目的 激光再制造技术在实际加工过程中会遇到多种复杂曲面的零件，合理的激光路径规划是获得高性能涂层的关键因素。方法 将当前光束向量平移一定距离，平面空间被分割成正域和负域，利用特征属性判断当前点的归属关系，快速排除肯定不与零件发生干涉的激光束。转入精确检测，计算干涉因子λ，确定矢量h，将曲面划分成规则的微元对象block，分析光束与block的交点信息，完成干涉检测的精确搜索。在保证熔覆层质量理想的条件下，计算相应干涉量?，以当前点为焦点，切线方向为固定轴旋转角度?，调整光束姿态至安全区域。结果 编写C程序算法，对实际零件三维建模并进行轨迹仿真。预期点集共47 883个，其中失效点7341个，计算相应干涉量在10°范围内。完成所有干涉光束的有效修正，生成优化后的机器人路径程序。结论 再制造前处理阶段，该算法通过仿真实验模拟对象间的碰撞检测，及时消除激光加工中存在的安全隐患，形成合理的熔覆轨迹，提高加工效率，节约生产成本。

Laser remanufacturing technology will encounter many kind of parts with complex curved surface in the actual processing. Reasonable laser path planning is the key factor to obtain high-performance metallurgical cladding. The plane space was divided into positive and negative domains by translating the current beam vector to a certain distance. The feature partition was used to judge the relationship between the current point set and rapidly eliminate the interference between laser beam and parts. For accurate detection, the interference factor λ was calculated to determine the vector h, divide the surface into regular micro-objects (block) and analyze the intersection information between the beam and the block to complete the accurate search of interference detection. The interferences ? was calculated under the condition of ideal cladding layer. With the current point as the focus and the tangent direction as the fixed axis rotation angle ?, the beam attitude was adjusted to the safe area. The three-dimensional model of parts was established and the trajectory was simulated by C program. The expected set of points was 47 883 of which 7341 were failure points, and the interferences were in the range of 10°. The effective correction of all interference beams was completed to generate the optimized robot path program. Collision detection between objects is executed by simulation experiments in the pre-processing stage, which eliminates potential safety hazards in laser remanufacturing in time, forms reasonable cladding trajectory, improves processing efficiency and saves production costs.