Laser welding penetration detection system, correction method, detection method and storage medium

Abstract

The present application relates to the technical field of laser welding penetration detection, and in particular to a laser welding penetration detection system, a correction method, a detection method and a storage medium. In a laser welding penetration detection system provided by the present application, the welding light is emitted from the first galvanometer module after passing through the first galvanometer module, and the detection light is emitted from the first galvanometer module after passing through the second galvanometer module and the first galvanometer module in sequence. The detection light is moved synchronously with the welding light through the first galvanometer module, and the detection light is moved relative to the welding light through the second galvanometer module to perform real-time scanning of the light emitting area of ​​the welding light, so that the detection module can detect the welding position in real time. A molten pool is formed on the surface of the workpiece by the welding light. The molten pool is scanned by the detection light to form real-time scanning result data. The detection light is moved according to the scanning result data so that the detection light is coaxial with the welding light, thereby improving the detection accuracy of the detection module. In this way, the reliability and accuracy of laser welding spot detection are improved.

Description

Technical Field

[0001] The present application relates to the technical field of laser welding penetration detection, and in particular to a laser welding penetration detection system, a correction method, a detection method and a storage medium. Background Art

[0002] With the application of laser welding technology, the research on welding process control and welding quality detection has become more and more in-depth, and the research on welding process control and welding quality detection has been paid attention to by researchers from all over the world.

[0003] At present, most of the research focuses on the control of laser beam quality, the control of laser energy stability, and the appearance inspection of welds after welding. The commonly used method is to conduct destructive sampling of welds. Some studies also monitor the plasma light intensity signal generated during the welding process to indirectly monitor the quality of welds. Plasma interference, there is little research on the real-time detection of the depth of the molten pool generated by welding, and the depth of penetration is an important detection indicator in the welding process and is the main process parameter.

[0004] Optical Coherence Tomography (OCT) is a reliable means of detecting penetration depth, making the use of OCT to detect welding depth a key technology for welding quality inspection.

[0005] OCT detection equipment has the characteristics of large field of view tissue inspection, high-resolution inspection, and sufficient penetration depth. Compared with other imaging technologies, OCT has a high resolution of several microns or less without contacting the tissue. Therefore, it can meet the needs of detecting the penetration depth without destroying the welding sample, and has become the preferred tool for welding penetration detection. However, the existing OCT equipment has low scanning position accuracy and low reliability of detection results. In order to improve the reliability and accuracy of OCT detection.

[0006] It can be seen that how to improve the reliability and accuracy of laser welding spot detection is a technical problem that needs to be solved urgently. Summary of the invention

[0007] The present application provides a laser welding penetration detection system, correction method, detection method and storage medium, which are intended to solve the technical problem of how to improve the reliability and accuracy of laser welding spot detection in the prior art.

[0008] The present application provides a laser welding penetration detection system, comprising:

[0009] A welding module, wherein the welding module comprises a first galvanometer module;

[0010] A detection module, wherein the detection module comprises a second galvanometer module;

[0011] Wherein, the welding light emitted by the welding module is emitted after passing through the first galvanometer module;

[0012] The detection light emitted by the detection module passes through the second galvanometer module and the first galvanometer module in sequence, and is emitted from the first galvanometer module.

[0013] Furthermore, the laser welding penetration detection system provided in the present application further includes a processing module, and the detection module is connected to the processing module;

[0014] After the welding light forms a molten pool on the surface of the workpiece, the detection light is used to scan the molten pool so that the detection module forms scanning result data;

[0015] The processing module is configured to move the detection light according to the scanning result data so that the detection light is coaxial with the welding light.

[0016] Furthermore, the scanning result data includes depth data of the molten pool, and the deepest position of the molten pool is obtained according to the depth data;

[0017] The processing module is configured to move the detection light to the deepest position.

[0018] Furthermore, the laser welding penetration detection system provided by the present application also includes:

[0019] An imaging module, the imaging module is used to obtain image data of a first light spot formed by the welding light and a second light spot formed by the detection light;

[0020] A light spot analysis module, the light spot analysis module is connected to the imaging module;

[0021] An adjustment module, wherein the adjustment module is connected to the detection module;

[0022] Wherein, the light spot analysis module is configured to receive the image data, and determine the position deviation between the first light spot and the second light spot according to the image data;

[0023] The adjustment module is used to adjust the position of the second light spot according to the position deviation so that the first light spot overlaps with the second light spot.

[0024] On the other hand, the present application also provides a calibration method, comprising the following steps:

[0025] The welding module emits welding light, and the detection module emits detection light;

[0026] The welding light forms a molten pool at the welding point;

[0027] The detection module controls the detection light to scan the molten pool;

[0028] Acquiring scanning result data of the detection light scanning the welding molten pool;

[0029] The detection light is moved according to the scanning result data so that the detection light is coaxial with the welding light.

[0030] Furthermore, moving the detection light comprises the following steps:

[0031] Determine the deepest position of the molten pool according to the scanning result;

[0032] The detection light is moved to the deepest position.

[0033] Furthermore, determining the deepest position of the molten pool includes the following steps:

[0034] Acquire a three-dimensional image of the molten pool according to the scanning result;

[0035] The lowest point in the three-dimensional image is determined to determine the deepest position.

[0036] Furthermore, a calibration method provided by the present application also includes the following steps:

[0037] The imaging module acquires image data of a first light spot formed by the welding light and a second light spot formed by the detection light;

[0038] The light spot analysis module determines the relative position of the first light spot and the second light spot according to the image data;

[0039] The adjusting module adjusts the position of the second light spot according to the relative position so that the first light spot overlaps with the second light spot.

[0040] On the other hand, the present application also provides a detection method, comprising the following steps:

[0041] The welding module emits welding light, and the detection module emits detection light;

[0042] The first galvanometer module enables the welding light and the detection light to reach the welding point;

[0043] The welding light forms a molten pool at the welding point;

[0044] The second galvanometer module moves the detection light relative to the welding light to scan the molten pool.

[0045] On the other hand, the present application also provides a computer-readable storage medium storing computer instructions, which execute the above-mentioned correction method or the above-mentioned detection method when executed.

[0046] The beneficial effects achieved by the present application are as follows: the welding light is emitted from the first galvanometer module after passing through the first galvanometer module, and the detection light is emitted from the first galvanometer module after passing through the second galvanometer module and the first galvanometer module in sequence. The detection light and the welding light are moved synchronously by the first galvanometer module, and the emission angle of the detection light is adjusted by the second galvanometer module and the detection light is moved relative to the welding light to perform real-time scanning of the light emission area of ​​the welding light, thereby enabling the detection module to detect the welding position in real time. A molten pool is formed on the surface of the workpiece by the welding light. The molten pool is scanned by the detection light so that the detection module forms real-time scanning result data. The detection light is moved according to the scanning result data so that the detection light is coaxial with the welding light, thereby improving the detection accuracy of the detection module. In this way, the reliability and accuracy of laser welding spot detection are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a structural block diagram of a laser welding penetration detection system in an embodiment of the present invention;

[0048] Figure 2 is a control block diagram of a laser welding penetration detection system according to an embodiment of the present invention;

[0049] Figure 3 is a position relationship diagram of the first light spot and the second light spot before fine adjustment in an embodiment of the present invention;

[0050] Figure 4 is a position relationship diagram of the first light spot and the second light spot after fine adjustment in an embodiment of the present invention;

[0051] Figure 5 This is the process of the correction method in the embodiment of the present invention Figure 1 ;

[0052] Figure 6 This is the process of the correction method in the embodiment of the present invention Figure 2 ;

[0053] Figure 7 is a flow chart of a method for compensating chromatic aberration in an embodiment of the present invention;

[0054] Figure 8 The process of obtaining the first light output coordinates in the embodiment of the present invention is Figure 1 ;

[0055] Fig. 9 The process of obtaining the first light output coordinates in the embodiment of the present invention is Figure 2 ;

[0056] Fig.10 The process of obtaining the first offset vector in the embodiment of the present invention is Figure 1 ;

[0057] Fig.11 is a flow chart of positioning the detection light in an embodiment of the present invention;

[0058] Fig.12 The process of obtaining the first offset vector in the embodiment of the present invention is Figure 2 ;

[0059] Fig.13 It is the process of the detection method in the embodiment of the present invention Figure 1 ;

[0060] Fig.14 It is the process of the detection method in the embodiment of the present invention Figure 2 .

[0061] Main unit symbol description:

[0062] 10. Laser welding penetration detection system; 20. Welding module; 21. First galvanometer module; 211. First galvanometer lens assembly; 212. First motor assembly; 213. Second galvanometer lens assembly; 214. Second motor assembly; 22. First lens assembly; 23. Second lens assembly; 24. First beam combiner; 25. Welding light; 26. First light spot; 30. Detection module; 31. Second galvanometer module; 311. Third galvanometer lens assembly; 312. Third motor assembly; 313 , fourth vibrating lens assembly; 314, fourth motor assembly; 32, adjustment module; 321, first adjustment knob assembly; 322, second adjustment knob assembly; 33, third lens assembly; 34, second beam combiner; 35, detection light; 36, second light spot; 37, processing module; 38, imaging module; 39, light spot analysis module; 40, visual module; 41, visual lens; 42, visual camera; 43, visual light source; 50, workpiece; 51, molten pool; 52, deepest position. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar units or units with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention. In addition, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] In the description of the present invention, it is necessary to understand that the orientation or positional relationship indicated by terms such as "length", "width", "up", "down", "left", "right", "horizontal", "top" and "bottom" are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0066] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two units or the interaction relationship between two units. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] In the present invention, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being not in direct contact but in contact through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature. The first feature "upstream" or "downstream" of the second feature refers to the position passed by the substance on the path of movement from one place to another, and is arranged in order of precedence, with the first passed position being "upstream" of the later passed position, and the later passed position being "downstream" of the first passed position.

[0068] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the examples of various specific processes and materials provided by the present invention, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0069] Embodiment 1

[0070] See also Figure 1 to Figure 2 In some embodiments of the present application, the present application provides a laser welding penetration detection system 10, including: a welding module 20 and a detection module 30. The welding module 20 includes a first galvanometer module 21. The detection module 30 includes a second galvanometer module 31. The welding light 25 emitted by the welding module 20 passes through the first galvanometer module 21 and then is emitted. The detection light 35 emitted by the detection module 30 passes through the second galvanometer module 31 and the first galvanometer module 21 in sequence, and is emitted from the first galvanometer module 21.

[0071] The welding light 25 is emitted from the first galvanometer module 21 after passing through the first galvanometer module 21, and the detection light 35 is emitted from the first galvanometer module 21 after passing through the second galvanometer module 31 and the first galvanometer module 21 in sequence. The detection light 35 is moved synchronously with the welding light 25 by the first galvanometer module 21, so that the detection light 35 and the welding light 25 can reach the same welding point. The emission angle of the detection light 35 is adjusted by the second galvanometer module 31 and the detection light 35 can be moved relative to the welding light 25, so as to perform real-time scanning of the light emission area of ​​the welding light 25, so that the detection module 30 can detect the welding position in real time. A molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The molten pool 51 is scanned in real time by the detection light 35, so that the detection module 30 forms real-time scanning result data. The detection light 35 is moved according to the scanning result data, so that the detection light 35 is coaxial with the welding light 25, so as to improve the detection accuracy of the detection module 30.

[0072] In this way, the reliability and accuracy of laser welding spot detection are improved.

[0073] In some application scenarios of the present application, the first galvanometer module 21 enables the welding light 25 and the detection light 35 to move synchronously to the welding point. The welding light 25 forms a molten pool 51 at the welding point, and the second galvanometer module 31 enables the detection light 35 to move relative to the welding light 25, so that the detection light 35 scans the welding area of ​​the welding light 25, thereby obtaining real-time scanning result data of the molten pool 51, and then determining the detection result based on the scanning result data analysis, thereby completing the detection of the welding effect. Through the action of the first galvanometer module 21, the detection light 35 and the welding light 25 arrive at the welding point synchronously, and through the action of the second galvanometer module 31, the detection light 35 moves relative to the welding light 25, so that the detection light can scan the welding area of ​​the welding light 25. In this way, the detection system 10 can detect the welding effect in real time during the welding process, thereby improving the detection efficiency and improving the reliability and accuracy of the detection results.

[0074] In some application scenarios in this city, the first galvanometer module 21 makes the welding light 25 move synchronously with the detection light 35. The welding light 25 forms a molten pool 51 during the movement, and the second galvanometer module 31 makes the detection light 35 move relative to the welding light 25, so that the detection light 35 scans the welding area of ​​the welding light 25, thereby obtaining real-time scanning result data of the molten pool 51, and then determining the detection result based on the scanning result data analysis, thereby completing the detection of the welding effect. Through the action of the first galvanometer module 21, the detection light 35 moves synchronously with the welding light 25, and through the action of the second galvanometer module 31, the detection light 35 moves relative to the welding light 25, so that the detection light can scan the welding area of ​​the welding light 25. In this way, the detection system 10 can detect the welding effect in real time during the welding process, thereby improving the detection efficiency and improving the reliability and accuracy of the detection results.

[0075] In some embodiments of the present application, the present application provides a laser welding penetration detection system 10 which also includes a processing module 37 , and the detection module 30 is connected to the processing module 37 .

[0076] After the welding light 25 forms a molten pool 51 on the surface of the workpiece 50, the detection light 35 is used to scan the molten pool 51 so that the detection module 30 forms scanning result data. The processing module 37 is configured to move the detection light 35 according to the scanning result data so that the detection light 35 is coaxial with the welding light 25.

[0077] Before welding, the detection light 35 is calibrated to make the detection light 35 coaxial with the welding light 25, so that the detection result obtained by the detection module 30 is more accurate and reliable.

[0078] In the process of correcting the detection light 35, the welding module 20 emits the welding light 25, and the welding light 25 is emitted from the first galvanometer module 21 after passing through the first galvanometer module 21 and irradiated to the welding point position. The detection module 30 emits the detection light 35, and the detection light 35 is emitted from the first galvanometer module 21 after passing through the second galvanometer module 31 and the first galvanometer module 21 in sequence, and irradiated to the same welding point as the welding light 25. A molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The detection light 35 is moved relative to the welding light 25 by the second galvanometer module 31, and then the molten pool 51 is scanned by the detection light 35, so that the detection module 30 forms scanning result data. The detection light 35 is moved according to the scanning result data so that the detection light 35 is coaxial with the welding light 25, so as to complete the correction of the detection light 35, thereby improving the detection accuracy of the detection module 30.

[0079] Specifically, in some embodiments of the present application, the welding light 25 emitted from the laser emitter enters the first galvanometer module 21 after being reflected by the beam combiner, and then is emitted from the first galvanometer module 21. The detection light 35 emitted from the detection body enters the second galvanometer module 31, and then is emitted from the second galvanometer module 31. After passing through the beam combiner, it enters the first galvanometer module 21 in the same path as the welding light 25, and then is emitted from the first galvanometer module 21 together with the welding light 25, and irradiates the same welding point. When the first galvanometer module 21 swings, the detection light 35 moves synchronously with the welding light 25, so that the detection light 35 follows the welding light 25 and arrives at the same welding point synchronously. Through the swing of the second galvanometer module 31, the detection light 35 moves relative to the welding light 25, so that the detection light 35 can scan the irradiation area of ​​the welding light 25, and the detection module 30 forms the scanning result data. The detection light 35 is moved according to the scanning result data, so that the detection light 35 is coaxial with the welding light 25, thereby improving the detection accuracy of the detection module 30. In this way, the reliability and accuracy of laser welding spot detection are improved.

[0080] In some embodiments of the present application, the scanning result data includes depth data of the molten pool 51 , and the deepest position 52 of the molten pool 51 is obtained according to the depth data. The processing module 37 is configured to move the detection light 35 to the deepest position 52 .

[0081] In laser welding, the depth of the molten pool 51 during welding is a major process parameter and an important indicator for detecting the welding effect. The detection module 30 emits a detection light 35 to scan the molten pool 51 during the welding process, thereby obtaining depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 based on the depth data. After determining the deepest position 52 of the molten pool 51, the processing module 37 moves the detection light 35 to the deepest position 52, thereby making the detection light 35 coaxial with the welding light 25.

[0082] It is understandable that, since the shapes of the molten pool 51 and the pool hole are irregular, if the coaxiality of the detection light 35 and the welding light 25 does not meet the expected requirements, it is difficult to detect reliable penetration information. The deepest position 52 of the molten pool 51 can be determined as the focus of the welding light 25, and the detection light 35 is moved to the deepest position 52 of the molten pool 51, even if the focus of the detection light 35 and the focus of the welding light 25 coincide, so that the detection module 30 can more accurately detect the deepest position 52 of the molten pool 51, and thus make the detected penetration information more reliable.

[0083] A three-dimensional image of the molten pool 51 may be established based on the depth data of the molten pool 51 , and the deepest position 52 of the molten pool 51 may be determined by determining the lowest point in the three-dimensional image of the molten pool 51 .

[0084] In some embodiments of the present application, a laser welding penetration detection system 10 provided in the present application further includes: an imaging module 38 , a spot analysis module 39 and an adjustment module 32 .

[0085] The imaging module 38 is used to obtain image data of the first light spot 26 formed by the welding light 25 and the second light spot 36 formed by the detection light 35. The light spot analysis module 39 is connected to the imaging module 38. The adjustment module 32 is connected to the detection module 30.

[0086] The light spot analysis module 39 is configured to receive image data and determine the relative position of the first light spot 26 and the second light spot 36 according to the image data. The adjustment module 32 is used to adjust the position of the second light spot 36 according to the relative position so that the first light spot 26 and the second light spot 36 overlap.

[0087] The welding module 20 emits welding light 25, and the welding light 25 is irradiated to the imaging module 38 to form a first light spot 26; the detection module 30 emits detection light 35, and the detection light 35 is irradiated to the imaging module 38 to form a second light spot 36. The light spot analysis module 39 receives the image data from the imaging module 38, and determines the relative position of the first light spot 26 and the second light spot 36 according to the image data. The adjustment module 32 adjusts the position of the second light spot 36 according to the relative position of the first light spot 26 and the second light spot 36, so that the first light spot 26 and the second light spot 36 overlap. In this way, the rough adjustment of the detection light 35 is completed, so that the detection light 35 is closer to the focus of the welding light 25.

[0088] After the rough adjustment of the detection light 35 is completed, a molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The molten pool 51 is scanned by the detection light 35, and the depth data of the molten pool 51 is obtained. A three-dimensional image of the molten pool 51 is established according to the depth data of the molten pool 51, and the deepest position 52 of the molten pool 51 is determined by determining the lowest point in the three-dimensional image of the molten pool 51. After determining the deepest position 52 of the molten pool 51, the processing module 37 moves the detection light 35 to the deepest position 52, so that the detection light 35 and the welding light 25 are coaxial. In this way, the fine adjustment of the detection light 35 is completed. The deepest position 52 of the molten pool 51 can be determined as the focus of the welding light 25, and the detection light 35 is moved to the deepest position 52 of the molten pool 51, that is, the focus of the detection light 35 and the focus of the welding light 25 coincide, so that the detection module 30 can detect the deepest position 52 of the molten pool 51 more accurately, and the detected depth of penetration information is more reliable.

[0089] In some embodiments of the present application, the welding module 20 further includes: a first lens assembly 22 and a second lens assembly 23. The welding light 25 passes through the first lens assembly 22 and enters the first galvanometer module 21. The light emitted from the first galvanometer module 21 passes through the second lens assembly 23 and then exits.

[0090] The welding light 25 enters the first galvanometer module 21 after passing through the first lens assembly 22, thereby improving the collimation of the light beam entering the first galvanometer module 21. The light emitted from the first galvanometer module 21 is emitted after passing through the second lens assembly 23, thereby focusing the light beam emitted from the first galvanometer module 21. After the welding light 25 passes through the second lens assembly 23, the light beam of the welding light 25 is more concentrated, thereby reducing the size of the light spot formed by the welding light 25, increasing the energy per unit area of ​​the light spot formed by the welding light 25 on the surface of the workpiece 50, and improving the welding effect.

[0091] In some embodiments of the present application, the detection module 30 further includes: a third lens assembly 33 , and the detection light 35 enters the second galvanometer module 31 after passing through the third lens assembly 33 .

[0092] The detection light 35 enters the second galvanometer module 31 after passing through the third lens assembly 33 , thereby improving the collimation of the detection light 35 , and further improving the precision and accuracy of the detection result.

[0093] After being emitted from the second galvanometer module 31, the detection light 35 enters the first galvanometer module 21 and then is emitted from the first galvanometer module 21 together with the welding light 25. The welding light 25 and the detection light 35 are focused by the second lens assembly 23.

[0094] In some embodiments of the present application, a laser welding penetration detection system 10 provided in the present application further includes: a vision module 40 .

[0095] The welding point is visually positioned by the vision module 40, so that the welding position of the welding light 25 is more accurate and the light output coordinates of the welding point are determined.

[0096] In some embodiments of the present application, the welding module 20 includes a laser emitter, a first lens assembly 22 , a first beam combiner 24 , a first galvanometer module 21 and a second lens assembly 23 .

[0097] The welding light 25 emitted from the laser emitter passes through the first lens assembly 22 and reaches the first beam combiner 24 , and then enters the first galvanometer module 21 after being reflected by the first beam combiner 24 , and then passes through the second lens assembly 23 and is emitted.

[0098] In some embodiments of the present application, the first galvanometer module 21 includes a first galvanometer lens assembly 211, a first motor assembly 212, a second galvanometer lens assembly 213, and a second motor assembly 214. The first motor assembly 212 drives the first galvanometer lens assembly 211 to move, and the second motor assembly 214 drives the second galvanometer lens assembly 213 to move. After the light enters the first galvanometer module 21, it passes through the first galvanometer lens assembly 211 and the second galvanometer lens assembly 213 in sequence, and after being reflected by the first galvanometer lens assembly 211 and the second galvanometer lens assembly 213, it is emitted from the first galvanometer module 21. The first motor assembly 212 drives the first galvanometer lens assembly 211 to move, and the second motor assembly 214 drives the second galvanometer lens assembly 213 to move, thereby changing the propagation direction of the welding light 25.

[0099] In some embodiments of the present application, the detection module 30 includes a detection body, a third lens assembly 33, a second galvanometer module 31, and a second beam combining mirror 34. The first beam combining mirror 24 is parallel to the second beam combining mirror 34.

[0100] The detection light 35 emitted from the detection subject enters the second galvanometer module 31 after passing through the third lens assembly 33, and then is emitted from the second galvanometer module 31, passes through the second beam combining mirror 34, passes through the first beam combining mirror 24, enters the first galvanometer module 21, and then is emitted after passing through the second lens assembly 23.

[0101] The detection light 35 emitted from the detection body is parallel to the welding light 25 emitted from the laser emitter. The detection light 35 is reflected by the second beam combiner 34 and passes through the first beam combiner 24, and then merges with the welding light 25, and enters the first galvanometer module 21 along the same path, propagates in the first galvanometer module 21 along the same path, and is emitted from the first galvanometer module 21 along the same path. In this way, the second light spot 36 formed by the detection light 35 on the surface of the workpiece 50 and the first light spot 26 formed by the welding light 25 on the surface of the workpiece 50 are close to or overlap.

[0102] In some embodiments of the present application, the second galvanometer module 31 includes a third galvanometer lens assembly 311, a third motor assembly 312, a fourth galvanometer lens assembly 313, and a fourth motor assembly 314. The third motor assembly 312 drives the third galvanometer lens assembly 311 to move, and the fourth motor assembly 314 drives the fourth galvanometer lens assembly 313 to move. After the detection light 35 enters the second galvanometer module 31, it passes through the third galvanometer lens assembly 311 and the fourth galvanometer lens assembly 313 in sequence, and after being reflected by the third galvanometer lens assembly 311 and the fourth galvanometer lens assembly 313, it is emitted from the second galvanometer module 31. The third motor assembly 312 drives the third galvanometer lens assembly 311 to move, and the fourth motor assembly 314 drives the fourth galvanometer lens assembly 313 to move, thereby changing the propagation direction of the detection light 35.

[0103] The first galvanometer module 21 is used to make the detection light 35 and the welding light 25 swing synchronously, so that the welding light 25 and the detection light 35 can be irradiated on the same welding point at the same time, welding is performed at the welding point by the welding light 25, and the welding point is detected by the detection light 35. The second galvanometer module 31 is used to make the detection light 35 swing relative to the welding light 25, so that the detection light 35 can scan the welding point, and the detection module 30 obtains the scanning result data.

[0104] In some embodiments of the present application, the adjustment module 32 includes a first adjustment knob assembly 321 and a second adjustment knob assembly 322. The first adjustment knob assembly 321 is used to adjust the angle of the third vibration lens assembly 311, and the second adjustment knob assembly 322 is used to adjust the angle of the fourth vibration lens assembly 313. When the detection light 35 is to be moved so that the detection light 35 coincides with the welding light 25, the detection light 35 can be moved by twisting the first adjustment knob assembly 321 and the second adjustment knob assembly 322, thereby completing the coarse adjustment of the detection light 35. When the detection light 35 is to be moved to the focus of the welding light 25 (i.e., the deepest position 52 of the molten pool 51), the third vibration lens assembly 311 and the fourth vibration lens assembly 313 can be driven to move by the third motor assembly 312 and the fourth motor assembly 314, respectively, thereby fine-tuning the angles of the third vibration lens assembly 311 and the fourth vibration lens assembly, so that the detection light 35 is coaxial with the welding light 25, thereby completing the fine adjustment of the detection light 35.

[0105] In some embodiments of the present application, the visual module 40 includes a visual lens 41, a visual camera 42, and a visual light source 43. The visual light source 43 is disposed on the light-emitting side of the second lens assembly 23. The light of the visual light source 43 is reflected by the object to be measured and enters the first galvanometer module 21, and passes through the first beam combiner 24 and the second beam combiner 34 in sequence, and then reaches the visual lens 41, and is then captured by the visual camera 42. The visual module 40 is used to visually locate the welding point, so that the welding position of the welding light 25 is more accurate, and the light-emitting coordinates of the welding point are determined.

[0106] The detection light 35 , the welding light 25 , and the visual light are propagated coaxially through the first beam combiner 24 and the second beam combiner 34 .

[0107] See also Figures 1 to 4 In some application scenarios of the present application, before welding, the detection light 35 is roughly adjusted, finely adjusted, and calibrated for color difference compensation to improve the reliability and accuracy of welding detection.

[0108] Specifically, in some embodiments of the present application, the welding module 20 emits the welding light 25, and the welding light 25 is irradiated to the imaging module 38 to form the first light spot 26; the detection module 30 emits the detection light 35, and the detection light 35 is irradiated to the imaging module 38 to form the second light spot 36. The light spot analysis module 39 receives the image data from the imaging module 38, and determines the relative position of the first light spot 26 and the second light spot 36 according to the image data. The adjustment module 32 adjusts the position of the second light spot 36 according to the relative position of the first light spot 26 and the second light spot 36, so that the first light spot 26 and the second light spot 36 overlap. In this way, the coarse adjustment of the detection light 35 is completed, so that the detection light 35 is closer to the focus of the welding light 25.

[0109] Specifically, in some embodiments of the present application, a molten pool 51 is formed on the surface of a workpiece 50 by a welding light 25. The molten pool 51 is scanned by a detection light 35, and the depth data of the molten pool 51 is obtained. A three-dimensional image of the molten pool 51 is established according to the depth data of the molten pool 51, and the deepest position 52 of the molten pool 51 is determined by determining the lowest point in the three-dimensional image of the molten pool 51. After determining the deepest position 52 of the molten pool 51, the processing module 37 moves the detection light 35 to the deepest position 52, and then makes the detection light 35 coaxial with the welding light 25. In this way, the fine adjustment of the detection light 35 is completed. The deepest position 52 of the molten pool 51 can be determined as the focus of the welding light 25, and the detection light 35 is moved to the deepest position 52 of the molten pool 51, that is, the focus of the detection light 35 and the focus of the welding light 25 coincide, so that the detection module 30 can more accurately detect the deepest position 52 of the molten pool 51, and then make the detected depth of penetration information more reliable.

[0110] Specifically, in some embodiments of the present application, at least six calibration welding points are set to calibrate the detection light 35, so as to obtain a compensation function, and compensate for the color difference of the detection light 35 relative to the welding light 25, so that the detection light 35 and the welding light 25 are overlapped and coaxial. Then, during the welding process, the detection light 35 is calibrated according to the compensation function to improve the reliability and accuracy of welding detection.

[0111] The six calibration welding points are defined as point one, point two, point three, point four, point five, and point six.

[0112] The welding light 25 is emitted at a point to form a molten pool 51 at the point, and the light emission coordinates (u1, v1) of the welding light 25 at the point are recorded. The light emission coordinates can be determined by the visual module 40 or according to the position data of the welding light 25.

[0113] After the molten pool 51 is formed at a point, the detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51, and the displacement data of the detection light 35 is obtained, and the offset vector (x1, y1) of the detection light 35 at the point is determined according to the displacement data.

[0114] According to the light emitting coordinates (u1, v1) of the welding light 25 at point one and the offset vector (x1, y1) of the detection light 35 at point one, the mapping relationship between the light emitting coordinates of the welding light 25 at point one and the offset vector of the detection light 35 at point one is determined, and the mapping relationship of point one is configured as:

[0115] u1=Ax1+By1+C;

[0116] v1=Dx1+Ey1+F.

[0117] Among them, A, B, C, D, E and F are all unknown constants to be calculated.

[0118] The welding light 25 is emitted at point 2 to form a molten pool 51 at point 2, and the light emission coordinates (u2, v2) of the welding light 25 at point 2 are recorded. The light emission coordinates can be determined by the visual module 40 or according to the position data of the welding light 25.

[0119] After the molten pool 51 is formed at point 2, the detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining the depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51, and the displacement data of the detection light 35 is obtained, and the offset vector (x2, y2) of the detection light 35 at point 2 is determined according to the displacement data.

[0120] According to the light emitting coordinates (u2, v2) of the welding light 25 at point 2 and the offset vector (x2, y2) of the detection light 35 at point 2, the mapping relationship between the light emitting coordinates of the welding light 25 at point 2 and the offset vector of the detection light 35 at point 2 is determined, and the mapping relationship at point 2 is configured as follows:

[0121] u2=Ax2+By2+C;

[0122] v2=Dx2+Ey2+F.

[0123] Among them, A, B, C, D, E and F are all unknown constants to be calculated.

[0124] The welding light 25 is emitted at point 3 to form a molten pool 51 at point 3, and the light emission coordinates (u3, v3) of the welding light 25 at point 3 are recorded. The light emission coordinates can be determined by the visual module 40 or according to the position data of the welding light 25.

[0125] After the molten pool 51 is formed at point three, the detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining the depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51, and the displacement data of the detection light 35 is obtained, and the offset vector (x3, y3) of the detection light 35 at point three is determined according to the displacement data.

[0126] According to the light emitting coordinates (u3, v3) of the welding light 25 at point three and the offset vector (x3, y3) of the detection light 35 at point three, the mapping relationship between the light emitting coordinates of the welding light 25 at point three and the offset vector of the detection light 35 at point three is determined, and the mapping relationship at point three is configured as follows:

[0127] u3=Ax3+By3+C;

[0128] v3=Dx3+Ey3+F.

[0129] Among them, A, B, C, D, E and F are all unknown constants to be calculated.

[0130] The welding light 25 is emitted at four points to form a molten pool 51 at four points, and the light emission coordinates (u4, v4) of the welding light 25 at four points are recorded. The light emission coordinates can be determined by the visual module 40 or according to the position data of the welding light 25.

[0131] After the molten pool 51 is formed at point 4, the detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining the depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51, and the displacement data of the detection light 35 is obtained, and the offset vector (x4, y4) of the detection light 35 at point 4 is determined according to the displacement data.

[0132] According to the light emitting coordinates (u4, v4) of the welding light 25 at point 4 and the offset vector (x4, y4) of the detection light 35 at point 4, the mapping relationship between the light emitting coordinates of the welding light 25 at point 4 and the offset vector of the detection light 35 at point 4 is determined, and the mapping relationship between the points 4 is configured as follows:

[0133] u4=Ax4+By4+C;

[0134] v4=Dx4+Ey4+F.

[0135] Among them, A, B, C, D, E and F are all unknown constants to be calculated.

[0136] The welding light 25 is emitted at point 5 to form a molten pool 51 at point 5, and the light emission coordinates (u5, v5) of the welding light 25 at point 5 are recorded. The light emission coordinates can be determined by the visual module 40 or according to the position data of the welding light 25.

[0137] After the molten pool 51 is formed at point five, the detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining the depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51, and the displacement data of the detection light 35 is obtained, and the offset vector (x5, y5) of the detection light 35 at point five is determined according to the displacement data.

[0138] According to the light emitting coordinates (u5, v5) of the welding light 25 at point 5 and the offset vector (x5, y5) of the detection light 35 at point 5, the mapping relationship between the light emitting coordinates of the welding light 25 at point 5 and the offset vector of the detection light 35 at point 5 is determined, and the mapping relationship at point 5 is configured as follows:

[0139] u5=Ax5+By5+C;

[0140] v5=Dx5+Ey5+F.

[0141] Among them, A, B, C, D, E and F are all unknown constants to be calculated.

[0142] The welding light 25 is emitted at point 6 to form a molten pool 51 at point 6, and the light emission coordinates (u6, v6) of the welding light 25 at point 6 are recorded. The light emission coordinates can be determined by the visual module 40 or according to the position data of the welding light 25.

[0143] After the molten pool 51 is formed at point six, the detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining the depth data of the molten pool 51, and determining the deepest position 52 of the molten pool 51 according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51, and the displacement data of the detection light 35 is obtained, and the offset vector (x6, y6) of the detection light 35 at point six is ​​determined according to the displacement data.

[0144] According to the light emitting coordinates (u6, v6) of the welding light 25 at point six and the offset vector (x6, y6) of the detection light 35 at point six, the mapping relationship between the light emitting coordinates of the welding light 25 at point six and the offset vector of the detection light 35 at point six is ​​determined, and the mapping relationship at point six is ​​configured as follows:

[0145] u6=Ax6+By6+C;

[0146] v6=Dx6+Ey6+F.

[0147] Among them, A, B, C, D, E and F are all unknown constants to be calculated.

[0148] After obtaining six sets of mapping relationship formulas, since the light output coordinates of the welding light 25 and the offset vectors of the detection light 35 in the six sets of mapping relationships are all known, A, B, C, D, E and F can be calculated through the six sets of mapping relationship formulas, making these six constants known constants.

[0149] After determining the mapping relationship between the light coordinates and the offset vector, determine the compensation function according to the mapping relationship, and configure the compensation function as follows:

[0150] o=Az+Bw+C;

[0151] p=Dz+Ew+F;

[0152] Among them, A, B, C, D, E and F are all known constants; (z, w) is the light-emitting coordinate of the welding light 25 during welding, and (o, p) is the offset vector of the detection light 35 during welding. The light-emitting coordinate of the welding light 25 during welding can be determined by the vision module 40, or can be determined according to the position data of the welding light 25.

[0153] In this way, the calibration of the detection light 35 is completed. The offset vector of the detection light 35 during welding is obtained according to the compensation function, and then the detection light 35 is moved according to the offset vector of the detection light 35 during welding, so that the detection light 35 and the welding light 25 are coaxial, thereby improving the reliability and accuracy of welding detection.

[0154] Embodiment 2

[0155] See also Figures 5 and 6 In some embodiments of the present application, the present application also provides a correction method, comprising the following steps:

[0156] The welding module 20 emits welding light 25, and the detection module 30 emits detection light 35;

[0157] The welding light 25 forms a molten pool 51 at the welding point;

[0158] The detection module 30 controls the detection light 35 to scan the molten pool 51;

[0159] Acquire scanning result data of the detection light 35 scanning the welding molten pool 51;

[0160] The detection light 35 is moved according to the scan result data so that the detection light 35 and the welding light 25 are coaxial.

[0161] A molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The molten pool 51 is scanned by the detection light 35, thereby obtaining scanning result data of the molten pool 51. The detection light 35 is moved according to the scanning result data so that the detection light 35 is coaxial with the welding light 25, thereby completing fine adjustment of the detection light 35, thereby improving the reliability and accuracy of welding detection.

[0162] In some embodiments of the present application, moving the detection light 35 comprises the following steps:

[0163] Determine the deepest position 52 of the molten pool 51 according to the scanning result;

[0164] The detection light 35 is moved to the deepest position 52 .

[0165] A molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The molten pool 51 is scanned by the detection light 35, and the depth data of the molten pool 51 is obtained, and the deepest position 52 of the molten pool 51 is determined according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51 by adjusting the angle of the galvanometer lens in the second galvanometer module 31, so that the detection light 35 is coaxial with the welding light 25, and the detection light 35 is finely adjusted to improve the reliability and accuracy of welding detection.

[0166] In some embodiments of the present application, determining the deepest position 52 of the molten pool 51 includes the following steps:

[0167] Obtaining a three-dimensional image of the molten pool 51 according to the scanning result;

[0168] The lowest point in the three-dimensional image is determined to determine the deepest position 52 .

[0169] A molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The molten pool 51 is scanned by the detection light 35, and the depth data of the molten pool 51 is obtained. A three-dimensional image of the molten pool 51 is established according to the depth data of the molten pool 51, and the deepest position 52 of the molten pool 51 is determined by determining the lowest point in the three-dimensional image of the molten pool 51. After determining the deepest position 52 of the molten pool 51, the processing module 37 moves the detection light 35 to the deepest position 52, so that the detection light 35 and the welding light 25 are coaxial. In this way, the fine adjustment of the detection light 35 is completed. The deepest position 52 of the molten pool 51 can be determined as the focus of the welding light 25, and the detection light 35 is moved to the deepest position 52 of the molten pool 51, that is, the focus of the detection light 35 and the welding light 25 coincide, so that the detection module 30 can detect the deepest position 52 of the molten pool 51 more accurately, and the detected depth of penetration information is more reliable.

[0170] In some embodiments of the present application, a calibration method provided by the present application further includes the following steps:

[0171] The imaging module 38 acquires image data of the first light spot 26 formed by the welding light 25 and the second light spot 36 formed by the detection light 35;

[0172] The light spot analysis module 39 determines the relative position of the first light spot 26 and the second light spot 36 according to the image data;

[0173] The adjustment module 32 adjusts the position of the second light spot 36 according to the relative position so that the first light spot 26 and the second light spot 36 overlap.

[0174] The welding module 20 emits welding light 25, and the welding light 25 is irradiated to the imaging module 38 to form a first light spot 26; the detection module 30 emits detection light 35, and the detection light 35 is irradiated to the imaging module 38 to form a second light spot 36. The light spot analysis module 39 receives the image data from the imaging module 38, and determines the relative position of the first light spot 26 and the second light spot 36 according to the image data. The adjustment module 32 adjusts the position of the second light spot 36 according to the relative position of the first light spot 26 and the second light spot 36, so that the first light spot 26 and the second light spot 36 overlap. In this way, the rough adjustment of the detection light 35 is completed, so that the detection light 35 is closer to the focus of the welding light 25.

[0175] After the coarse adjustment of the detection light 35 is completed, the detection light 35 is finely adjusted, so that the displacement of the detection light 35 when the detection light 35 is finely adjusted is reduced, thereby improving the fine adjustment effect of the detection light 35.

[0176] By performing rough adjustment and fine adjustment on the detection light 35 , the coaxiality between the detection light 35 and the welding light 25 is improved, thereby improving the reliability and accuracy of welding detection.

[0177] On the other hand, in some embodiments of the present application, the present application also provides a computer-readable storage medium storing computer instructions, which execute the above correction method when the computer instructions are executed.

[0178] Embodiment 3

[0179] See also Fig.13 In some embodiments of the present application, the present application also provides a detection method, comprising the following steps:

[0180] The welding module 20 emits welding light 25, and the detection module 30 emits detection light 35;

[0181] The first galvanometer module 21 allows the welding light 25 and the detection light 35 to reach the welding point;

[0182] The welding light 25 forms a molten pool 51 at the welding point;

[0183] The second galvanometer module 31 moves the detection light 35 relative to the welding light 25 to scan the molten pool 51 .

[0184] The welding light 25 is emitted from the first galvanometer module 21 after passing through the first galvanometer module 21, and the detection light 35 is emitted from the first galvanometer module 21 after passing through the second galvanometer module 31 and the first galvanometer module 21 in sequence. The detection light 35 and the welding light 25 are moved synchronously by the first galvanometer module 21, so that the detection light 35 and the welding light 25 can reach the same welding point.

[0185] After the welding light 25 forms a molten pool 51 on the surface of the workpiece 50, the second galvanometer module 31 moves the detection light 35 relative to the welding light 25, and then scans the molten pool 51 through the detection light 35, so that the detection module 30 forms scanning result data, and then obtains the detection result data.

[0186] Specifically, in some embodiments of the present application, the welding light 25 emitted from the welding module 20 enters the first galvanometer module 21 after being reflected by the beam combiner, and then is emitted from the first galvanometer module 21. The detection light 35 emitted from the detection module 30 enters the second galvanometer module 31, and then is emitted from the second galvanometer module 31. After passing through the beam combiner, it enters the first galvanometer module 21 along the same path as the welding light 25, and then is emitted from the first galvanometer module 21 together with the welding light 25, and irradiates the same welding point. When the first galvanometer module 21 swings, the detection light 35 moves synchronously with the welding light 25, so that the detection light 35 follows the welding light 25 and arrives at the same welding point synchronously. Through the swing of the second galvanometer module 31, the detection light 35 moves relative to the welding light 25, so that the detection light 35 can scan the irradiation area of ​​the welding light 25, and the detection module 30 forms the scanning result data, and then obtains the detection result data.

[0187] On the other hand, in some embodiments of the present application, the present application also provides a computer-readable storage medium storing computer instructions, which execute the above-mentioned detection method when the computer instructions are executed.

[0188] Embodiment 4

[0189] See also Figure 7 In some embodiments of the present application, a method for compensating for chromatic aberration in laser welding penetration detection provided by the present application comprises the following steps:

[0190] Obtaining a first light-emitting coordinate of the welding light 25 and a first offset vector of the detection light 35 at the calibration welding point;

[0191] Determine a mapping relationship between a first light-emitting coordinate and a first offset vector;

[0192] Obtain the compensation function according to the mapping relationship.

[0193] The welding light 25 and the detection light 35 are emitted at the calibration welding point, and the first light-emitting coordinates of the welding light 25 and the first offset vector of the detection light 35 at the calibration welding point are obtained, and then the mapping relationship between the first light-emitting coordinates and the first offset vector is determined, and the compensation function is obtained according to the mapping relationship between the first light-emitting coordinates and the first offset vector. After the compensation function is obtained, during the welding process, the color difference compensation of the detection light 35 is automatically performed in real time according to the compensation function, and the deviation between the detection light 35 and the welding light 25 is compensated according to the compensation function, so that the detection light 35 and the welding light 25 are coaxial, thereby improving the detection accuracy during welding; each time welding is performed at a welding point, the detection light 35 and the welding light 25 are automatically coaxial in real time through the compensation function, so as to realize automatic color difference compensation at the welding points of the full width, thereby improving the detection efficiency; during the continuous welding process, the detection light 35 will move in real time with the welding light 25, and the deviation between the detection light 35 and the welding light 25 is compensated in real time according to the compensation function, thereby improving the detection efficiency and accuracy. In this way, the detection accuracy and efficiency of laser welding are improved.

[0194] See also Figure 8 In some embodiments of the present application, obtaining the first light output coordinates includes the following steps:

[0195] Acquire image data of the calibrated welding point;

[0196] The first light-emitting coordinates are determined according to the image data.

[0197] The calibration welding point is captured by the vision module 40, and the coordinates of the calibration welding point are obtained, and then the first light output coordinates are determined according to the coordinates of the calibration welding point. Then the welding light 25 is moved to the target calibration welding point according to the first light output coordinates, and a molten pool 51 is formed at the target calibration welding point.

[0198] See also Fig. 9 In some embodiments of the present application, obtaining the first light output coordinates includes the following steps:

[0199] Determining position data of the welding light 25;

[0200] The first light-emitting coordinates are determined according to the position data.

[0201] When the position of the calibration weld is determined, the position data of the welding light 25 can be determined by the position of the calibration weld, and then the first light output coordinate is determined according to the position data. It can be understood that since the position of the calibration weld is determined, the coordinates of the calibration weld are known, and then the coordinates of the calibration weld are input to determine the position data of the welding light 25, and then the first light output coordinate is determined. The welding light 25 moves to the calibration weld according to the first light output coordinate, and forms a molten pool 51 at the target calibration weld.

[0202] See also Fig.10 In some embodiments of the present application, obtaining the first offset vector includes the following steps:

[0203] The welding module 20 emits welding light 25, and the detection module 30 emits detection light 35;

[0204] The welding light 25 forms a molten pool 51 at the calibrated welding point;

[0205] Acquire scanning result data of the detection light 35 scanning the welding molten pool 51;

[0206] Positioning the detection light 35 according to the scanning result data to obtain displacement data of the detection light 35 after positioning;

[0207] A first offset vector is determined based on the displacement data.

[0208] The welding module 20 emits welding light 25, thereby forming a molten pool 51 at the calibration welding point. The detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining scanning result data. The detection light 35 is positioned according to the scanning result data, and the detection light 35 is moved. Displacement data after the detection light 35 is positioned is obtained according to the location of the detection light 35, and then a first offset vector is determined according to the displacement data.

[0209] See also Fig.11 In some embodiments of the present application, positioning the detection light 35 includes the following steps:

[0210] Determine the deepest position 52 of the molten pool 51 according to the scanning result data;

[0211] The detection light 35 is positioned at the deepest position 52 of the molten pool 51 to position the detection light 35 .

[0212] A molten pool 51 is formed on the surface of the workpiece 50 by the welding light 25. The molten pool 51 is scanned by the detection light 35, and the depth data of the molten pool 51 is obtained, and the deepest position 52 of the molten pool 51 is determined according to the depth data. The detection light 35 is moved to the deepest position 52 of the molten pool 51 by adjusting the angle of the galvanometer lens in the galvanometer module, so that the detection light 35 is coaxial with the welding light 25, and the detection light 35 is finely adjusted to improve the reliability and accuracy of welding detection.

[0213] See also Fig.12 In some embodiments of the present application, obtaining the first offset vector includes the following steps:

[0214] The welding module 20 emits welding light 25, and the detection module 30 emits detection light 35;

[0215] Acquire a first coordinate of the detection light 35;

[0216] Acquire scanning result data of the detection light 35 scanning the welding molten pool 51;

[0217] Positioning the detection light 35 according to the scanning result data to obtain a second coordinate of the detection light 35;

[0218] A first offset vector is determined according to the first coordinate and the second coordinate.

[0219] The welding module 20 emits welding light 25, thereby forming a molten pool 51 at the calibration welding point. The detection module 30 scans the molten pool 51 through the detection light 35, thereby obtaining scanning result data. The first coordinate of the detection light 35 is obtained, wherein the first coordinate is the coordinate before the detection light 35 moves. The detection light 35 is positioned according to the scanning result data, and the detection light 35 is moved, thereby obtaining the second coordinate after the detection light 35 moves. By subtracting the second coordinate from the first coordinate, the first offset vector is determined according to the first coordinate and the second coordinate.

[0220] In some embodiments of the present application, the number of the calibration welding points is at least six.

[0221] In some embodiments of the present application, the mapping relationship is configured as:

[0222] u=Ax+By+C;

[0223] v=Dx+Ey+F;

[0224] Wherein, (u, v) is the first light output coordinate, (x, y) is the first offset vector, and A, B, C, D, E and F are all constants;

[0225] Determining the mapping relationship includes the following steps:

[0226] A, B, C, D, E and F are calculated based on the mapping relationship of at least six calibration welding points.

[0227] The detection light 35 is finely adjusted at at least six calibrated welding points respectively, so as to obtain at least six first light-emitting coordinates and at least six first offset vectors, and obtain at least six groups of mapping relationships between the detection light 35 and the welding light 25.

[0228] In at least six sets of mapping relationships, all first light-emitting coordinates and all first offset vectors are known, and thus A, B, C, D, E and F can be calculated according to the mapping relationships of at least six calibration welding points.

[0229] In some embodiments of the present application, the compensation function is configured as:

[0230] o=Az+Bw+C;

[0231] p=Dz+Ew+F;

[0232] Wherein, (z, w) is the second light-emitting coordinate of the welding light 25 during welding, and (o, p) is the second offset vector of the detection light 35 during welding. The second offset vector is obtained according to the compensation function.

[0233] Through calibration calculation, A, B, C, D, E and F are all known constants. (z, w) is the second light-emitting coordinate of the welding light 25 during welding, and (o, p) is the second offset vector of the detection light 35 during welding. The second light-emitting coordinate of the welding light 25 during welding can be determined by the visual module 40, or can be determined based on the position data of the welding light 25. Then, the second offset vector (o, p) can be calculated based on the compensation function.

[0234] In this way, the calibration of the detection light 35 is completed. The second offset vector of the detection light 35 during welding is obtained according to the compensation function, and then the detection light 35 is moved according to the second offset vector of the detection light 35 during welding, so that the detection light 35 and the welding light 25 are coaxial, thereby improving the reliability and accuracy of welding detection.

[0235] On the other hand, the present application also provides a computer-readable storage medium storing computer instructions, which execute the above-mentioned laser welding penetration detection chromatic aberration compensation method when the computer instructions are executed.

[0236] Embodiment 5

[0237] See also Fig.14 In some embodiments of the present application, the present application also provides a detection method, comprising the following steps:

[0238] The welding module 20 emits welding light 25, and the detection module 30 emits detection light 35;

[0239] The first galvanometer module 21 allows the welding light 25 and the detection light 35 to reach the welding point;

[0240] The welding light 25 forms a molten pool 51 at the welding point;

[0241] Performing chromatic aberration compensation on the detection light 35 according to the compensation function determined by the chromatic aberration compensation method for laser welding penetration detection proposed in the present application;

[0242] The second galvanometer module 31 moves the detection light 35 relative to the welding light 25 to scan the molten pool 51 .

[0243] The welding light 25 is emitted from the first galvanometer module 21 after passing through the first galvanometer module 21, and the detection light 35 is emitted from the first galvanometer module 21 after passing through the second galvanometer module 31 and the first galvanometer module 21 in sequence. The detection light 35 and the welding light 25 are moved synchronously by the first galvanometer module 21, so that the detection light 35 and the welding light 25 can reach the same welding point.

[0244] The welding light 25 forms a molten pool 51 on the surface of the workpiece 50. The detection light 35 is compensated according to the compensation function to make up for the relative position deviation caused by the color difference between the detection light 35 and the welding light 25, so as to improve the accuracy of the detection result of the detection module 30. Then, the detection light 35 is moved relative to the welding light 25 by the second galvanometer module 31, and the molten pool 51 is scanned by the detection light 35, so that the detection module 30 forms the scanning result data. The depth of the molten pool 51 and other parameters are determined according to the inspection result data to complete the welding inspection.

[0245] Specifically, in some embodiments of the present application, the welding light 25 emitted from the welding module 20 enters the first galvanometer module 21 after being reflected by the beam combiner, and then is emitted from the first galvanometer module 21. The detection light 35 emitted from the detection module 30 enters the second galvanometer module 31, then is emitted from the second galvanometer module 31, and after passing through the beam combiner, enters the first galvanometer module 21 through the same path as the welding light 25, and then is emitted from the first galvanometer module 21 together with the welding light 25, and irradiates the same welding point.

[0246] After the welding light 25 reaches the welding spot, a molten pool 51 is formed at the welding spot. The detection light 35 is compensated according to the compensation function to make up for the relative position deviation caused by the color difference between the detection light 35 and the welding light 25, thereby improving the accuracy of the detection result of the detection module 30.

[0247] Then, the second galvanometer module 31 moves the detection light 35 relative to the welding light 25, and then scans the molten pool 51 through the detection light 35, so that the detection module 30 forms scanning result data. According to the inspection result data, the depth of the molten pool 51 and other parameters are determined to complete the welding inspection.

[0248] Before welding, the detection light 35 is roughly and finely adjusted to improve the coaxiality between the detection light 35 and the welding light 25, thereby completing the calibration of the detection light 35. Then, a compensation function is obtained by a six-point calibration method or a nine-point calibration method, so that the color difference of the detection light 35 is compensated according to the compensation function, thereby compensating for the relative position deviation caused by the color difference between the detection light 35 and the welding light 25. In this way, the detection accuracy of the detection module 30 and the reliability of the obtained detection results are improved.

[0249] When the first galvanometer module 21 swings, the detection light 35 moves synchronously with the welding light 25, so that the detection light 35 follows the welding light 25 and arrives at the same welding point synchronously. The second galvanometer module 31 swings, so that the detection light 35 moves relative to the welding light 25, so that the detection light 35 can scan the irradiation area of ​​the welding light 25, and the detection module 30 forms the scanning result data, thereby obtaining the detection result data.

[0250] At different welding points, the compensation function is called to make the detection light 35 coaxial with the welding light 25 at each welding point, thereby realizing automatic chromatic aberration compensation at welding points of the entire width, thereby improving the detection efficiency and the reliability of the detection results.

[0251] In some embodiments of the present application, the welding light 25 is emitted from the first galvanometer module 21 after passing through the first galvanometer module 21, and the detection light 35 is emitted from the first galvanometer module 21 after passing through the second galvanometer module 31 and the first galvanometer module 21 in sequence. The detection light 35 is moved synchronously with the welding light 25 by the action of the first galvanometer module 21, and the detection light 35 is moved relative to the welding light 25 by the action of the second galvanometer module 31, so that the detection light can scan the welding area of ​​the welding light 25.

[0252] The welding light 25 forms a molten pool 51 during the movement. The detection light 35 is compensated in real time according to the compensation function to compensate for the relative position deviation caused by the color difference between the detection light 35 and the welding light 25 in real time, thereby improving the accuracy of the detection result of the detection module 30. Then, the detection light 35 is moved relative to the welding light 25 by the second galvanometer module 31, and the molten pool 51 is scanned in real time by the detection light 35, so that the detection module 30 forms real-time scanning result data. According to the inspection result data, the depth of the molten pool 51 and other parameters are determined to complete the welding detection. In this way, the detection system 10 can detect the welding effect in real time during the welding process, thereby improving the detection efficiency and improving the reliability and accuracy of the detection results.

[0253] On the other hand, in some embodiments of the present application, the present application also provides a computer-readable storage medium storing computer instructions, which execute the above-mentioned detection method when the computer instructions are executed.

[0254] In the description of this specification, the description with reference to the terms "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0255] In addition, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A detection method, characterized in that: Applied to laser welding penetration detection system, The laser welding penetration detection system comprises: A welding module, wherein the welding module comprises a first galvanometer module; A detection module, wherein the detection module comprises a second galvanometer module; Wherein, the welding light emitted by the welding module is emitted after passing through the first galvanometer module; The detection light emitted by the detection module passes through the second galvanometer module and the first galvanometer module in sequence, and is emitted from the first galvanometer module; An imaging module, the imaging module is used to obtain image data of a first light spot formed by the welding light and a second light spot formed by the detection light; A light spot analysis module, the light spot analysis module is connected to the imaging module; An adjustment module, wherein the adjustment module is connected to the detection module; Wherein, the light spot analysis module is configured to receive the image data, and determine the position deviation between the first light spot and the second light spot according to the image data; The adjusting module is used for adjusting the position of the second light spot according to the position deviation so that the first light spot overlaps with the second light spot; A processing module, wherein the detection module is connected to the processing module; After the welding light forms a molten pool on the surface of the workpiece, the detection light is used to scan the molten pool so that the detection module forms scanning result data; The processing module is configured to move the detection light according to the scanning result data so that the detection light is coaxial with the welding light; The scanning result data includes depth data of the molten pool, and the deepest position of the molten pool is obtained according to the depth data; The processing module is configured to move the detection light to the deepest position; The welding light enters the first galvanometer module after being reflected by the beam combiner, and then is emitted from the first galvanometer module; the detection light enters the second galvanometer module, and then is emitted from the second galvanometer module, and after passing through the beam combiner, enters the first galvanometer module along the same path as the welding light, and then is emitted from the first galvanometer module together with the welding light, and irradiates the same welding point; when the first galvanometer module swings, the detection light moves synchronously with the welding light, and then the detection light follows the welding light to arrive at the same welding point synchronously; the detection light moves relative to the welding light through the swing of the second galvanometer module; A visual module, which is used to visually locate the welding point and determine the light-emitting coordinates of the welding point; The detection method comprises the following steps: The welding module emits welding light, and the detection module emits detection light; The first galvanometer module enables the welding light and the detection light to reach the welding point; The welding light forms a molten pool at the welding point; The detection light is moved according to the scanning result data so that the detection light is coaxial with the welding light, wherein at least six calibration welding points are set, and then the detection light is calibrated to obtain a compensation function, and the color difference of the detection light relative to the welding light is compensated so that the detection light coincides with and is coaxial with the welding light; The step of setting at least six calibration welding points and then calibrating the detection light to obtain a compensation function, compensating for the chromatic aberration of the detection light relative to the welding light, and making the detection light coincide with and coaxial with the welding light, includes: Obtaining a first light-emitting coordinate of the welding light and a first offset vector of the detection light at the calibration welding point, wherein obtaining the first light-emitting coordinate comprises: obtaining image data of the calibration welding point through the visual module, determining the first light-emitting coordinate according to the image data, and determining a mapping relationship between the first light-emitting coordinate and the first offset vector; Determine a mapping relationship between the first light-emitting coordinates and the first offset vector, wherein the detection light is fine-tuned at at least six calibrated welding points respectively, so as to obtain at least six first light-emitting coordinates and at least six first offset vectors, and obtain at least six groups of mapping relationships between the detection light and the welding light; Acquire a compensation function according to the mapping relationship, wherein a plurality of constants in the compensation function are calculated according to the mapping relationship of at least six calibration welding points; Acquire a second offset vector of the detection light during welding according to the compensation function, and then move the detection light according to the second offset vector of the detection light during welding so that the detection light is coaxial with the welding light; The second galvanometer module moves the detection light relative to the welding light to scan the molten pool.

2. A computer-readable storage medium, characterized in that: Computer instructions are stored, and when the computer instructions are executed, the detection method according to claim 1 is executed.

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