Array laser and ultrasonic sensor based molten pool topography acquisition device and method

Abstract

The application discloses a molten pool shape acquisition device and method based on array laser and ultrasonic sensors, which extracts the height characteristic parameters of the molten pool by symmetrically arranging array laser sensor emitting groups and array laser sensor receiving groups on the left and right sides of a welding torch, extracts the width characteristic parameters of the molten pool by arranging array ultrasonic sensor module groups around the welding torch, and then performs curved surface reconstruction according to the height characteristic parameters and the width characteristic parameters of the molten pool and a molten pool shape model, so that the molten pool shape can be obtained. The whole molten pool shape acquisition process adopts a combination of laser measurement and ultrasonic measurement, compared with the existing high-speed camera imaging mode, there is no limitation of measurement angle, the overall shape of the molten pool can be reflected, and the laser signal and the ultrasonic signal have strong anti-interference property and will not be disturbed by the welding arc light, so that the molten pool shape characteristics can be accurately acquired.

Description

Technical Field

[0001] This invention relates to the field of welding processing technology, and in particular, to a device and method for acquiring molten pool morphology based on array laser and ultrasonic sensors. Background Technology

[0002] The molten pool refers to the pool-like portion of the base metal that melts due to the heat of the welding arc, and its morphology plays a crucial role in weld quality. Currently, research and analysis of molten pool morphology typically employs high-speed photography to acquire this information. Specifically, during the welding process, a high-speed camera is used to create two-dimensional images of the molten pool, allowing for the study of its morphological characteristics. These characteristics are then used to analyze weld quality, ultimately improving it. However, high-speed photography suffers from limitations due to its narrow shooting angle and limited perspective, failing to reflect the overall molten pool morphology. Furthermore, high-speed photography is susceptible to interference from the welding arc light, affecting data accuracy and making it difficult to accurately capture molten pool morphological features. Additionally, high-speed photography exhibits data feedback lag, hindering real-time analysis of the dynamic characteristics of the molten pool morphology and preventing real-time improvement of weld quality. Summary of the Invention

[0003] This invention provides a device and method for acquiring molten pool morphology based on array laser and ultrasonic sensors, in order to solve the technical problems of existing methods that use high-speed cameras to acquire molten pool morphology, which cannot reflect the overall morphology of the molten pool and are difficult to accurately acquire the morphological features of the molten pool.

[0004] According to one aspect of the present invention, a molten pool morphology acquisition device based on array laser and ultrasonic sensors is provided, comprising an array laser sensor emitting group, an array laser sensor receiving group, an array ultrasonic sensor module group, and a processor. The array laser sensor emitting group and the array laser sensor receiving group are symmetrically arranged on the left and right sides of a welding torch for measuring the height characteristic parameters of the molten pool. The array ultrasonic sensor module group is arranged around the welding torch for measuring the width characteristic parameters of the molten pool. The array laser sensor emitting group, the array laser sensor receiving group, and the array ultrasonic sensor module group all move synchronously with the welding torch. The processor is electrically connected to the array laser sensor emitting group, the array laser sensor receiving group, and the array ultrasonic sensor module group, and is used to perform surface reconstruction based on the height and width characteristic parameters of the molten pool and the molten pool morphology model to obtain the molten pool morphology.

[0005] Furthermore, the array laser sensor emitting group and the array laser sensor receiving group are mounted on the welding torch by a loading device, and the laser emitting sensor and the laser receiving sensor correspond one-to-one. The height coordinates of the first laser receiving sensor that acquires the laser signal are collected and used as the height characteristic parameter of the molten pool.

[0006] Furthermore, the expression for the molten pool morphology model is:

[0007]

[0008] Where a and c represent the major and minor axes of the ellipsoid, respectively, k represents the scaling factor, t represents the torch travel time, v represents the torch travel speed, and (X,Y,Z) represents the coordinates of any point on the molten pool surface.

[0009] Furthermore, an XYZ coordinate system is established with the midpoint of the molten pool width as the origin, where the X direction is the molten pool width direction, the Y direction is the welding torch travel direction, and the Z direction is the direction perpendicular to the molten pool. During surface reconstruction, the coordinates of three points on the molten pool topography model are first obtained based on the molten pool height feature h1 and molten pool width feature d1 measured at time t1: (d1 / 2, 0, 0), (-d1 / 2, 0, 0), and (0, 0, h1 / 2). Then, the coordinates of the three points, time t1, and the welding torch travel speed v1 at time t1 are substituted into the molten pool topography model to reconstruct the molten pool surface at time t1. Correspondingly, the coordinates at t2, t3, ..., t... are reconstructed. n The reconstructed surface of the entire molten pool can be obtained by calculating the time interval.

[0010] Furthermore, the processor is also used to compare the molten pool morphology at different times at the same location on the molten pool surface to obtain the dynamic change process of the molten pool morphology.

[0011] Furthermore, the array laser sensor emitting group and the array laser sensor receiving group are arranged at equal intervals of N×L, where N is the number of laser sensors in the Z direction and L is the number of laser sensors in the Y direction, thus constructing a total of L laser signal acquisition groups of N×1, N×2, ..., N×L. Each laser signal group can reconstruct the surface of the molten pool, and there is a time difference T0 between each group. By reconstructing L different molten pool reconstructed surfaces through the L laser signal acquisition groups, the dynamic analysis of the molten pool morphology is completed based on the L different molten pool reconstructed surfaces.

[0012] Furthermore, it also includes a pulse controller electrically connected to the array laser sensor emitting group and the array ultrasonic sensor module group, used to adjust the pulse period of the array laser sensor emitting group and the array ultrasonic sensor module group to control the interval time of dynamic changes in the molten pool morphology.

[0013] In addition, the present invention also provides a method for obtaining molten pool morphology based on array laser and ultrasonic sensors, using the molten pool morphology obtaining device as described above, including the following:

[0014] Obtain the height and width characteristic parameters of the molten pool;

[0015] Construct a molten pool morphology model;

[0016] The molten pool morphology is obtained by reconstructing the surface based on the height and width characteristic parameters of the molten pool and the molten pool morphology model.

[0017] Furthermore, it also includes the following:

[0018] By comparing the morphology of the molten pool at the same location on the molten pool surface at different times, the dynamic change process of the molten pool morphology can be obtained.

[0019] Furthermore, during the process of acquiring the dynamic changes in the molten pool morphology, the interval time of the dynamic changes in the molten pool morphology is controlled by adjusting the pulse period size.

[0020] The present invention has the following effects:

[0021] The molten pool morphology acquisition device based on arrayed laser and ultrasonic sensors of the present invention, by symmetrically arranging arrayed laser sensor emitting groups and arrayed laser sensor receiving groups on the left and right sides of the welding torch, prevents the acquisition of laser signals blocked by the molten pool. The portion blocked by the molten pool represents the cross-section at the maximum contour of the molten pool, thus allowing the extraction of the height characteristic parameters of the molten pool by acquiring the laser signals outside the blocked area. Simultaneously, by arranging arrayed ultrasonic sensor modules around the welding torch, the signal of the area on the workpiece without the molten pool can be acquired by receiving the first reflected ultrasonic wave, thereby extracting the width characteristic parameters of the molten pool. Then, based on the height and width characteristic parameters of the molten pool and the molten pool morphology model, surface reconstruction is performed to obtain the molten pool morphology. The molten pool morphology acquisition process of the present invention adopts a combination of laser measurement and ultrasonic measurement. Compared with the existing high-speed camera imaging method, it does not have the limitation of measurement perspective, can reflect the overall morphology of the molten pool, and the laser and ultrasonic signals have strong anti-interference properties and are not affected by the welding arc light, allowing for accurate acquisition of molten pool morphology features.

[0022] In addition, the melt pool morphology acquisition method based on array laser and ultrasonic sensors of the present invention also has the above-mentioned advantages.

[0023] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1This is a schematic diagram of the molten pool morphology acquisition device based on array laser and ultrasonic sensors according to a preferred embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the molten pool morphology features to be obtained in a preferred embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of surface reconstruction of the molten pool morphology cross section at a certain moment in a preferred embodiment of the present invention.

[0028] Figure 4 This is a flowchart illustrating a method for obtaining molten pool morphology based on arrayed laser and ultrasonic sensors, according to another embodiment of the present invention.

[0029] Figure 5 This is another schematic diagram of a method for obtaining the morphology of a molten pool based on an array laser and ultrasonic sensor, according to another embodiment. Detailed Implementation

[0030] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0031] Understandable, such as Figure 1 and Figure 2 As shown, a preferred embodiment of the present invention provides a molten pool morphology acquisition device based on array laser and ultrasonic sensors, including an array laser sensor emitting group, an array laser sensor receiving group, an array ultrasonic sensor module group, and a processor. The array laser sensor emitting group and the array laser sensor receiving group are symmetrically arranged on the left and right sides of the welding torch and are used to measure the height characteristic parameters of the molten pool. The array ultrasonic sensor module group is arranged around the welding torch and is used to measure the width characteristic parameters of the molten pool. The array laser sensor emitting group, the array laser sensor receiving group, and the array ultrasonic sensor module group all move synchronously with the welding torch. The processor is electrically connected to the array laser sensor emitting group, the array laser sensor receiving group, and the array ultrasonic sensor module group and is used to perform surface reconstruction based on the height characteristic parameters and width characteristic parameters of the molten pool and the molten pool morphology model to obtain the molten pool morphology.

[0032] It is understood that the molten pool morphology acquisition device based on array laser and ultrasonic sensors in this embodiment, by symmetrically arranging array laser sensor emitting groups and array laser sensor receiving groups on the left and right sides of the welding torch, prevents the acquisition of laser signals blocked by the molten pool. The portion blocked by the molten pool represents the cross-section at the maximum contour of the molten pool, thus allowing the extraction of the molten pool height feature parameters by acquiring laser signals outside the blocked area. Simultaneously, by arranging array ultrasonic sensor modules around the welding torch, the signal of the area on the workpiece without the molten pool can be acquired by receiving the first reflected ultrasonic wave, thereby extracting the molten pool width feature parameters. Then, based on the molten pool height and width feature parameters and the molten pool morphology model, surface reconstruction is performed to obtain the molten pool morphology. The molten pool morphology acquisition process of this invention uses a combination of laser measurement and ultrasonic measurement. Compared with existing high-speed camera imaging methods, it does not have the limitation of measurement perspective, can reflect the overall morphology of the molten pool, and the laser and ultrasonic signals have strong anti-interference capabilities and are not affected by welding arc light, allowing for accurate acquisition of molten pool morphology features.

[0033] It is understood that the array laser sensor emitting group and the array laser sensor receiving group are mounted on the welding torch via a loading device, specifically placed symmetrically on the left and right sides behind the welding torch. This ensures that the array laser sensor emitting group and the array laser sensor receiving group operate on a horizontal plane perpendicular to the direction of the molten pool and can move forward synchronously with the welding torch. Furthermore, the positions of the laser emitting sensor and the laser receiving sensor correspond one-to-one. When the laser emitting sensor in the array laser sensor emitting group emits a pulsed laser signal, the laser signal blocked by the molten pool cannot be acquired by the laser receiving sensor. Therefore, the portion blocked by the molten pool is the cross-section at the maximum contour of the molten pool. Thus, by acquiring the height coordinates of the first laser receiving sensor that acquires the laser signal, it is used as the height characteristic parameter h of the molten pool. The loading device can be a frame structure mounted on the welding torch; specific structural descriptions are existing technology and will not be elaborated here.

[0034] In addition, the array of ultrasonic sensor modules is arranged in a circular array on the welding torch and is located above the molten pool. After the array of ultrasonic sensor modules emits ultrasonic signals, it can obtain the signal of the area on the workpiece without molten pool by receiving the first reflected ultrasonic wave, thereby extracting the width characteristic parameter d of the molten pool in reverse.

[0035] It is understood that the processor pre-stores the calculation formula for the molten pool morphology model. After acquiring the height and width characteristic parameters of the molten pool, numerical calculations can be performed to reconstruct the molten pool morphology. The expression for the molten pool morphology model is as follows:

[0036]

[0037] Where a and c represent the major and minor axes of the ellipsoid, respectively, k represents the scaling factor (usually taken as 1), t represents the welding torch travel time, v represents the welding torch travel speed, (X,Y,Z) represents the coordinates of any point on the molten pool surface, -a≤X≤a, -c≤Z≤c.

[0038] Specifically, such as Figure 3 As shown, the process by which the processor performs surface reconstruction based on the height and width feature parameters of the molten pool and the molten pool topography model is as follows:

[0039] An XYZ coordinate system is established with the midpoint of the molten pool width d as the origin. The X direction represents the molten pool width, the Y direction represents the welding torch travel direction, and the Z direction is perpendicular to the molten pool. During surface reconstruction, the coordinates of three points on the molten pool topography model are first obtained based on the molten pool height feature h1 and molten pool width feature d1 measured at time t1: (d1 / 2, 0, 0), (-d1 / 2, 0, 0), and (0, 0, h1 / 2). Since t1 and v1 are known parameters, the coordinates of the three points, time t1, and the welding torch travel speed v1 at time t1 are substituted into the molten pool topography model to calculate the values ​​of a and c, thus reconstructing the molten pool surface at time t1. Correspondingly, the values ​​at t2, t3, ..., t... are then calculated. n By calculating the time intervals, the reconstructed surface of the entire molten pool during the welding process can be obtained.

[0040] It is understandable that the above-mentioned surface reconstruction process can be implemented using numerical simulation software, such as MATLAB or other C language computing software.

[0041] It is understood that the laser signals emitted by the array laser sensor emitting group are pulse signals. The signals emitted by the laser emitting sensors at different locations within the array laser sensor emitting group will have a time difference, i.e., there is a pulse period. During the pulse interval, the molten pool surface undergoes a dynamic change process. Two pulse signals will be emitted within one pulse interval. By comparing the molten pool morphology at the same location at different times, the dynamic morphology of the molten pool surface changing over time can be obtained. Therefore, preferably, the processor is also used to compare the molten pool morphology at the same location at different times on the molten pool surface to obtain the dynamic change process of the molten pool morphology. Specifically, the array laser sensor emitting group and the array laser sensor receiving group are arranged at equal intervals of N×L, where N is the number of laser sensors in the Z direction and L is the number of laser sensors in the Y direction, thus constructing a total of L laser signal acquisition groups of N×1, N×2, ..., N×L. Each laser signal group can reconstruct the surface of the molten pool, and there is a time difference T0 between each group. By reconstructing L different molten pool reconstructed surfaces through the L laser signal acquisition groups, the dynamic analysis of the molten pool morphology is completed based on the L different molten pool reconstructed surfaces.

[0042] It is understandable that each pair of laser emitting and receiving sensors is placed symmetrically on either side of the molten pool. When the first pulsed laser signal passes through the molten pool, but before the second pulsed laser signal passes through, the molten pool morphology reflected by the first pulsed laser signal collected by the array of laser sensors will change as the temperature decreases. When the second pulsed laser signal passes through the molten pool, it obtains different morphologies of the same region of the molten pool. Similarly, the third pulsed laser signal, after a time interval, obtains a molten pool morphology different from the previous two laser signals, and so on up to multiple pulsed laser signals. The molten pool morphology obtained by multiple pulsed laser signals represents the molten pool morphology of the same region at different times. By comparing these morphologies, the changes in the molten pool surface morphology over time can be observed.

[0043] Optionally, the molten pool morphology acquisition device further includes a pulse controller electrically connected to the array laser sensor emitting group and the array ultrasonic sensor module group, used to adjust the pulse period of the array laser sensor emitting group and the array ultrasonic sensor module group to control the interval time of dynamic changes in molten pool morphology.

[0044] It is understandable that the pulse period (interval between pulsed laser signal emission) of the array laser sensor emission group determines the time during which the molten pool morphology can change. By adjusting the pulse period, the interval time during the dynamic changes of the molten pool is controlled. Thus, at a certain point in time, the planar morphological features of the molten pool at that moment are acquired, and within a certain time period, the three-dimensional morphological features of the molten pool scanned by the array laser sensor emission group during that time period are acquired. By processing and analyzing the multiple sets of three-dimensional morphological features acquired by the multi-channel array laser sensor receiving group, the dynamic process of molten pool morphological changes can be obtained. Therefore, by changing the interval time of laser and ultrasonic pulse emission, the data refresh time of the dynamic morphology of the molten pool can be controlled, thereby obtaining the dynamic process of molten pool morphological changes more accurately.

[0045] In addition, such as Figure 4 As shown, another embodiment of the present invention also provides a method for acquiring molten pool morphology based on array laser and ultrasonic sensors, preferably using the molten pool morphology acquisition device described above, including the following:

[0046] Step S1: Obtain the height and width characteristic parameters of the molten pool;

[0047] Step S2: Construct a molten pool morphology model;

[0048] Step S3: Based on the height and width feature parameters of the molten pool and the molten pool topography model, perform surface reconstruction to obtain the molten pool topography.

[0049] Specifically, the height characteristic parameters of the molten pool are measured using the array laser sensor emitting group and array laser sensor receiving group in the above-described device embodiment, and the width characteristic parameters of the molten pool are measured using the array ultrasonic sensor module group. Furthermore, the molten pool morphology model and the specific surface reconstruction process are described in the above-described device embodiment and will not be repeated here.

[0050] It is understood that the molten pool morphology acquisition method based on arrayed laser and ultrasonic sensors in this embodiment, by symmetrically arranging arrayed laser sensor emitting groups and arrayed laser sensor receiving groups on the left and right sides of the welding torch, prevents the acquisition of laser signals blocked by the molten pool. The portion blocked by the molten pool represents the cross-section at the maximum contour of the molten pool, thus allowing the extraction of the molten pool height feature parameters by acquiring laser signals outside the blocked area. Simultaneously, by arranging arrayed ultrasonic sensor modules around the welding torch, the signal of the area on the workpiece without the molten pool can be acquired by receiving the first reflected ultrasonic wave, thereby extracting the molten pool width feature parameters. Then, based on the molten pool height and width feature parameters and the molten pool morphology model, surface reconstruction is performed to obtain the molten pool morphology. The molten pool morphology acquisition process of this invention combines laser measurement and ultrasonic measurement. Compared with existing high-speed camera imaging methods, it does not have the limitation of measurement perspective, can reflect the overall morphology of the molten pool, and the laser and ultrasonic signals have strong anti-interference capabilities and are not affected by welding arc light, allowing for accurate acquisition of molten pool morphology features.

[0051] Optionally, such as Figure 5 As shown, the method for obtaining the molten pool morphology also includes the following:

[0052] Step S4: Compare the morphology of the molten pool at different times and locations on the same position on the molten pool surface to obtain the dynamic change process of the molten pool morphology.

[0053] It is understandable that each pair of laser emitting and receiving sensors is placed symmetrically on either side of the molten pool. When the first pulsed laser signal passes through the molten pool, but before the second pulsed laser signal passes through, the molten pool morphology reflected by the first pulsed laser signal collected by the array of laser sensors will change as the temperature decreases. When the second pulsed laser signal passes through the molten pool, it obtains different morphologies of the same region of the molten pool. Similarly, the third pulsed laser signal, after a time interval, obtains a molten pool morphology different from the previous two laser signals, and so on up to multiple pulsed laser signals. The molten pool morphology obtained by multiple pulsed laser signals represents the molten pool morphology of the same region at different times. By comparing these morphologies, the changes in the molten pool surface morphology over time can be observed.

[0054] In addition, during the process of acquiring the dynamic changes in the molten pool morphology, the interval time of the dynamic changes in the molten pool morphology is controlled by adjusting the pulse period size.

[0055] It is understandable that the pulse period (interval between pulsed laser signal emission) of the array laser sensor emission group determines the time during which the molten pool morphology can change. By adjusting the pulse period, the interval time during the dynamic changes of the molten pool is controlled. Thus, at a certain point in time, the planar morphological features of the molten pool at that moment are acquired, and within a certain time period, the three-dimensional morphological features of the molten pool scanned by the array laser sensor emission group during that time period are acquired. By processing and analyzing the multiple sets of three-dimensional morphological features acquired by the multi-channel array laser sensor receiving group, the dynamic process of molten pool morphological changes can be obtained. Therefore, by changing the interval time of laser and ultrasonic pulse emission, the data refresh time of the dynamic morphology of the molten pool can be controlled, thereby obtaining the dynamic process of molten pool morphological changes more accurately.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0057] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0058] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0059] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0060] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0061] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0062] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A device for acquiring molten pool morphology based on arrayed laser and ultrasonic sensors, characterized in that, The system includes an array laser sensor emitting group, an array laser sensor receiving group, an array ultrasonic sensor module group, and a processor. The array laser sensor emitting group and the array laser sensor receiving group are symmetrically arranged on the left and right sides of the welding torch to measure the height characteristic parameter of the molten pool. The array ultrasonic sensor module group is arranged around the welding torch to measure the width characteristic parameter of the molten pool. The array laser sensor emitting group, the array laser sensor receiving group, and the array ultrasonic sensor module group all move synchronously with the welding torch. The processor is electrically connected to the array laser sensor emitting group, the array laser sensor receiving group, and the array ultrasonic sensor module group, and is used to perform surface reconstruction based on the height and width characteristic parameters of the molten pool and the molten pool morphology model to obtain the molten pool morphology. The expression for the molten pool morphology model is: ； Where a and c represent the major and minor axes of the ellipsoid, respectively, k represents the scaling factor, t represents the torch travel time, v represents the torch travel speed, and (X,Y,Z) represents the coordinates of any point on the molten pool surface.

2. The molten pool morphology acquisition device based on array laser and ultrasonic sensors as described in claim 1, characterized in that, The array laser sensor emitting group and the array laser sensor receiving group are mounted on the welding torch by a loading device, and the laser emitting sensor and the laser receiving sensor correspond one-to-one. The height coordinates of the first laser receiving sensor that acquires the laser signal are collected and used as the height characteristic parameter of the molten pool.

3. The molten pool morphology acquisition device based on array laser and ultrasonic sensors as described in claim 1, characterized in that, An XYZ coordinate system is established with the midpoint of the molten pool width as the origin. The X direction represents the molten pool width, the Y direction represents the welding torch travel direction, and the Z direction is perpendicular to the molten pool. During surface reconstruction, the coordinates of three points on the molten pool topography model are first obtained based on the molten pool height feature h1 and molten pool width feature d1 measured at time t1: (d1 / 2, 0, 0), (-d1 / 2, 0, 0), and (0, 0, h1 / 2). Then, the coordinates of these three points, time t1, and the welding torch travel speed v1 at time t1 are substituted into the molten pool topography model to reconstruct the molten pool surface at time t1. Correspondingly, the coordinates at times t2, t3, ..., t... are reconstructed. n The reconstructed surface of the entire molten pool can be obtained by calculating the time interval.

4. The molten pool morphology acquisition device based on array laser and ultrasonic sensors as described in claim 3, characterized in that, The processor is also used to compare the molten pool morphology at different times at the same location on the molten pool surface to obtain the dynamic change process of the molten pool morphology.

5. The molten pool morphology acquisition device based on array laser and ultrasonic sensors as described in claim 4, characterized in that, The array laser sensor emitting group and the array laser sensor receiving group are arranged at equal intervals of N×L, where N is the number of laser sensors in the Z direction and L is the number of laser sensors in the Y direction, thus constructing a total of L laser signal acquisition groups of N×1, N×2, ..., N×L. Each laser signal group can reconstruct the surface of the molten pool, and there is a time difference T0 between each group. By reconstructing L different molten pool reconstructed surfaces through the L laser signal acquisition groups, the dynamic analysis of the molten pool morphology is completed based on the L different molten pool reconstructed surfaces.

6. The molten pool morphology acquisition device based on array laser and ultrasonic sensors as described in claim 4, characterized in that, It also includes a pulse controller electrically connected to the array laser sensor emitting group and the array ultrasonic sensor module group, used to adjust the pulse period of the array laser sensor emitting group and the array ultrasonic sensor module group to control the interval time of dynamic changes in the molten pool morphology.

7. A method for acquiring molten pool morphology based on array laser and ultrasonic sensors, characterized in that, The molten pool morphology acquisition apparatus according to any one of claims 1 to 6 includes the following: Obtain the height and width characteristic parameters of the molten pool; Construct a molten pool morphology model; The molten pool morphology is obtained by reconstructing the surface based on the height and width characteristic parameters of the molten pool and the molten pool morphology model.

8. The method for obtaining molten pool morphology based on array laser and ultrasonic sensors as described in claim 7, characterized in that, Also includes the following: By comparing the morphology of the molten pool at the same location on the molten pool surface at different times, the dynamic change process of the molten pool morphology can be obtained.

9. The method for obtaining molten pool morphology based on array laser and ultrasonic sensors as described in claim 8, characterized in that, In the process of acquiring the dynamic changes in the molten pool morphology, the interval time of the dynamic changes in the molten pool morphology is controlled by adjusting the pulse period size.

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