An in-situ detection device and method for the surface quality of an underwater laser deposition layer

Abstract

The present invention relates to an in-situ detection device and method for the surface quality of an underwater laser deposition layer. The device includes a drainage cover, which is closed at the upper end and open at the lower end, and a drainage gas channel and a protective gas channel are provided at the upper end. The drainage gas channel is used to introduce drainage gas into the drainage cover to drain the water inside it to construct a dry area, and the protective gas channel is used to introduce protective gas into the drainage cover to provide a protective atmosphere for underwater laser deposition. A movement control unit, a laser deposition unit, a topography monitoring unit, and a hardness measurement unit are provided inside the drainage cover. Through the topography monitoring unit and the hardness measurement unit, the surface topography and hardness distribution of the deposition layer can be obtained layer by layer in-situ underwater, and the collected data can be fed back in real time. The laser deposition unit is used to perform laser remelting or laser quenching processes in a timely manner to optimize the surface topography and hardness distribution of the underwater deposition layer, which can avoid defects such as lack of fusion and stress cracks, and improve the internal quality of underwater in-situ deposition parts and in-situ repair parts.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater deposition, in particular to an in-situ detection device and method for the surface quality of an underwater laser deposition layer. Background Art

[0002] Offshore engineering equipment serving in the ocean is exposed to a complex and severe deep-sea environment for a long time. In addition to being affected by its own load, it is also vulnerable to additional loads caused by storms and tides, as well as corrosion effects such as seawater corrosion and sand flow abrasion, resulting in damage and failure of offshore engineering equipment. As a rapid prototyping technology, laser deposition technology has the advantages of high energy density, controllable heat input, small heat affected zone, small thermal deformation and residual stress, and good stability, and is widely used in repairing damaged parts. If it is applied to in-situ underwater repair, it fully meets the three requirements of "safety, rapidity, and in-situ repair adaptability" for repair technology in underwater on-site emergency repair.

[0003] Since underwater deposition needs to be carried out in a dry environment, the drainage gas used to create a dry area will cause fluctuations in the molten pool, and the quenching effect of the water environment and the cooling effect of the drainage gas will cause the solidification speed of the molten pool to be too fast. The combined effect of these factors easily leads to a poor surface morphology of the deposition layer. In addition, the relatively fast cooling rate during the underwater laser deposition process will lead to uneven tissue distribution, and then to a large residual stress and uneven hardness in the deposition layer. Due to the layer-by-layer deposition characteristics of the laser deposition process, if the previous deposition layer has a poor surface morphology or uneven hardness distribution, it will inevitably affect the subsequent deposition process, and easily produce defects such as poor surface quality, lack of fusion, and stress cracks, affecting the underwater repair quality.

[0004] In the prior art, Patent CN202210002316.9 discloses a device and method for monitoring the stacking height and upper surface flatness of arc additive manufacturing, which uses a high-precision spring detection device to mechanically measure the workpiece during the additive manufacturing process, and then obtains the surface morphology. Due to the use of a linear mechanical measurement method, it has the disadvantages of slow detection rate, small detection range, and difficulty in presenting the overall surface. Patent CN201910740237.6 discloses a method for detecting the stacking and cladding effect of a single-layer multi-pass weld, which obtains the contour information of the measured surface based on laser vision sensing technology. This method is difficult to achieve online in-situ monitoring of the morphology, and at the same time, it does not propose a subsequent solution for products with unqualified morphology, and it is difficult to achieve high-quality processing in an unmanned underwater complex environment. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an in-situ detection device and method for the surface quality of an underwater laser deposition layer, aiming to obtain the surface morphology and hardness distribution of the deposition layer in-situ underwater, optimize the surface morphology and hardness distribution of the deposition layer, and improve the underwater in-situ repair quality.

[0006] The technical solution adopted by the present invention is as follows:

[0007] On the one hand, the present application provides an in-situ detection device for the surface quality of an underwater laser deposition layer, including a drainage cover, which is closed at the upper end and open at the lower end, and a drainage gas channel and a protective gas channel are provided at the upper end. The drainage gas channel is used to introduce drainage gas into the drainage cover to discharge the water inside to construct a dry area, and the protective gas channel is used to introduce protective gas into the drainage cover to provide a protective atmosphere for underwater laser deposition. A mobile control unit, a laser deposition unit, a morphology monitoring unit, and a hardness measurement unit are provided inside the drainage cover;

[0008] The laser deposition unit is used to perform laser deposition processing on a workpiece located below the drainage cover to form a deposition layer on the surface of the workpiece;

[0009] The morphology monitoring unit is used to obtain the point cloud data of the deposition layer. The morphology monitoring unit is connected to the laser deposition unit through a rotation driving mechanism, and the rotation driving mechanism can adjust the position of the morphology monitoring unit relative to the deposition layer according to the scanning trajectory of the laser deposition unit;

[0010] The hardness measurement unit is used to measure the hardness value of the deposition layer based on the plastic deformation amount under a constant force;

[0011] The mobile control unit is used to control the laser deposition unit to move along a planned path and control the morphology monitoring unit and the hardness measurement unit to move synchronously with the movement of the laser deposition unit.

[0012] A further technical solution is:

[0013] The rotation driving mechanism includes a driving motor, a driving gear, and a driven toothed bearing. The output end of the driving motor is in transmission connection with the driving gear. The inner ring of the driven toothed bearing is connected to the laser deposition unit, the outer ring of the driven toothed bearing is meshed and connected to the driving gear, and the morphology monitoring unit is fixedly arranged on the driven toothed bearing.

[0014] The driving motor can determine the rotation angle according to the scanning trajectory of the laser deposition unit to drive the rotation of the driven toothed bearing structure, thereby adjusting the position of the morphology monitoring unit relative to the deposition layer.

[0015] The laser deposition unit includes a laser cladding head and a housing arranged outside the laser cladding head. The housing is used to be connected to the inner ring of the driven toothed bearing.

[0016] The structure of the morphology monitoring unit includes a line laser light source and an industrial camera with a filter. The industrial camera is used to obtain the shape data of the line laser emitted by the line laser light source on the surface of the deposition layer.

[0017] The structure of the hardness measurement unit includes a housing. Inside the housing, a guide rail is provided in the vertical direction. A first slider and a second slider that slide along the guide rail are assembled on the guide rail. A calibration spring is provided between the first slider and the second slider. A indenter is connected to the lower end of the second slider. Sensors are respectively provided on the first slider and the second slider;

[0018] An air chamber for storing compressed gas is formed inside the housing. An air inlet and an air outlet are provided on the housing. One-way solenoid valves are respectively provided on the air inlet and the air outlet. The output end of the air chamber is connected to the first slider, and the movement of the first slider can be controlled by changing the pressure in the air chamber.

[0019] The structure of the movement control unit includes a robotic arm and a connecting frame. The connecting frame is fixedly connected to the robotic arm. Mounting positions for arranging a laser deposition unit, a morphology monitoring unit, a rotation driving mechanism, and a hardness measurement unit are provided on the connecting frame.

[0020] On the other hand, the present application provides a detection method for the underwater laser deposition layer surface quality in-situ detection device described above, including morphology detection:

[0021] Continuously introduce drainage gas into the drainage hood through the drainage gas channel to drain the water inside it to construct a dry area. Introduce protective gas into the drainage hood through the protective gas channel to provide a protective atmosphere for underwater laser deposition. Drive the laser deposition unit to execute a predetermined scanning trajectory through the movement control unit;

[0022] The rotation driving mechanism adjusts the position of the morphology monitoring unit according to the scanning trajectory of the laser deposition unit, so that the morphology monitoring unit is always located directly behind the molten pool during the laser operation, monitors the formed deposition layer in real time, obtains the point cloud data of the deposition layer, calculates the surface morphology characteristics based on the point cloud data. If the obtained surface morphology does not meet the expectation, laser remelting is performed through the laser deposition unit to optimize the surface morphology, and morphology detection is performed again until a surface morphology that meets the expectation is obtained, that is, the surface morphology regulation of one deposition layer is completed. Repeat the above steps to perform layer-by-layer surface morphology regulation on the deposition layer to obtain high-quality deposition forming.

[0023] A further technical solution is:

[0024] It also includes hardness detection. The structure of the hardness measurement unit used includes a housing. Inside the housing, a guide rail is provided in the vertical direction. A first slider and a second slider that slide along the guide rail are assembled on the guide rail. A calibration spring is provided between the first slider and the second slider. A indenter is connected to the lower end of the second slider. Sensors are respectively provided on the first slider and the second slider; An air chamber for storing compressed gas is formed inside the housing. An air inlet and an air outlet are provided on the housing. One-way solenoid valves are respectively provided on the air inlet and the air outlet. The output end of the air chamber is connected to the first slider, and the movement of the first slider can be controlled by changing the pressure in the air chamber;

[0025] The hardness detection includes:

[0026] S1. Record the initial position of the indenter, apply a constant preload force P1, move the indenter downward to contact the deposited layer and generate an indentation, and measure the displacement H1 of the indenter from the initial position to the current position by a sensor;

[0027] S2. Apply a constant main load force P2. At this time, the total load constant force is P = P1 + P2, and hold the load for a certain time;

[0028] S3. Unload the constant main load force P2, the indenter rebounds a certain distance, and measure the displacement H2 of the indenter from the initial position to the current position by a sensor;

[0029] S4. Calculate H = H2 - H1, and H is the plastic deformation amount caused by the constant main load force P2.

[0030] For each deposited layer, select several measurement points, drive the hardness measurement unit by the movement control unit to measure the plastic deformation amounts at several measurement points, calculate the average value and variance of the plastic deformation amounts at each measurement point, evaluate the hardness distribution of the deposited layer. If the expected hardness is not reached, perform high-power laser remelting or low-power laser quenching through the laser deposition unit to make the hardness distribution of the deposited layer meet the standard.

[0031] The beneficial effects of the present invention are as follows:

[0032] The present invention can avoid the generation of defects such as lack of fusion and stress cracks, improve the internal quality of underwater in-situ deposition parts and in-situ repair parts, and obtain formed parts that meet the use requirements. Specifically, it has the following advantages:

[0033] 1. For the underwater laser deposition process, the present invention develops and designs a morphology monitoring unit and a hardness measurement unit, combines them with the movement control unit and the laser deposition unit, and places them in the drainage cavity unit, which can automatically obtain the surface morphology and hardness distribution of the underwater laser deposition layer in-situ, and is used to measure the quality of underwater in-situ repair. Through layer-by-layer regulation during the deposition process, the surface quality of the formed part can be significantly improved, the internal defects of the formed part can be reduced, and the service reliability of the repaired offshore engineering equipment can be improved.

[0034] 2. The rotation drive mechanism of the present invention can ensure that the line laser light source is always located directly behind the molten pool. When the laser cladding head moves along any scanning trajectory, the surface morphology of the solidified deposited layer can be obtained in real time, improving the efficiency and accuracy of the detection of the surface morphology.

[0035] 3. The hardness measurement of the present invention is measured by a hardness measurement unit based on the plastic deformation amount of the deposited layer under a constant force. The constant force is provided by a calibration spring, and the plastic deformation amount is provided by a high-precision sensor. It can not only achieve in-situ hardness measurement, but also avoid the influence of the surface topography of the laser deposited layer on the measured hardness value, and has general applicability for underwater in-situ repair.

[0036] 4. The present invention can realize the automatic detection and regulation optimization of the morphology and hardness of the deposited layer by layer. When the surface morphology is poor or the hardness does not reach the expectation, corresponding laser remelting strategies can be adopted in real time to optimize the morphology and hardness of the deposited layer. On the one hand, the laser remelting strategy can form a molten pool on the surface of the deposited layer, and the molten metal flows under the action of capillary pressure, which can significantly improve the surface morphology of the deposited layer; on the other hand, the high-power laser remelting or low-power laser quenching strategy can have a heat treatment effect on the deposited layer, making the tissue distribution more uniform, avoiding defects such as lack of fusion and stress cracks, and improving the quality of underwater in-situ repair.

[0037] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of the detection device according to an embodiment of the present invention.

[0039] Figure 2 It is a schematic diagram of the structure of the hardness measurement unit according to an embodiment of the present invention.

[0040] Figure 3 It is a schematic diagram of the structure of the laser deposition unit according to an embodiment of the present invention.

[0041] In the figure: 100, drainage chamber unit; 200, movement control unit; 300, laser deposition unit; 400, morphology monitoring unit; 500, hardness measurement unit; 600, deposited layer; 101, drainage cover; 102, drainage gas channel; 103, protective gas channel; 201, robotic arm; 202, connecting frame; 301, upper shell; 302, laser cladding head; 303, screw; 304, lower shell; 401, drive motor; 402, driving gear; 403, driven toothed bearing; 404, line laser light source; 405, industrial camera; 501, housing; 502, air inlet; 503, air chamber; 504, first slider; 505, calibration spring; 506, second slider; 507, guide rail; 508, air outlet; 509, first high-precision sensor; 510, second high-precision sensor; 511, indenter. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The following describes the specific embodiments of the present invention with reference to the accompanying drawings.

[0043] Refer to Figure 1 , an in-situ detection device for the surface quality of an underwater laser deposition layer in this example, including a drainage cavity unit 100, the structure of which includes a drainage cover 101, the upper end of which is closed, the lower end is open, and a drainage gas channel 102 and a protective gas channel 103 are provided at the upper end. The drainage gas channel 102 is used to introduce drainage gas into the drainage cover 101 to drain the water inside to construct a dry area, and the protective gas channel 103 is used to introduce protective gas into the drainage cover 101 to provide a protective atmosphere for underwater laser deposition. A mobile control unit 200, a laser deposition unit 300, a morphology monitoring unit 400, and a hardness measurement unit 500 are provided in the drainage cover 101;

[0044] The laser deposition unit 300 is used to perform laser deposition processing on a workpiece located below the drainage cover 101 to form a deposition layer 600 on the surface of the workpiece;

[0045] The morphology monitoring unit 400 is used to obtain the point cloud data of the deposition layer 600. The morphology monitoring unit 400 is connected to the laser deposition unit 300 through a rotation driving mechanism, and the rotation driving mechanism can adjust the position of the morphology monitoring unit 400 relative to the deposition layer 600 according to the scanning trajectory of the laser deposition unit 300;

[0046] The hardness measurement unit 500 is used to measure the hardness value of the deposition layer 600 based on the plastic deformation amount under a constant force;

[0047] The mobile control unit 200 is used to control the laser deposition unit 300 to move along a planned path, and control the morphology monitoring unit 400 and the hardness measurement unit 500 to move synchronously with the movement of the laser deposition unit 300.

[0048] The detection device of this embodiment can obtain the surface morphology and hardness distribution of the deposition layer in-situ underwater, and then optimize the surface morphology and hardness distribution of the deposition layer to improve the quality of in-situ underwater repair.

[0049] Specifically, the drainage gas can be air, and the protective gas can be nitrogen, etc.

[0050] Specifically, the rotation driving mechanism includes a driving motor 401, a driving gear 402, and a driven toothed bearing 403. The output end of the driving motor 401 is in transmission connection with the driving gear 402. The inner ring of the driven toothed bearing 403 is connected to the laser deposition unit 300, and the outer ring of the driven toothed bearing 403 is in meshing connection with the driving gear 402. The morphology monitoring unit 400 is fixedly arranged on the driven toothed bearing 403.

[0051] Specifically, the driving motor 401 can drive the driven toothed bearing structure 403 to rotate by determining the rotation angle according to the scanning trajectory of the laser deposition unit 300, so as to adjust the position of the morphology monitoring unit 400 relative to the deposition layer 600.

[0052] Specifically, the laser deposition unit 300 includes a laser cladding head 302 and a housing arranged outside the laser cladding head 302, and the housing is used to connect with the inner ring of the driven toothed bearing 403.

[0053] See Figure 3 , preferably, the housing includes an upper housing 301 and a lower housing 304, and the upper housing 301 and the lower housing 304 are connected by screws 303, and a groove is formed at the connection position for connecting with the inner ring of the driven toothed bearing 403.

[0054] See Figure 1 , the structure of the morphology monitoring unit 400 includes a line laser light source 404 and an industrial camera 405 with a filter, and the industrial camera 405 is used to obtain the shape data of the line laser emitted by the line laser light source 404 on the surface of the deposition layer 600. Then, the point cloud data of the deposition layer 600 can be obtained by image processing and data calculation of the shape data.

[0055] See Figure 2 , the structure of the hardness measurement unit 500 includes a housing 501, a guide rail 507 is arranged vertically in the housing 501, a first slider 504 and a second slider 506 that slide along it are assembled on the guide rail 507, a calibration spring 505 is arranged between the first slider 504 and the second slider 506, a pressure head 511 is connected to the lower end of the second slider 506, sensors are respectively arranged on the first slider 504 and the second slider 506, namely a first high-precision sensor 509 and a second high-precision sensor 510; an air cavity 503 for storing compressed gas is formed in the housing 501, an air inlet 502 and an air outlet 508 are arranged on it, one-way solenoid valves are respectively arranged at the air inlet 502 and the air outlet 508, and the output end of the air cavity 503 is connected to the first slider 504, and the movement of the first slider 504 is controlled by changing the pressure in the air cavity 503.

[0056] Functions of each component of the hardness measurement unit 500:

[0057] The calibration spring 505 is placed between the first slider 504 and the second slider 506, and is connected to the first slider 504 and the second slider 506 at both ends respectively. The first slider 504 and the second slider 506 can move along the guide rail 507 under the action of the gas pressure in the air chamber 503 and the elastic force of the calibration spring 505. The first high-precision sensor 509 and the second high-precision sensor 510 respectively record the positions of the first slider 504 and the second slider 506. The indenter 511 is fixed to the second slider 506 and can move together with the second slider 506 to act on the surface of the deposition layer 600 to form a dent.

[0058] See Figure 1 , the structure of the movement control unit 200 includes a robotic arm 201 and a connecting frame 202. The connecting frame 202 is fixedly connected to the robotic arm 201, and mounting positions for arranging the laser deposition unit 300, the morphology monitoring unit 400, the rotation drive mechanism, and the hardness measurement unit 500 are provided on the connecting frame 202.

[0059] Specifically, the connecting frame 202 is connected to the upper shell 301 of the laser deposition unit 300, the drive motor 401 of the rotation drive mechanism, and the housing 501 of the hardness measurement unit 500.

[0060] The embodiment of the present application also provides a detection method for the underwater laser deposition layer surface quality in-situ detection device described above, including morphology detection:

[0061] Continuously introduce drainage gas into the drainage cover 101 through the drainage gas channel 102 to drain the water inside it to construct a dry area. Introduce protective gas into the drainage cover 101 through the protective gas channel 103 to provide a protective atmosphere for underwater laser deposition. Drive the laser deposition unit 300 by the movement control unit 200 to execute a predetermined scanning trajectory;

[0062] The rotation drive mechanism adjusts the position of the morphology monitoring unit 400 according to the scanning trajectory of the laser deposition unit 300, so that the morphology monitoring unit 400 is always located directly behind the molten pool during the laser operation process, monitors the formed deposition layer 600 in real time, obtains the point cloud data of the deposition layer 600, calculates the surface morphology characteristics based on the point cloud data. If the obtained surface morphology does not meet the expectation, laser remelting is performed through the laser deposition unit 300 to optimize the surface morphology, and morphology detection is performed again until a surface morphology that meets the expectation is obtained, that is, the surface morphology regulation of one layer of the deposition layer is completed. Repeat the above steps to perform layer-by-layer surface morphology regulation on the deposition layer to obtain high-quality deposition forming.

[0063] It also includes hardness detection. The plastic deformation amount of the deposited layer 600 under a constant force is detected by the hardness measurement unit 500 to evaluate its hardness value. The constant force can be provided by the calibration spring 505. The deformation amount of the calibration spring 505 can be measured by the first high-precision sensor 509 and the second high-precision sensor 510 and is fed back to the two one-way solenoid valves that control the air inlet 502 and the air outlet 508 in real time. The one-way solenoid valves adjust the pressure of the gas in the air chamber 503 acting on the first slider 504 by controlling the opening degree, so that the calibration spring 505 deforms to obtain the expected constant force. Specifically, it includes the following steps:

[0064] S1. Record the initial position of the indenter 511, apply a preload constant force P1, make the indenter 511 move downward to contact the deposited layer 600 and produce an indentation, and the displacement H1 of the indenter 511 from the initial position to the current position is measured by the sensor;

[0065] S2. Apply a main load constant force P2. At this time, the total load constant force is P = P1 + P2, and hold the load for a certain period of time;

[0066] S3. Unload the main load constant force P2, the indenter 511 rebounds a certain distance, and the displacement H2 of the indenter 511 from the initial position to the current position is measured by the sensor;

[0067] S4. Calculate H = H2 - H1, and H is the plastic deformation amount caused by the main load constant force P2.

[0068] For each deposited layer, several measurement points are selected. The hardness measurement unit 500 is driven by the movement control unit 200 to measure the plastic deformation amounts at several measurement points, and the average value and variance of the plastic deformation amounts at each measurement point are obtained to evaluate the hardness distribution of the deposited layer. If the expected hardness is not reached, high-power laser remelting or low-power laser quenching is performed through the laser deposition unit 300 to make the hardness distribution of the deposited layer meet the standard.

[0069] Those of ordinary skill in the art can understand that the above description is only the preferred embodiment of the present invention and is not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An in-situ detection device for the surface quality of underwater laser deposited layers, It is characterized in that The invention comprises a drainage cover (101), the upper end of which is closed and the lower end is open, and the upper end is provided with a drainage gas channel (102) and a protective gas channel (103), the drainage gas channel (102) is used to pass drainage gas into the drainage cover (101) to discharge water inside the drainage cover to construct a dry area, and the protective gas channel (103) is used to pass protective gas into the drainage cover (101) to provide a protective atmosphere for underwater laser deposition, and the drainage cover (101) is provided with a mobile control unit (200), a laser deposition unit (300), a morphology monitoring unit (400) and a hardness measurement unit (500); The laser deposition unit (300) is used to perform laser deposition processing on a workpiece located below the drainage cover (101) to form a deposition layer (600) on the surface of the workpiece; The morphology monitoring unit (400) is used to obtain point cloud data of the deposition layer (600), and the morphology monitoring unit (400) is connected to the laser deposition unit (300) via a rotation drive mechanism, and the rotation drive mechanism can adjust the position of the morphology monitoring unit (400) relative to the deposition layer (600) according to the scanning trajectory of the laser deposition unit (300); The hardness measuring unit (500) is used to measure the hardness value of the deposited layer (600) based on the amount of plastic deformation under the action of a constant force; The mobile control unit (200) is used to control the laser deposition unit (300) to move according to the planned path, and to control the morphology monitoring unit (400) and the hardness measurement unit (500) to move synchronously with the movement of the laser deposition unit (300).

2. The in-situ detection device for surface quality of underwater laser deposited layer according to claim 1, It is characterized in that The rotary drive mechanism comprises a drive motor (401), a driving gear (402) and a driven toothed bearing (403); the output end of the drive motor (401) is transmission-connected to the driving gear (402); the inner ring of the driven toothed bearing (403) is connected to the laser deposition unit (300); the outer ring of the driven toothed bearing (403) is meshingly connected to the driving gear (402); and the morphology monitoring unit (400) is fixedly mounted on the driven toothed bearing (403).

3. The in-situ detection device for the surface quality of the underwater laser deposited layer according to claim 2, It is characterized in that The driving motor (401) can determine the rotation angle according to the scanning trajectory of the laser deposition unit (300) to drive the driven toothed bearing (403) to rotate, thereby adjusting the position of the morphology monitoring unit (400) relative to the deposition layer (600).

4. The in-situ detection device for surface quality of underwater laser deposited layer according to claim 2, It is characterized in that The laser deposition unit (300) comprises a laser cladding head (302) and a shell arranged outside the laser cladding head (302), wherein the shell is used to be connected to the inner ring of a driven toothed bearing (403).

5. The in-situ detection device for surface quality of underwater laser deposited layer according to claim 1, It is characterized in that The structure of the morphology monitoring unit (400) includes a line laser light source (404) and an industrial camera (405) with a filter. The industrial camera (405) is used to obtain the shape data of the line laser emitted by the line laser light source (404) on the surface of the deposition layer (600).

6. The in-situ detection device for the surface quality of an underwater laser deposition layer according to claim 1, characterized in that, the structure of the hardness measurement unit (500) includes a housing (501). A guide rail (507) is provided in the housing (501) in the vertical direction. A first slider (504) and a second slider (506) that slide along it are assembled on the guide rail (507). A calibration spring (505) is provided between the first slider (504) and the second slider (506). A pressure head (511) is connected to the lower end of the second slider (506). Sensors are respectively provided on the first slider (504) and the second slider (506); An air chamber (503) for storing compressed gas is formed in the housing (501). An air inlet (502) and an air outlet (508) are provided on it. One-way solenoid valves are respectively provided on the air inlet (502) and the air outlet (508). The output end of the air chamber (503) is connected to the first slider (504). The movement of the first slider (504) can be controlled by changing the pressure in the air chamber (503).

7. The in-situ detection device for the surface quality of an underwater laser deposition layer according to claim 1, characterized in that, the structure of the movement control unit (200) includes a robotic arm (201) and a connecting frame (202). The connecting frame (202) is fixedly connected to the robotic arm (201). Mounting positions for arranging the laser deposition unit (300), the morphology monitoring unit (400), the rotation driving mechanism, and the hardness measurement unit (500) are provided on the connecting frame (202).

8. A detection method for the in-situ detection device for the surface quality of an underwater laser deposition layer according to any one of claims 1-7, characterized in that, it includes morphology detection: Continuously introduce drainage gas into the drainage cover (101) through the drainage gas channel (102) to drain the water inside it to construct a dry area. Introduce protective gas into the drainage cover (101) through the protective gas channel (103) to provide a protective atmosphere for underwater laser deposition. Drive the laser deposition unit (300) to execute a predetermined scanning trajectory through the movement control unit (200); The rotation driving mechanism adjusts the position of the morphology monitoring unit (400) according to the scanning trajectory of the laser deposition unit (300), so that the morphology monitoring unit (400) is always located directly behind the molten pool during the laser operation, continuously monitors the formed deposition layer (600), obtains the point cloud data of the deposition layer (600), calculates the surface morphology characteristics based on the point cloud data. If the obtained surface morphology does not meet the expectation, laser remelting is performed through the laser deposition unit (300) to optimize the surface morphology, and morphology detection is performed again until a surface morphology that meets the expectation is obtained, that is, the surface morphology regulation of one layer of the deposition layer is completed. Repeat the above steps to perform layer-by-layer surface morphology regulation on the deposition layer to obtain high-quality deposition forming.

9. The detection method according to claim 8, characterized in that, it further includes hardness detection. The structure of the hardness measurement unit (500) used includes a housing (501). A guide rail (507) is provided vertically inside the housing (501). A first slider (504) and a second slider (506) that slide along it are assembled on the guide rail (507). A calibration spring (505) is provided between the first slider (504) and the second slider (506). A indenter (511) is connected to the lower end of the second slider (506). Sensors are respectively provided on the first slider (504) and the second slider (506); An air cavity (503) for storing compressed gas is formed inside the housing (501). An air inlet (502) and an air outlet (508) are provided on it. One-way solenoid valves are respectively provided on the air inlet (502) and the air outlet (508). The output end of the air cavity (503) is connected to the first slider (504). The movement of the first slider (504) can be controlled by changing the pressure inside the air cavity (503); The hardness detection includes: S1. Record the initial position of the indenter (511). Apply a preload constant force P1 to make the indenter (511) move downward and contact the deposition layer (600) to produce an indentation. The displacement H1 of the indenter (511) from the initial position to the current position is measured by the sensor; S2. Apply a main load constant force P2. At this time, the total load constant force is P = P1 + P2, and hold the load for a certain time; S3. Unload the main load constant force P2. The indenter (511) rebounds a certain distance. The displacement H2 of the indenter (511) from the initial position to the current position is measured by the sensor; S4. Calculate H = H2 - H1. H is the plastic deformation amount caused by the main load constant force P2.

10. The detection method according to claim 9, characterized in that , for each deposition layer, several measurement points are selected. The hardness measurement unit (500) is driven by the movement control unit (200) to measure the plastic deformation amounts at several measurement points, calculate the average value and variance of the plastic deformation amounts at each measurement point, evaluate the hardness distribution of this deposition layer. If the expected hardness is not reached, high-power laser remelting or low-power laser quenching is carried out through the laser deposition unit (300) to make the hardness distribution of this deposition layer meet the standard.

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