Steel strip welding device and control method thereof

Abstract

The present application discloses a steel strip welding device and a control method thereof, and relates to the technical field of steel strip welding. The steel strip welding device comprises a machine platform, a motion loading mechanism, a laser cutting mechanism, a laser welding mechanism, a camera module and a control module. The motion loading mechanism is used to load the steel strip so that the steel strip heads can be close to each other. The laser cutting mechanism is used to cut the steel strip heads so that the steel strip heads can be flush. The laser welding mechanism is used to weld the steel strip heads. The camera module is used to photograph the cutting and welding characteristics of the steel strip heads, so as to determine the welding strategy for the steel strip heads. In the control method, the first laser welding strategy is corrected by performing welding quality evaluation. The steel strip welding device disclosed in the present application realizes automatic welding of the steel strip, and the control method realizes the determination and optimization of the welding strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of steel strip welding, and in particular to a steel strip welding device and a control method thereof. Background Art

[0002] In the manufacturing and construction industries, welding is a vital process used to join metal materials together to create a variety of products, including steel strips, pipes, structural parts, etc. Especially in the production process of steel strips, welding is a key step to achieve material connection and strength improvement. In order to improve production efficiency, reduce labor operation costs and ensure welding quality, steel strip welding equipment has become one of the key technologies in the industry.

[0003] Traditional manual welding methods have many problems, such as low production efficiency, unstable quality, and safety risks faced by operators. There is an urgent need for a device that can automatically weld steel strips and its control method. Summary of the invention

[0004] The object of the present invention is to provide a steel strip welding device and a control method thereof which can replace manual welding.

[0005] The present application discloses a steel strip welding device, comprising:

[0006] Machine;

[0007] A pair of motion loading mechanisms are symmetrically arranged on the machine platform, used for placing the steel strips and driving the steel strips to move relative to each other;

[0008] A laser cutting mechanism, arranged above the motion loading mechanism, for laser cutting the head of the steel strip;

[0009] A laser welding mechanism, disposed above the motion loading mechanism, for laser welding the steel strip;

[0010] Camera module, used to identify the welding condition of steel strip;

[0011] The control module is used to drive the motion loading mechanism according to the welding conditions of the steel strip.

[0012] In some embodiments of the present application, the motion loading mechanism includes a first bracket, a first direction servo mechanism is arranged on the top of the first bracket, the first direction servo mechanism is connected to a moving plate body, and drives the moving plate body to move along a first direction, the moving plate body is used to place the steel belt, and a pressure block structure is arranged on the moving plate body, and the pressure block structure is used to fix the steel belt on the moving plate body.

[0013] In some embodiments of the present application, a second bracket is further included, and a track mechanism is disposed on the top of the second bracket;

[0014] The laser cutting mechanism includes a laser cutting head and a second direction servo mechanism A connected to the laser cutting head; the laser welding mechanism includes a laser welding head and a second direction servo mechanism B connected to the welding head; the second direction servo mechanism A and the second direction servo mechanism B are both connected to the track mechanism.

[0015] In some embodiments of the present application, a control method applied to a control model is also disclosed, the control method comprising:

[0016] Acquire a first real-time image captured by the camera module before the first laser cutting of the steel strip is performed;

[0017] Scan and analyze the steel strip head feature in the first real-time image to determine a first difference feature between the steel strip head feature and the standard steel strip head feature;

[0018] Based on the first difference feature, a first laser cutting strategy is constructed by a preset cutting drive model, and based on the first laser cutting strategy, a laser cutting mechanism is driven to perform a first laser cutting on the steel strip head;

[0019] Acquire a second real-time image captured by the camera module after the steel strip is first laser cut;

[0020] Scan and analyze the steel strip head feature in the second real-time image, and determine a first cutting quality evaluation of the first laser cutting based on the scanning and analysis result;

[0021] Based on the first cutting quality evaluation, determining whether to perform a second laser cutting, and if the second laser cutting is required, generating a second laser cutting strategy according to the scanning result of the second real-time image;

[0022] Based on the second laser cutting strategy, the laser cutting mechanism is driven to perform a second laser cutting on the steel strip head;

[0023] acquiring a third real-time image captured by the camera module after the steel strip is laser cut for the second time;

[0024] The position of the steel strip head in the third real-time image is determined, and based on the position of the steel strip head, the motion loading mechanism is driven to perform relative movement until the steel strip heads are butted, and the laser welding mechanism is driven to perform laser welding on the seam of the steel strip heads according to the preset first laser welding strategy;

[0025] A fourth real-time image captured by the camera module after laser welding of the steel strip is obtained, and a first welding quality evaluation is performed on the weld of the steel strip in the fourth real-time image, and based on the first welding quality evaluation, the first laser welding strategy is corrected.

[0026] In some embodiments of the present application, a method for determining a first difference feature between a steel strip head feature and a standard steel strip head feature includes:

[0027] A reference map is constructed for the image captured by the camera, wherein the reference map is divided into steel strip mapping blocks for the steel strip;

[0028] Aligning the first real-time image with the reference mapping image, determining a first block corresponding to the steel strip mapping block in the first real-time image, and delineating a first edge line of the steel strip head in the first block based on edge detection technology;

[0029] The difference feature between the first edge line and the standard edge line preset in the standard steel strip head feature is the first difference feature.

[0030] In some embodiments of the present application, based on the first difference feature, a method for constructing a first laser cutting strategy by a preset cutting drive model includes:

[0031] A virtual cutting line is constructed based on a direction perpendicular to the extension direction of the steel strip head, and the virtual cutting line is advanced along the extension direction of the steel strip head to the convex point on the edge of the first edge line and then continues to advance a preset distance to reach a trial point;

[0032] If there is a protruding block larger than a preset area to be eliminated in the protruding block surrounded by the first edge line, the virtual cutting line is relocated to the protruding point on the edge;

[0033] If there is no protruding block larger than a preset area to be eliminated in the protruding blocks enclosed by the first edge line, positioning the virtual cutting line at the trial point;

[0034] The virtual cutting line is determined as the cutting line for laser cutting.

[0035] In some embodiments of the present application, a method for determining a first cutting quality evaluation of a first laser cutting based on a scanning analysis result includes:

[0036] A reference mapping diagram is constructed for the image captured by the camera, wherein the reference mapping diagram divides the steel strip into steel strip mapping blocks, and a reference mapping line is constructed for the width direction of the steel strip mapping block, and a number of reference nodes are set on the reference mapping line;

[0037] Aligning the first real-time image with the reference mapping image, determining a first block corresponding to the steel strip mapping block in the first real-time image, and delineating a first edge line of the steel strip head in the first block based on edge detection technology;

[0038] Constructing a first edge point at a position corresponding to a reference node on the first edge line, and analyzing difference features between the first edge point and a standard edge point in a standard steel strip head feature;

[0039] Based on the difference characteristics between the first edge point and the standard edge point, the first cutting quality evaluation is determined.

[0040] In some embodiments of the present application, the expression for calculating the first quality evaluation is:

[0041] ;

[0042] in, is the corresponding value of the first quality evaluation, is the quality evaluation conversion factor, is the difference between the nth pair of first edge points and the standard edge points, and b is the quality evaluation adjustment constant.

[0043] In some embodiments of the present application, a method for performing a first welding quality evaluation on a steel strip weld in a fourth real-time image includes:

[0044] Based on the edge detection technology, the weld edge of the steel strip weld in the fourth real-time image is determined;

[0045] Determining a first relative distance between weld edges, and identifying a distance difference between the first relative distance between welds and a standard relative distance as a first welding quality reference indicator;

[0046] Grayscale the fourth real-time image, set a number of grayscale detection points in the weld area between the weld edges, and calculate the average grayscale value corresponding to all the grayscale detection points;

[0047] Based on the difference between the average gray value and the preset gray value, the gray value difference is identified as a second welding quality reference indicator;

[0048] A first welding quality evaluation is determined based on the first welding quality reference index and the second welding quality reference index.

[0049] In some embodiments of the present application, the expression for calculating the first welding quality evaluation is:

[0050] ;

[0051] in, is the corresponding value for the first welding quality evaluation, is the first welding quality conversion coefficient, is the absolute value of the distance difference between the first relative distance and the standard relative distance, is the second welding quality conversion coefficient, It is the absolute value of the difference between the average grayscale value and the preset grayscale value.

[0052] The present application discloses a steel strip welding device and a control method thereof, and relates to the technical field of steel strip welding. The steel strip welding device comprises a machine platform, a motion loading mechanism, a laser cutting mechanism, a laser welding mechanism, a camera module and a control module. The motion loading mechanism is used to load the steel strip so that the steel strip heads can be close to each other. The laser cutting mechanism is used to cut the steel strip heads so that the steel strip heads can be flush. The laser welding mechanism is used to weld the steel strip heads. The camera module is used to photograph the cutting and welding characteristics of the steel strip heads, so as to determine the welding strategy for the steel strip heads. In the control method, the first laser welding strategy is corrected by performing welding quality evaluation. The steel strip welding device disclosed in the present application realizes automatic welding of the steel strip, and the control method realizes the determination and optimization of the welding strategy.

[0053] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a structural schematic diagram of a steel strip welding device in an embodiment of the present application;

[0055] Figure 2 This is a method step diagram of a control method for a steel strip welding device in an embodiment of the present application.

[0056] Reference numerals

[0057] 1. Machine; 2. Second direction servo mechanism B; 3. Steel belt; 4. Camera module; 5. First bracket; 6. First direction servo mechanism; 7. Moving plate; 8. Pressing block structure; 9. Second bracket; 10. Track mechanism; 11. Laser cutting head; 12. Second direction servo mechanism A; 13. Laser welding head. DETAILED DESCRIPTION

[0058] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0059] The following will be combined with the accompanying drawings and specific embodiments to clearly and completely describe the technical solution of the present invention. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and cannot be understood as limiting the scope of protection of the present invention. Those skilled in the art in this field can make some non-essential improvements and adjustments based on the content of the present invention described below. In the present invention, unless otherwise clearly specified and limited, the technical terms used in this application should be the common meanings understood by the technical personnel of the present invention.

[0060] Example:

[0061] The object of the present invention is to provide a steel strip welding device and a control method thereof which can replace manual welding.

[0062] The present application discloses a steel strip welding device, see Figure 1 , including: a machine platform 1, a pair of motion loading mechanisms, a laser cutting mechanism, a laser welding mechanism, a camera module 4 and a control module.

[0063] The motion loading mechanism is symmetrically arranged on the machine platform 1, and is used to place the steel belt 3 and drive the steel belt 3 to move relative to it.

[0064] The laser cutting mechanism is arranged above the motion loading mechanism and is used for laser cutting the head of the steel strip 3 .

[0065] The laser welding mechanism is arranged above the motion loading mechanism and is used for laser welding the steel strip 3 .

[0066] The camera module 4 is used to identify the welding status of the steel strip 3.

[0067] The control module is used to drive the motion loading mechanism according to the welding condition of the steel strip 3.

[0068] When the steel strip 3 welding device is used, the camera module 4 captures the features of the steel strip 3 head, which is analyzed by the control module to drive the laser cutting mechanism to perform laser cutting on the steel strip 3 head, and the motion loading mechanism drives the steel strips 3 to move closer to each other, and the control module drives the laser welding mechanism to weld the steel strip heads.

[0069] In some embodiments of the present application, the motion loading mechanism includes a first bracket 5, a first direction servo mechanism 6 is arranged on the top of the first bracket 5, the first direction servo mechanism 6 is connected to a moving plate 7, and drives the moving plate 7 to move along a first direction, the moving plate 7 is used to place the steel belt 3, and a pressure block structure 8 is arranged on the moving plate 7, and the pressure block structure 8 is used to fix the steel belt 3 on the moving plate 7.

[0070] In some embodiments of the present application, a second bracket 9 is further included, and a track mechanism 10 is disposed on the top of the second bracket 9;

[0071] The laser cutting mechanism includes a laser cutting head 11 and a second direction servo mechanism A12 connected to the laser cutting head 11; the laser welding mechanism includes a laser welding head 13 and a second direction servo mechanism B2 connected to the welding head of the mechanism; the second direction servo mechanism A12 and the second direction servo mechanism B2 are both connected to the track mechanism 10.

[0072] The second servo mechanism A and the second servo mechanism B respectively drive the laser cutting head 11 and the laser welding head 13 to move on the track mechanism 10, so that the laser cutting head 11 and the laser welding head 13 complete the operation on the steel strip head.

[0073] In some embodiments of the present application, a control method applied to the control model is also disclosed, see Figure 2 , the control method comprises:

[0074] Step S100, obtaining a first real-time image captured by the camera module before the first laser cutting of the steel strip is performed.

[0075] Step S200, scanning and analyzing the steel strip head features in the first real-time image to determine a first difference feature between the steel strip head features and the standard steel strip head features.

[0076] Step S300: Based on the first difference feature, a first laser cutting strategy is constructed by a preset cutting drive model, and based on the first laser cutting strategy, a laser cutting mechanism is driven to perform a first laser cutting on the steel strip head.

[0077] Step S400, obtaining a second real-time image captured by the camera module after the steel strip is subjected to the first laser cutting.

[0078] Step S500, scanning and analyzing the steel strip head features in the second real-time image, and determining the first cutting quality evaluation of the first laser cutting based on the scanning and analysis results.

[0079] Step S600, based on the first cutting quality evaluation, determine whether to perform a second laser cutting, if the second laser cutting is required, then generate a second laser cutting strategy according to the scanning result of the second real-time image.

[0080] Step S700: Based on the second laser cutting strategy, the laser cutting mechanism is driven to perform a second laser cutting on the steel strip head.

[0081] Step S800, obtaining a third real-time image captured by the camera module after the steel strip is laser cut for the second time.

[0082] Step S900, determine the position of the steel strip head in the third real-time image, and drive the motion loading mechanism to move relative to the position of the steel strip head until the steel strip head is docked, and drive the laser welding mechanism to laser weld the steel strip head seam according to the preset first laser welding strategy.

[0083] Step S1000, obtaining a fourth real-time image taken by the camera module after laser welding of the steel strip, performing a first welding quality evaluation on the steel strip weld in the fourth real-time image, and correcting the first laser welding strategy based on the first welding quality evaluation.

[0084] The above technical solution can be understood through the following technical ideas:

[0085] (1) Obtaining the first real-time image: Use a camera module to capture a real-time image of the steel strip before the first laser cutting.

[0086] (2) Scanning and analyzing the steel strip head features: The steel strip head features in the first real-time image are analyzed to determine their differences from the standard steel strip head features.

[0087] (3) Constructing the first laser cutting strategy: Based on the first difference feature, a preset cutting drive model is used to generate a strategy for the first laser cutting.

[0088] (4) First laser cutting: Using the first laser cutting strategy, drive the laser cutting mechanism to perform the first laser cutting on the steel strip head.

[0089] (5) Obtaining a second real-time image: After the first laser cutting, a second real-time image of the steel strip is captured using a camera module.

[0090] (6) Determine the quality of the first cutting: Analyze the steel strip head features in the second real-time image to determine the quality of the first laser cutting.

[0091] (7) Determine whether to perform a second laser cutting: Based on the first cutting quality evaluation, determine whether a second laser cutting is required. If necessary, generate a second laser cutting strategy.

[0092] (8) Second laser cutting: Using the second laser cutting strategy, the laser cutting mechanism is driven again to perform a second laser cutting on the steel strip head.

[0093] (9) Obtaining a third real-time image: After the second laser cutting, a third real-time image of the steel strip is captured using the camera module.

[0094] (10) Relative movement and laser welding: According to the position information of the steel strip head in the third real-time image, the motion loading mechanism is driven to perform relative movement until the steel strip head is butted. Then, according to the preset first laser welding strategy, the laser welding mechanism is driven to perform laser welding on the joint of the steel strip head.

[0095] (11) Obtaining a fourth real-time image: After the laser welding is completed, a fourth real-time image of the steel strip is captured using the camera module.

[0096] (12) Correcting welding strategy: Performing a first welding quality evaluation on the steel strip weld in the fourth real-time image, and correcting the first laser welding strategy based on the evaluation result to ensure that the welding quality meets the requirements.

[0097] In some embodiments of the present application, a method for determining a first difference feature between a steel strip head feature and a standard steel strip head feature includes:

[0098] In the first step, a reference map is constructed for the image captured by the camera, wherein the reference map is divided into steel strip mapping blocks for the steel strip.

[0099] In the second step, the first real-time image is aligned with the reference mapping image, a first block corresponding to the steel strip mapping block is determined in the first real-time image, and a first edge line of the steel strip head is delineated in the first block based on edge detection technology.

[0100] In the third step, the difference feature between the first edge line and the standard edge line preset in the standard steel strip head feature is the first difference feature.

[0101] The above technical solution can be understood through the following technical ideas:

[0102] (1) Step 1 - Build a reference map: In this step, the system uses the images captured by the camera to create a reference map. This map is usually used to associate the content in the image with the physical object for subsequent processing. In this map, the steel strip is usually divided into multiple blocks, each of which may represent a different part or feature.

[0103] (2) Step 2 - Align the image and identify the steel strip head block: In this step, the system uses the reference map to align the first real-time image with the reference map to ensure that the content in the image corresponds to the physical location. Then, the system identifies the first block associated with the steel strip head. This block usually contains the image information of the steel strip head.

[0104] (3) Step 3 - Calculate the first difference feature: In the first block, the system uses edge detection technology to identify the edge line of the steel strip head. The system then compares this detected edge line with the standard edge line in the preset standard steel strip head feature. The difference feature represents the difference between the detected edge line and the standard edge line, which can be used to evaluate the shape, size or other features of the steel strip head.

[0105] In some embodiments of the present application, based on the first difference feature, a method for constructing a first laser cutting strategy by a preset cutting drive model includes:

[0106] In the first step, a virtual cutting line is constructed based on the vertical direction of the extension direction of the steel strip head, and the virtual cutting line is pushed along the extension direction of the steel strip head to the edgemost convex point of the first edge line and then continues to push a preset distance to reach the trial point.

[0107] In the second step, if there is a protruding block that needs to be eliminated and is larger than a preset area in the protruding block surrounded by the first edge line, the virtual cutting line is relocated to the protruding point on the outermost edge.

[0108] In the third step, if there is no protruding block larger than a preset area to be eliminated in the protruding blocks enclosed by the first edge line, the virtual cutting line is positioned at the trial point.

[0109] The fourth step is to determine the virtual cutting line as the cutting line for laser cutting.

[0110] In order to facilitate the understanding of the above technical solution, it can be understood through the following technical ideas:

[0111] (1) Step 1 - Constructing a virtual cutting line: First, a virtual cutting line is constructed according to the extension direction of the steel strip head. This virtual cutting line is usually a line segment perpendicular to the extension direction of the steel strip head. Then, this virtual cutting line is advanced along the extension direction of the steel strip head until it reaches the convex point position on the edge side of the first edge line, and then continues to advance a certain preset distance to reach the trial point.

[0112] (2) Step 2 - Detecting protruding areas to be eliminated: There may be protruding areas between the virtual cutting line and the first edge line, which are parts that need to be cut to match the standard. In this step, the system checks the area between the virtual cutting line and the first edge line to determine whether there are protruding areas that need to be eliminated that are larger than a preset area.

[0113] (3) Step 3 - Reposition the virtual cutting line: If there is a protruding area that needs to be eliminated, the virtual cutting line needs to be repositioned to ensure that it is located at the edge of the protruding point. This is to ensure that the protruding area is completely removed during cutting.

[0114] (4) Step 4 - Determine the cutting line: Finally, once the virtual cutting line is positioned at the correct position, it is determined as the cutting line for laser cutting. This cutting line will guide the laser cutting mechanism to cut the steel strip head to meet the preset requirements.

[0115] In some embodiments of the present application, a method for determining a first cutting quality evaluation of a first laser cutting based on a scanning analysis result includes:

[0116] In the first step, a reference mapping diagram is constructed for the image taken by the camera. The reference mapping diagram divides the steel strip into steel strip mapping blocks, and a reference mapping line is constructed for the width direction of the steel strip mapping block. A number of reference nodes are set on the reference mapping line.

[0117] In the second step, the first real-time image is aligned with the reference mapping image, a first block corresponding to the steel strip mapping block is determined in the first real-time image, and a first edge line of the steel strip head is delineated in the first block based on edge detection technology.

[0118] The third step is to construct a first edge point at a position corresponding to the reference node on the first edge line, and analyze the difference characteristics between the first edge point and the standard edge point in the standard steel strip head feature.

[0119] The fourth step is to determine the first cutting quality evaluation based on the difference characteristics between the first edge point and the standard edge point.

[0120] In some embodiments of the present application, the expression for calculating the first quality evaluation is:

[0121] .

[0122] in, is the corresponding value of the first quality evaluation, is the quality evaluation conversion factor, is the difference between the nth pair of first edge points and the standard edge points, and b is the quality evaluation adjustment constant.

[0123] In some embodiments of the present application, a method for performing a first welding quality evaluation on a steel strip weld in a fourth real-time image includes:

[0124] In the first step, based on edge detection technology, the weld edge of the steel strip weld in the fourth real-time image is determined.

[0125] In the second step, a first relative distance between the weld edges is determined, and a distance difference between the first relative distance between the welds and a standard relative distance is identified as a first welding quality reference indicator.

[0126] The third step is to grayscale the fourth real-time image, set a number of grayscale detection points in the weld area between the weld edges, and calculate the average grayscale value corresponding to all the grayscale detection points.

[0127] In the fourth step, based on the difference between the average gray value and the preset gray value, the gray value difference is identified as the second welding quality reference indicator.

[0128] The fifth step is to determine the first welding quality evaluation based on the first welding quality reference index and the second welding quality reference index.

[0129] In some embodiments of the present application, the expression for calculating the first welding quality evaluation is:

[0130] .

[0131] in, is the corresponding value for the first welding quality evaluation, is the first welding quality conversion coefficient, is the absolute value of the distance difference between the first relative distance and the standard relative distance, is the second welding quality conversion coefficient, It is the absolute value of the difference between the average grayscale value and the preset grayscale value.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by hardware, or by software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present invention.

[0133] The present application discloses a steel strip welding device and a control method thereof, and relates to the technical field of steel strip welding. The steel strip welding device comprises a machine platform, a motion loading mechanism, a laser cutting mechanism, a laser welding mechanism, a camera module and a control module. The motion loading mechanism is used to load the steel strip so that the steel strip heads can be close to each other. The laser cutting mechanism is used to cut the steel strip heads so that the steel strip heads can be flush. The laser welding mechanism is used to weld the steel strip heads. The camera module is used to photograph the cutting and welding characteristics of the steel strip heads, so as to determine the welding strategy for the steel strip heads. In the control method, the first laser welding strategy is corrected by performing welding quality evaluation. The steel strip welding device disclosed in the present application realizes automatic welding of the steel strip, and the control method realizes the determination and optimization of the welding strategy.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A control method for a steel strip welding device, characterized in that: include: The steel strip welding device comprises: a machine platform; A pair of motion loading mechanisms are symmetrically arranged on the machine platform, used for placing the steel strips and driving the steel strips to move relative to each other; A laser cutting mechanism, arranged above the motion loading mechanism, for laser cutting the head of the steel strip; A laser welding mechanism, disposed above the motion loading mechanism, for laser welding the steel strip; Camera module, used to identify the welding condition of steel strip; A control module, used for driving the motion loading mechanism according to the welding conditions of the steel strip; The motion loading mechanism comprises a first bracket, a first direction servo mechanism is arranged on the top of the first bracket, the first direction servo mechanism is connected to a motion plate body, and drives the motion plate body to move along a first direction, the motion plate body is used to place the steel belt, and a pressing block structure is arranged on the motion plate body, and the pressing block structure is used to fix the steel belt on the motion plate body; It also includes a second bracket, wherein a track mechanism is disposed on the top of the second bracket; The laser cutting mechanism comprises a laser cutting head and a second direction servo mechanism A connected to the laser cutting head, the laser welding mechanism comprises a laser welding head and a second direction servo mechanism B connected to the laser welding head, and the second direction servo mechanism A and the second direction servo mechanism B are both connected to the track mechanism; Control methods include: Acquire a first real-time image captured by the camera module before the steel strip is subjected to the first laser cutting; Scan and analyze the steel strip head feature in the first real-time image to determine a first difference feature between the steel strip head feature and the standard steel strip head feature; Based on the first difference feature, a first laser cutting strategy is constructed by a preset cutting drive model, and based on the first laser cutting strategy, a laser cutting mechanism is driven to perform a first laser cutting on the steel strip head; Acquire a second real-time image captured by the camera module after the steel strip is first laser cut; Scan and analyze the steel strip head feature in the second real-time image, and determine a first cutting quality evaluation of the first laser cutting based on the scanning and analysis result; Based on the first cutting quality evaluation, determining whether to perform a second laser cutting, and if the second laser cutting is required, generating a second laser cutting strategy according to the scanning result of the second real-time image; Based on the second laser cutting strategy, the laser cutting mechanism is driven to perform a second laser cutting on the steel strip head; Acquire a third real-time image captured by the camera module after the steel strip is laser cut for the second time; The position of the steel strip head in the third real-time image is determined, and based on the position of the steel strip head, the motion loading mechanism is driven to perform relative movement until the steel strip heads are butted, and the laser welding mechanism is driven to perform laser welding on the seam of the steel strip heads according to the preset first laser welding strategy; Acquire a fourth real-time image captured by the camera module after the steel strip is laser welded, perform a first welding quality evaluation on the weld of the steel strip in the fourth real-time image, and modify the first laser welding strategy based on the first welding quality evaluation; The method for determining the first difference feature between the steel strip head feature and the standard steel strip head feature comprises: A reference map is constructed for the image captured by the camera, wherein the reference map is divided into steel strip mapping blocks for the steel strip; Aligning the first real-time image with the reference mapping image, determining a first block corresponding to the steel strip mapping block in the first real-time image, and delineating a first edge line of the steel strip head in the first block based on edge detection technology; The difference feature between the first edge line and the standard edge line preset in the standard steel strip head feature is the first difference feature; Based on the first difference feature, the method for constructing a first laser cutting strategy by a preset cutting drive model includes: A virtual cutting line is constructed based on a direction perpendicular to the extension direction of the steel strip head, and the virtual cutting line is advanced along the extension direction of the steel strip head to the convex point on the edge of the first edge line and then continues to advance a preset distance to reach a trial point; If there is a protruding block larger than a preset area to be eliminated in the protruding block surrounded by the first edge line, the virtual cutting line is relocated to the protruding point on the edge; If there is no protruding block larger than a preset area to be eliminated in the protruding blocks enclosed by the first edge line, positioning the virtual cutting line at the trial point; determining the virtual cutting line as the cutting line for laser cutting; The method for evaluating the first cutting quality of the first laser cutting based on the scanning analysis results includes: A reference mapping diagram is constructed for the image captured by the camera, wherein the reference mapping diagram divides the steel strip into steel strip mapping blocks, and a reference mapping line is constructed for the width direction of the steel strip mapping block, and a number of reference nodes are set on the reference mapping line; Aligning the second real-time image with the reference mapping image, determining the first block corresponding to the steel strip mapping block in the second real-time image, and delineating the first edge line of the steel strip head in the first block based on edge detection technology; Constructing a first edge point at a position corresponding to a reference node on the first edge line, and analyzing difference features between the first edge point and a standard edge point in a standard steel strip head feature; Determine the first cutting quality evaluation based on the difference characteristics between the first edge point and the standard edge point; The expression for calculating the first cutting quality evaluation is: ； in, is the corresponding value of the first cutting quality evaluation, is the quality evaluation conversion factor, is the difference between the nth pair of first edge points and the standard edge points, and b is the quality evaluation adjustment constant; The method for performing a first welding quality evaluation on the steel strip weld in the fourth real-time image includes: Based on the edge detection technology, the weld edge of the steel strip weld in the fourth real-time image is determined; Determining a first relative distance between weld edges, and identifying a distance difference between the first relative distance between welds and a standard relative distance as a first welding quality reference indicator; Grayscale the fourth real-time image, set a number of grayscale detection points in the weld area between the weld edges, and calculate the average grayscale value corresponding to all the grayscale detection points; Based on the difference between the average gray value and the preset gray value, the gray value difference is identified as a second welding quality reference indicator; Determining a first welding quality evaluation according to the first welding quality reference index and the second welding quality reference index; The expression for calculating the first welding quality evaluation is: ； in, is the corresponding value for the first welding quality evaluation, is the first welding quality conversion coefficient, is the absolute value of the distance difference between the first relative distance and the standard relative distance, is the second welding quality conversion coefficient, It is the absolute value of the difference between the average grayscale value and the preset grayscale value.

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