) belongs to the Varr;

s507, calculating and obtaining the element with the minimum value in the array Varr as min (Varr) through a function min (), further obtaining the sequence number of the partition map corresponding to min (Varr) in the set Hrei as epsilon, and recording the partition map corresponding to min (Varr) as lots (epsilon);

s508, deleting the partition map Pats (epsilon) in the set Hset, and adding the partition map Pats (epsilon) in the set Cset; go to S509;

s509, judging whether the number of elements in the set Hset, namely len (Hset), is equal to or less than zero, if so, turning to S511, otherwise, turning to S510;

s510, increasing the value of q by 1; go to S505;

s511, outputting a set Cset; ending the program;

and each element in the output set Cset is used as each partition map of the area to be reinforced, and a sequence formed by the sequence of each element in the set Cset is a connecting sequence between the areas to be reinforced.

Further, in S600, the method for performing laser shock peening according to the connection sequence includes: and performing laser shock peening on the corresponding regions to be strengthened on the surface of the helicopter tail nozzle by using a robot through a laser shock peening technology according to a connection sequence among the regions to be strengthened, which are sequentially formed by the elements in the set Cset.

The present disclosure also provides a helicopter tail nozzle laser shock peening trajectory programming device, the helicopter tail nozzle laser shock peening trajectory programming device includes: the processor, the memory and the computer program stored in the memory and capable of running on the processor, when the processor executes the computer program, the steps in the helicopter jet pipe laser shock peening trajectory programming method are implemented for controlling a robot and a device thereof applying laser shock peening technology, the helicopter jet pipe laser shock peening trajectory programming device may run in a desktop computer, a robot, a notebook, a mobile phone, a tablet computer, a palm computer, a cloud data center and other computing devices, an operable system may include, but is not limited to, a processor, a memory and a server cluster, and the processor executes the computer program and runs in units of the following systems:

a data input unit for inputting a three-dimensional model and a surface image of the three-dimensional model;

the stress distribution calculation unit is used for acquiring a stress distribution map of the three-dimensional model;

the image partitioning unit is used for segmenting the surface image of the three-dimensional model to obtain a plurality of partition images;

the regional screening unit is used for monitoring each subarea graph in sequence to screen out a plurality of regions to be strengthened;

the connection sequence calculation unit is used for calculating connection sequences among the regions to be strengthened;

and the laser shock unit is used for carrying out laser shock strengthening according to the connection sequence.

The invention has the beneficial effects that: the invention provides a programming method and a device for a helicopter tail nozzle laser shock peening track, which are used for calculating a connection sequence among areas to be strengthened through a stress distribution diagram of a three-dimensional model so as to carry out laser shock peening, realizing the controllability monitoring of the laser peening track of a robot on the irregular surface of the helicopter tail nozzle and achieving the effect of carrying out laser peening on the irregular surface of the tail nozzle.

Drawings

The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:

FIG. 1 is a flow chart of a helicopter tail nozzle laser shock peening trajectory programming method;

fig. 2 is a system configuration diagram of a helicopter jet nozzle laser shock peening trajectory programming device.

Detailed Description

The conception, specific structure and technical effects of the present disclosure will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, aspects and effects of the present disclosure. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

Referring to fig. 1, a flowchart of a method for programming a laser shock peening trajectory of a helicopter jet according to the present invention is shown, and a method and an apparatus for programming a laser shock peening trajectory of a helicopter jet according to an embodiment of the present invention are described with reference to fig. 1.

The invention provides a helicopter tail nozzle laser shock peening track programming method, which specifically comprises the following steps:

s100, inputting a three-dimensional model and a surface image of the three-dimensional model;

s200, acquiring a stress distribution numerical diagram of the three-dimensional model;

s300, segmenting the surface image of the three-dimensional model to obtain a plurality of subarea images;

s400, monitoring each subarea graph in sequence, and screening out a plurality of areas to be strengthened;

s500, calculating a connection sequence between the regions to be strengthened;

and S600, performing laser shock peening according to the connection sequence.

Further, in S100, the method of inputting the three-dimensional model and the surface image of the three-dimensional model includes: a three-dimensional model of the helicopter jet nozzle and a surface image of the three-dimensional model are used as input.

Further, in S200, the method for obtaining the stress distribution numerical map of the three-dimensional model includes: and analyzing by using finite element analysis software to obtain a stress distribution diagram of the three-dimensional model, wherein the finite element analysis software comprises any one of ABAQUS, ANSYS, Hyperworks, Comsol and MSC, and further converting the numerical value of a pixel point on the stress distribution diagram into a [0,255] pixel value through image binarization and recording the pixel value as a distribution numerical value, thereby obtaining the stress distribution numerical value diagram.

Further, in S300, the method for segmenting the surface image of the three-dimensional model to obtain a plurality of partition maps includes: and processing the surface image of the three-dimensional model by a watershed algorithm, and segmenting the boundary points obtained by processing to obtain a plurality of subarea images as a set hits.

Further, in S400, the method for sequentially monitoring each partition map and screening out a plurality of regions to be enhanced includes: the method comprises the steps of making each partition map in a set Pats correspond to a stress distribution value map, calculating an arithmetic mean of distribution values of each pixel point on the stress distribution value map corresponding to each partition map, and recording the arithmetic mean as a partition value p, wherein a function Lo () is a function for calculating the partition value p from the input partition map, wherein a variable i represents a sequence number of each partition map in the set Pats, a variable n represents the total number of partition maps in the set Pats, a partition map with a sequence number i in the set Pats is Pats (i), a partition value in the partition map Pats (i) is p (i), Lo (Pats (i)) represents that the partition value p (i) is calculated from the partition map Pats (i), a function () is recorded in a set of a plurality of partition maps which are connected to the partition map (i) with the sequence number i) in the set Pats as a set Voisin (i), and a function Voisin represents a plurality of partition maps which are connected to the set of the partition maps (i) which obtain the input sequence number, then, a variable j represents the serial number of each partition map in the set voisin (i), a variable m represents the total number of partition maps in the set voisin (i), a hits (i, j) represents the partition map with the serial number j in the set voisin (i), and hits (i, j) belongs to voisin (i), the partition value of the partition map hits (i, j) is represented by ρ (i, j), a Lo (hits (i, j)) represents the threshold value of the partition map in the set voisin (i) of the plurality of partition maps connected to the partition map hits (i, j) with the serial number i in the set hits, a variable t (i) represents the threshold value of the partition map in the set voisin (i) of the plurality of partition maps connected to the partition map hits (i) with the serial number i), a function exp () represents an exponent with a natural constant e as the base, and the formula for calculating t (i) is:

in the set Pats, if the partition value ρ (i) of the partition map Pats (i) with the sequence number i satisfies the constraint ρ (i) > t (i), the partition map Pats (i) is used as a reinforcement area, and all sets of the partition maps Pats (i) satisfying the constraint ρ (i) > t (i) in the set Pats are used as sets Hrei, which is the set of the areas to be reinforced.

Further, in S500, the method for calculating the connection sequence between the regions to be enhanced includes: the specific steps of recording the number of elements in the set Hrei as k, the sequence number of the elements in the set Hrei as h, and the partition map Pats (h), i.e., the elements with the sequence number of h in the set Hrei, calculating and acquiring the input array or vector or the element with the minimum value in the set by using the function min (), calculating and acquiring the number of the input array or vector or the element in the set by using the function len () are as follows:

s501, starting a program; setting an empty set Hset; setting an empty set Cset, wherein the set Cset has reciprocity, and elements in the set Cset have orderliness according to the sequence of the elements added into the set;

s502, adding elements in the set Hrei into the set Hset;

s503, setting a variable q as the sequence number of an element in the set Hset, wherein Pats (q) represents a partition map with the sequence number q in the set Hset; recording a set formed by partition maps with sequence numbers not being q in the set Hset as a set Hset (-q), wherein a variable u represents the sequence number of the partition map in the set Hset (-q), and a variable pats (u) represents the partition map with the sequence number being u in the Hset (-q);

s504, enabling the value of q to be 1;

s505, selecting a partition map Pats (q) with sequence number q in Hset, acquiring a set formed by partition maps with sequence numbers not q in the set Hset as a set Hset (-q), and selecting a partition map Pats (u) with sequence number u in the Hset (-q); adding the partition map Pats (q) to the set Cset;

s506, calculating the connectivity between the Pats (q) and each partition map in the set Hset (-q), wherein each partition map in the set Hset (-q) is represented by a variable Pats (u), the partition value in the partition map Pats (q) is rho (q), the partition value in the partition map Pats (u) is Lo (Pats (u)), and the connectivity between the Pats (q) and the variable Pats (u) is V (q, u), so that the formula for calculating V (q, u) is as follows:

respectively calculating the connectivity of the partition maps Pats (q) and each partition map in the set Hset (-q) through the formula of V (q, u) to be used as an array Varr, and recording the sequence numbers of the partition maps Pats (u) corresponding to each element in the array Varr in the set Hrei, wherein V (q, u) belongs to the Varr;

s507, calculating and obtaining the element with the minimum value in the array Varr as min (Varr) through a function min (), further obtaining the sequence number of the partition map corresponding to min (Varr) in the set Hrei as epsilon, and recording the partition map corresponding to min (Varr) as lots (epsilon);

s508, deleting the partition map Pats (epsilon) in the set Hset, and adding the partition map Pats (epsilon) in the set Cset; go to S509;

s509, judging whether the number of elements in the set Hset, namely len (Hset), is equal to or less than zero, if so, turning to S511, otherwise, turning to S510;

s510, increasing the value of q by 1; go to S505;

s511, outputting a set Cset; ending the program;

and each element in the output set Cset is used as each partition map of the area to be reinforced, and a sequence formed by the sequence of each element in the set Cset is a connecting sequence between the areas to be reinforced.

Further, in S600, the method for performing laser shock peening according to the connection sequence includes: according to a connection sequence among the regions to be strengthened, which are sequentially formed by the elements in the set Cset, the laser shock strengthening is carried out on the corresponding regions to be strengthened on the surface of the helicopter tail nozzle by a robot through a laser shock strengthening technology according to the connection sequence, and the laser shock strengthening is carried out by referring to the invention patent No. ZL201310040843.X, namely 'a jetting method and a jetting device for a water restraint layer of a laser shock strengthening blade'.

The laser shock peening track programming device for the helicopter tail nozzle comprises: the helicopter tail nozzle laser shock peening track programming device can be operated in computing equipment such as desktop computers, robots, notebooks, palm computers, cloud data centers and the like, and an operable system can include, but is not limited to, a processor, a memory and a server cluster.

As shown in fig. 2, the helicopter jet pipe laser shock peening trajectory programming device according to the embodiment of the present disclosure includes: a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the embodiment of the programming method for the laser shock peening trajectory of the helicopter jet nozzle, and the processor executes the computer program to run in the units of the following devices:

a data input unit for inputting a three-dimensional model and a surface image of the three-dimensional model;

the stress distribution calculation unit is used for acquiring a stress distribution map of the three-dimensional model;

the image partitioning unit is used for segmenting the surface image of the three-dimensional model to obtain a plurality of partition images;

the regional screening unit is used for monitoring each subarea graph in sequence to screen out a plurality of regions to be strengthened;

the connection sequence calculation unit is used for calculating connection sequences among the regions to be strengthened;

and the laser shock unit is used for carrying out laser shock strengthening according to the connection sequence.

The helicopter tail nozzle laser shock peening track programming device can be operated in computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud data center. The programming device for the laser shock peening track of the helicopter tail nozzle comprises, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that the examples are merely illustrative of a method and apparatus for programming a laser shock peening trajectory of a helicopter jet pipe, and do not constitute a limitation on a method and apparatus for programming a laser shock peening trajectory of a helicopter jet pipe, and may include proportionally more or fewer components, or some components in combination, or different components, for example, the programming apparatus for a laser shock peening trajectory of a helicopter jet pipe may further include input and output devices, network access devices, buses, etc.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable Gate Array (DPGA) or other programmable logic device, discrete component Gate or transistor logic, discrete hardware components, etc. The general processor can be a microprocessor or the processor can also be any conventional processor and the like, the processor is a control center of the helicopter jet pipe laser shock peening trajectory programming device, and various interfaces and lines are utilized to connect all sub-regions of the whole helicopter jet pipe laser shock peening trajectory programming device.

The memory can be used for storing the computer program and/or the module, and the processor realizes various functions of the helicopter jet pipe laser shock peening trajectory programming method and device by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a flash memory Card (DDash Card), at least one magnetic disk storage device, a flash memory device, or other volatile solid state storage device.

The invention provides a programming method and a device for a laser shock peening track of a helicopter tail nozzle, which are characterized in that hydraulic values and flow velocity values of different positions of a sewage pipeline system are acquired through sensors, the hydraulic values and the flow velocity values acquired at the different positions are used as nodes, a sewer network model is constructed to calculate the fluency coefficient of each node of the sewer network model, a circulation threshold value is calculated according to the fluency coefficient of each node of the sewer network model, and the real-time circulation condition of each node is monitored according to the circulation threshold value, so that the comprehensive and synergistic high-quality monitoring of each node of the sewage pipeline system of a park is realized, the local silting is prevented, and the environment quality of the park is efficiently and intelligently controlled.

Although the description of the present disclosure has been rather exhaustive and particularly described with respect to several illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, so as to effectively encompass the intended scope of the present disclosure. Furthermore, the foregoing describes the disclosure in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the disclosure, not presently foreseen, may nonetheless represent equivalent modifications thereto.