Water turbine runner blade crack milling slotting method based on three-dimensional measurement

The invention provides a water turbine runner blade crack milling slotting method based on three-dimensional measurement, and relates to the technical field of robot milling slotting machining, and the water turbine runner blade crack milling slotting method comprises the following steps: S1, arranging a plurality of mark points near a crack, scanning and extracting coordinates of each mark point, and fitting all the mark points to obtain a spline curve; s2, establishing a water turbine blade surface model; s3, cutting the water turbine blade surface model to obtain a cutting area, constructing a reference plane, projecting each discrete point on the spline curve onto the reference plane, determining a modeling section parameter of each discrete point at a projection point on the reference plane, and constructing a geometry model expressing cracks; and S4, intersecting the water turbine blade surface model and the geometry model to obtain a slotting area model, and calculating a milling cutter path. The runne