Laser cladding lap joint quality control method and device, storage medium and terminal

Abstract

The application provides a laser cladding lap joint quality control method and device, a storage medium and a terminal, wherein the method comprises the following steps: acquiring an image of a reference stepping area in a previous cladding path to be overlapped with a to-be-cladded path to-be-stepped area, and acquiring vertical distance data of a laser cladding nozzle and the to-be-cladded path to-be-stepped area; based on the image of the reference stepping area and the vertical distance data, an actual half-width of the reference stepping area is acquired; according to the relationship between the actual half-width and a preset half-width, the position of a cladding center in the laser cladding nozzle is corrected based on a preset correction mode, so that the driving system drives the laser cladding nozzle with the corrected cladding center position to perform cladding on the to-be-stepped area. The application can realize dynamic control of the lap joint rate, and at the same time, conformal cladding of a thin plate is realized, and the cladding quality is higher.

Description

Technical Field

[0001] This invention belongs to the field of shipbuilding technology and relates to a method for controlling the quality of laser cladding overlap, particularly to a method, device, storage medium and terminal for controlling the quality of laser cladding overlap. Background Technology

[0002] Ships navigate in complex marine environments, and corrosion of steel hull structures is a significant threat to their performance and safety. Laser cladding utilizes high-energy laser irradiation to solidify a metallurgically bonded, corrosion-resistant cladding material onto the surface of marine steel. This method offers advantages such as long-lasting corrosion protection and good wear resistance. Given the lightweight design of ships, the thickness of the laser cladding corrosion-resistant layer must be minimized while still meeting the required corrosion protection lifespan; therefore, a single-layer, multi-layer lapped cladding is typically chosen.

[0003] The morphology of a single-layer cladding layer is a convex surface, higher in the middle and lower on both sides. When the overlap rate is lower than the set value, causing excessively deep depressions between cladding layers, the local cladding layer thickness is less than the corrosion allowance requirement for the ship. When the overlap rate is higher than the set value, causing the overlap area to bulge, the heights of the preceding and following layers are inconsistent. Moreover, this defect will continue to propagate as cladding progresses, causing the surface roughness of the thin plate to exceed the precision requirements, affecting subsequent coating and necessitating additional machining steps. Therefore, both excessively high and low overlap rates in multi-layer cladding will alter the cladding morphology, thus affecting the anti-corrosion effect. However, current technologies only set the overlap rate based on the overall morphology of the cladding layers, resulting in insufficient precision in controlling the overlap rate. Summary of the Invention

[0004] The purpose of this invention is to provide a laser cladding overlap quality control method, device, storage medium, and terminal to solve the technical problem of difficulty in controlling the overlap rate in multi-pass cladding in the prior art.

[0005] In a first aspect, the present invention provides a method for controlling the quality of laser cladding overlap, comprising:

[0006] Acquire an image of the reference stepping area in the previous cladding channel to be overlapped by the area to be clad in the cladding channel, and acquire the vertical distance data between the laser cladding nozzle and the area to be clad in the cladding channel.

[0007] Based on the image of the reference stepping area and the vertical distance data, the actual half-width of the reference stepping area is obtained;

[0008] Based on the relationship between the actual half-width and the preset half-width, the position of the cladding center in the laser cladding nozzle is corrected according to the preset correction method, so that the driving system drives the laser cladding nozzle with the corrected cladding center position to clad the area to be stepped.

[0009] Wherein, the actual half-width is half the width of the reference stepping area, the cladding motion of the laser cladding nozzle is stepping motion, the cladding path to be clad is any one of the second to the last path, the stepping area to be stepped is the stepping area in the cladding path to be clad, and the camera that captures the image of the reference stepping area is close to the laser cladding nozzle.

[0010] The preset correction method is as follows: if the actual half-width is less than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction closer to the reference stepping area; if the actual half-width is greater than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction away from the reference stepping area; if the actual half-width is equal to the preset half-width, the position of the cladding center does not need to be corrected.

[0011] In one embodiment of the present invention, the preset correction distance is a preset multiple multiplied by the theoretical movement distance;

[0012] The preset multiple is the ratio of the absolute value of the difference between the preset half-width and the actual half-width to the preset half-width.

[0013] In one embodiment of the present invention, it further includes:

[0014] During the cladding process of each cladding pass, the actual height of the laser cladding nozzle from the area to be clad is collected in real time. When the actual height deviates from the preset height, the height of the laser cladding nozzle is adjusted to make the actual height equal to the preset height. Each cladding pass is each of the first to the last cladding passes, and the area to be clad is the step area to be clad.

[0015] In one embodiment of the present invention, obtaining the actual half-width of the reference stepping region based on the image of the reference stepping region and the vertical distance data includes:

[0016] The actual half-width of the reference stepping region is obtained by using the image of the reference stepping region and the vertical distance data through a transformation matrix;

[0017] The transformation matrix is ​​obtained in the following ways:

[0018] Use camera calibration methods to obtain the camera parameters corresponding to different camera height values ​​for the camera model;

[0019] Based on all the camera height values ​​and the camera parameters corresponding to all the camera height values, obtain the transformation matrix between the image pixel distance and the actual image width.

[0020] In one embodiment of the present invention, it further includes:

[0021] Adjust the laser power data and powder feeding data according to the actual half-width and the preset half-width.

[0022] In one embodiment of the present invention, the method for adjusting the laser power data and powder feeding data is to search for the corresponding laser power data and powder feeding data from the reference process parameter database based on the actual half-width and the preset half-width, so as to use them as the actual laser power data and powder feeding data.

[0023] In one embodiment of the present invention, the method for adjusting the laser power data and powder feeding data is as follows:

[0024] Adjust the original laser power to the corrected power, and adjust the original powder feed rate to the corrected powder feed rate;

[0025] The corrected power is the sum of the original laser power and a preset multiple of the original laser power;

[0026] The corrected powder feeding amount is the sum of the original powder feeding amount and a preset multiple of the original powder feeding amount;

[0027] The preset multiple is twice the ratio of the difference between the preset half-width and the actual half-width to the preset half-width.

[0028] Secondly, the present invention also provides a laser cladding overlap quality control device, comprising:

[0029] The overlap quality tracking module is used to acquire an image of the reference stepping area in the previous cladding channel to be overlapped in the area to be clad in the cladding channel, and to acquire the vertical distance data between the laser cladding nozzle and the area to be clad in the cladding channel.

[0030] The control module is used to obtain the actual half-width of the reference stepping area based on the image of the reference stepping area and the vertical distance data;

[0031] The robot module is used to correct the position of the cladding center in the laser cladding nozzle based on the relationship between the actual half-width and the preset half-width, according to a preset correction method, so that the drive system drives the laser cladding nozzle with the corrected cladding center position to clad the area to be stepped.

[0032] Wherein, the actual half width is half the width of the reference stepping area, the cladding movement of the laser cladding nozzle is a stepping movement, the cladding channel to be clad is any one of the second to the last channel, the stepping area to be stepped is the stepping area in the cladding channel to be clad, and the camera that captures the image of the reference stepping area is close to the laser cladding nozzle.

[0033] The preset correction method is as follows: if the actual half-width is less than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction closer to the reference stepping area; if the actual half-width is greater than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction away from the reference stepping area; if the actual half-width is equal to the preset half-width, the position of the cladding center does not need to be corrected.

[0034] Thirdly, the present invention also provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the laser cladding overlap quality control method as described above.

[0035] Fourthly, the present invention also provides a terminal, including a processor and a memory, wherein the memory and the processor are communicatively connected;

[0036] The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal performs the laser cladding overlap quality control method as described above.

[0037] As described above, the laser cladding overlap quality control method, apparatus, storage medium, and terminal of the present invention have the following beneficial effects:

[0038] 1. By performing cladding on the cladding track in a step-by-step manner, and correcting the cladding center position based on the relationship between the actual half-width of the reference cladding area and the preset half-width, dynamic control of the overlap rate during laser cladding is achieved.

[0039] 2. Adjusting the laser power and feed rate based on the relationship between the actual half-width and the preset half-width of the reference cladding area can better meet the requirements of industrial production for cladding efficiency.

[0040] 3. Real-time acquisition of the actual height of the laser cladding nozzle from the area to be clad and fixing it to a preset height enables conformal cladding of thin plates, resulting in higher cladding quality. Attached Figure Description

[0041] Figure 1 A schematic flowchart of the laser cladding overlap quality control method according to an embodiment of the present invention is shown.

[0042] Figure 2 A schematic diagram showing the relationship between the area to be stepped and the reference stepping area according to an embodiment of the present invention is shown.

[0043] Figure 3 A schematic cross-sectional view of the cladding channel when the actual half-width is less than the preset half-width is shown in an embodiment of the present invention.

[0044] Figure 4A schematic cross-sectional view of the cladding channel when the actual half-width is greater than the preset half-width is shown in an embodiment of the present invention.

[0045] Figure 5 A schematic diagram of the laser cladding overlap quality control device according to an embodiment of the present invention is shown.

[0046] Figure 6 A schematic diagram of the terminal according to an embodiment of the present invention is shown. Detailed Implementation

[0047] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0048] The following will describe in detail the principles and implementation methods of the laser cladding overlap quality control method, device, storage medium and terminal of this embodiment, so that those skilled in the art can understand the laser cladding overlap quality control method, device, storage medium and terminal of this embodiment without creative labor.

[0049] To address the aforementioned technical problems in the prior art, embodiments of the present invention provide a method for controlling the quality of laser cladding overlap.

[0050] Figure 1 A flowchart illustrating the laser cladding overlap quality control method according to an embodiment of the present invention is shown below. Figure 1 As shown, the laser cladding overlap quality control method of the present invention mainly includes steps S100 to S300.

[0051] Step S100: Obtain an image of the reference stepping area in the previous cladding layer to be overlapped by the area to be clad in the cladding layer, and obtain the vertical distance data between the laser cladding nozzle and the area to be clad in the cladding layer.

[0052] The laser cladding nozzle uses a stepping motion for cladding. The cladding path is the cladding path where the laser cladding operation will be performed at the next moment during the laser cladding process of marine steel. The cladding path can only be set as the second to the last path in the laser cladding process of marine steel. The stepping area is the stepping area in the cladding path where cladding will be performed. The camera that collects images of the reference stepping area is close to the laser cladding nozzle.

[0053] Specifically, because the nozzle performs cladding in a step-by-step motion, each cladding pass is divided into multiple step regions, and the nozzle clads one step region at a time. For a cladding pass to be clad between the second and last passes, it is necessary to determine the step region to be clad and find the reference step region image in the previous cladding pass that this step region will overlap with. This reference step region image can then serve as the basis for calculating the overlap rate of the step region. For example, Figure 2 This diagram illustrates the relationship between the region to be stepped and the reference stepping region according to an embodiment of the present invention. Figure 2 As shown, the solid line encloses the first cladding pass that has already been clad, and the dashed line encloses the first step area in the second cladding pass that has already been clad. One dashed line represents its overlap boundary, and the other dashed line represents its boundary to be clad. Therefore, the current cladding pass is the second pass, and the area to be stepped is the second step area within the second pass. Thus, an image of the second step area in the first cladding pass needs to be acquired as a reference step area image. Furthermore, since the camera acquiring the reference step area image is positioned close to the nozzle, the vertical distance data between the laser cladding nozzle and the area to be stepped can be considered the same as the vertical distance data between the camera acquiring the reference step area image and the area to be stepped. Optionally, the tool for acquiring the vertical distance data is a laser displacement sensor.

[0054] The above cladding process is performed with the camera capturing images of the reference stepping area close to the laser cladding nozzle. That is, the image of the reference stepping area corresponding to the previous cladding pass is acquired only when the nozzle moves above the area to be clad. However, the timing of acquiring the image of the reference stepping area can be adjusted according to the actual situation. Optionally, the camera capturing images of the reference stepping area is positioned a preset lead-in distance in front of the nozzle. In this case, after the nozzle has clad the previous stepping area in the cladding pass, the image of the reference stepping area corresponding to the area to be clad is acquired first by the camera, and then the nozzle is moved above the area to be clad for subsequent steps. However, the difference in the above modifications is only the order of moving the nozzle to the area to be clad and acquiring the image of the reference stepping area. Any solution implemented by replacing steps according to the principles of this invention is included within the scope of protection of this invention. Preferably, the camera capturing images of the reference stepping area is a CCD camera.

[0055] Optionally, since the thin plate is not completely flat, especially the edges which often have undulations, particularly during the first and last cladding processes, the actual height of the laser cladding nozzle from the area to be clad can be collected in real time during each cladding pass. When the actual height deviates from the preset height, the height of the laser cladding nozzle is adjusted to make the actual height equal to the preset height. Each cladding pass refers to each cladding pass from the first to the last, and the area to be clad is the step area to be clad. Therefore, this application can flexibly adjust the nozzle height according to the actual shape and undulations of the thin plate, achieving conformal cladding of the thin plate.

[0056] Step S200: Based on the image and vertical distance data of the reference stepping area, obtain the actual half-width of the reference stepping area.

[0057] The actual half-width is half the width of the reference stepping area. In the image of the reference stepping area, there will be a color difference between the boundary and the surrounding area; therefore, the overlapping boundary and the boundary to be clad can be extracted using an edge detection algorithm. The cladding track width is the distance between the boundary to be clad and the overlapping boundary; half-width = half the cladding track width. Specifically, the reference... Figure 2 As shown, the second stepping area of ​​the first pass is the reference stepping area, and its actual half-width is half the distance between the boundary of the reference stepping area to be clad and the overlapping boundary of the reference stepping area.

[0058] Optionally, obtaining the actual half-width of the reference stepping region based on the image and vertical distance data of the reference stepping region includes: using the image and vertical distance data of the reference stepping region to obtain the actual half-width of the reference stepping region through a transformation matrix; the transformation matrix is ​​obtained by: using a camera calibration method to obtain the camera parameters corresponding to different camera height values; and obtaining the transformation matrix between the image pixel distance and the actual image width based on all camera height values ​​and the camera parameters corresponding to all camera height values. Since the vertical distance data between the camera acquiring the reference stepping region image and the region to be stepped has already been obtained, this vertical distance data can be used as the height value to read its corresponding camera parameters. Then, the above transformation matrix is ​​obtained based on the height value and the camera parameters. Finally, the actual image width is obtained as the actual half-width of the reference stepping region based on the pixel distance of the reference stepping region image through the transformation matrix.

[0059] Step S300: Based on the relationship between the actual half-width and the preset half-width, the position of the cladding center in the laser cladding nozzle is corrected according to the preset correction method.

[0060] Specifically, a conventional synchronous powder feeding method is used to prepare a laser cladding layer on a thin plate through a single-layer, multi-pass overlapping process. The overlap rate of the cladding layer ranges from 30% to 50%. Simultaneously, the cladding layer thickness must meet the corrosion allowance requirements of the ship, and the cladding layer thickness must be no less than the product of the annual corrosion rate and the service life. The cladding is performed by keeping the thin plate stationary while the nozzle moves along a stepping path. It should be noted that each cladding pass has a preset half-width, allowing cladding to be performed based on this preset half-width value. After obtaining the actual half-width of the reference stepping area, the actual half-width is compared with the preset half-width. Based on the comparison result and a preset correction method, the position of the cladding center can be corrected. The preset correction method is as follows: if the actual half-width is less than the preset half-width, the position of the cladding center is corrected by moving the preset correction distance along the direction closer to the reference stepping area, that is, reducing the distance between the area to be stepped and the reference stepping area to increase the overlap rate; if the actual half-width is greater than the preset half-width, the position of the cladding center is corrected by moving the preset correction distance along the direction away from the reference stepping area, that is, increasing the distance between the area to be stepped and the reference stepping area to decrease the overlap rate; if the actual half-width is equal to the preset half-width, the position of the cladding center does not need to be corrected. Figure 3 This diagram shows a cross-sectional view of the cladding channel when the actual half-width is less than the preset half-width. (Refer to...) Figure 3 As shown, W0 is the preset half width of the i-th reference stepping area, and W is the actual half width of the i-th reference stepping area. When W is less than W0, according to the preset correction method, the cladding center of the (i+1)-th stepping area moves a preset correction distance toward the (i+1)-th stepping area to reduce the distance between the (i+1)-th stepping area and the i-th reference stepping area. Figure 4 This diagram shows a cross-sectional view of the cladding channel when the actual half-width is greater than the preset half-width. (Refer to...) Figure 4 As shown, W0 is the preset half-width of the i-th reference stepping area, and W is the actual half-width of the i-th reference stepping area. When W is greater than W0, according to the preset correction method, the cladding center of the (i+1)-th stepping area moves away from the (i+1)-th stepping area by a preset correction distance to increase the distance between the (i+1)-th stepping area and the i-th reference stepping area. This invention divides the cladding area to be clad into multiple stepping areas, performs cladding step by step, and dynamically corrects the cladding center position. Therefore, it can achieve dynamic adjustment of the overlap rate during the cladding process of each cladding area, and its control precision is higher than that of the prior art.

[0061] Optionally, the preset correction distance is a preset multiple multiplied by the theoretical moving distance; the preset multiple is the ratio of the absolute value of the difference between the preset half-width and the actual half-width to the preset half-width. The theoretical moving distance is the original distance the cladding center moves between two adjacent cladding passes during the cladding process. (Reference) Figure 3As shown, the theoretical moving distance between the (i+1)th and the i-th cladding layers is Δy. When W is less than W0, according to the preset correction method, the preset correction distance is Δy(W0-W) / W0, which means that the actual moving distance of the cladding center between the (i+1)th and i-th cladding layers is Δy-Δy(W0-W) / W0; Reference Figure 4 As shown, the theoretical moving distance between the (i+1)th and the i-th cladding layers is Δy. When W is greater than W0, according to the preset correction method, the preset correction distance is Δy(W-W0) / W0. That is, the actual moving distance of the cladding center between the (i+1)th and the i-th cladding layers is Δy+Δy(W-W0) / W0. 0。

[0062] Optionally, the present invention can also adjust the laser power data and powder feeding data according to the actual half-width and the preset half-width to meet the requirements of cladding efficiency in actual production. By changing the moving distance of the cladding center in the laser cladding nozzle and the laser power data and powder feeding data, the overlap rate can be corrected without moving the workpiece, thus breaking the transmission of cladding defects to subsequent processes.

[0063] Optionally, the laser power data and powder feed rate data can be adjusted by searching for the corresponding laser power data and powder feed rate data from a reference process parameter database based on the actual half-width and the preset half-width, and using these as the actual laser power data and powder feed rate data. The process parameter database stores laser power data and powder feed rate data corresponding to different combinations of actual half-width and preset half-width, allowing for efficient and rapid parameter correction.

[0064] Optionally, the laser power data and powder feed data can be adjusted as follows: the original laser power is adjusted to the corrected power, and the original powder feed is adjusted to the corrected powder feed; the corrected power is the sum of the original laser power and a preset multiple of the original laser power; the corrected powder feed is the sum of the original powder feed and a preset multiple of the original powder feed; the preset multiple is twice the ratio of the difference between the preset half-width and the actual half-width to the preset half-width. Specifically, refer to... Figure 3 or Figure 4 As shown, the laser power P is adjusted as follows:

[0065] P 实际 =(1+2α)P 原始

[0066] At the same time, adjust the powder quantity data Q to:

[0067] Q 实际 = (1+2α)Q 原始

[0068] Where α = (W0 - W) / W0. When W is less than W0, α is positive; when W is greater than W0, α is negative. Therefore, this is equivalent to increasing the laser power P and powder feed rate Q when the actual half-width is smaller than the set value, and decreasing the laser power P and powder feed rate Q when the actual half-width is larger than the set value. Optionally, the original laser power is 1–5 kW, the laser beam waist diameter emitted from the laser cladding nozzle is 1–5 mm, the original powder feed rate is 1–5 kg / h, argon or nitrogen is used to protect the molten pool during cladding, the sheet material is marine steel, and the moving speed of the laser cladding nozzle is 3–30 cm / s. Other values ​​for the original laser power, original powder feed rate, laser beam waist diameter, and nozzle moving speed can be set according to actual conditions.

[0069] The scope of protection of the laser cladding overlap quality control method of this invention is not limited to the order of steps listed in this embodiment. Any solution achieved by adding, subtracting, or replacing steps in the prior art based on the principle of this invention is included within the scope of protection of this invention.

[0070] The laser cladding overlap quality control method of this invention performs cladding on the target area in a step-by-step manner, and simultaneously corrects the cladding center position based on the relationship between the actual half-width and the preset half-width of the reference cladding area. This achieves dynamic control of the overlap rate during laser cladding and adjusts the laser power and feed rate to better meet the cladding efficiency requirements of industrial production. Furthermore, it collects the actual height of the laser cladding nozzle from the target area in real time and fixes it to a preset height, achieving conformal cladding of thin plates, thus resulting in higher cladding quality.

[0071] To address the aforementioned technical problems in the prior art, this invention also provides a laser cladding overlap quality control device.

[0072] Figure 5 A schematic diagram of the laser cladding overlap quality control device according to an embodiment of the present invention is shown. (Refer to...) Figure 5 As shown, the laser cladding overlap quality control device of this invention includes an overlap quality tracking module, a control module, and a robot module.

[0073] The overlap quality tracking module is used to acquire an image of the reference stepping area in the previous cladding layer to be overlapped in the area to be clad in the cladding layer, and to acquire the vertical distance data between the laser cladding nozzle and the area to be clad in the cladding layer.

[0074] The control module is used to obtain the actual half-width of the reference stepping area based on the image and vertical distance data of the reference stepping area;

[0075] The robot module is used to correct the position of the cladding center in the laser cladding nozzle based on the relationship between the actual half-width and the preset half-width, and according to the preset correction method, so that the drive system drives the laser cladding nozzle with the corrected cladding center position to clad the area to be stepped.

[0076] The actual half-width is half the width of the reference stepping area. The cladding motion of the laser cladding nozzle is a stepping motion. The cladding path is any one of the second to the last path. The stepping area is the stepping area in the cladding path that will be clad. The camera that collects the image of the reference stepping area is close to the laser cladding nozzle.

[0077] The preset correction method is as follows: if the actual half-width is less than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction closer to the reference step area; if the actual half-width is greater than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction further away from the reference step area; if the actual half-width is equal to the preset half-width, the position of the cladding center does not need to be corrected.

[0078] The laser cladding overlap quality control device of this invention performs cladding on the cladding track in a step-by-step manner. Simultaneously, it corrects the cladding center position based on the relationship between the actual half-width and the preset half-width of the reference cladding area, achieving dynamic control of the overlap rate during laser cladding. Furthermore, it adjusts the laser power and feed rate to better meet the cladding efficiency requirements of industrial production. In addition, it collects the actual height of the laser cladding nozzle from the cladding area in real time and fixes it to a preset height, achieving conformal cladding of thin plates, thus resulting in higher cladding quality.

[0079] To address the aforementioned technical problems in the prior art, this embodiment of the invention also provides a storage medium storing a computer program, characterized in that the program, when executed by a processor, implements all steps of the laser cladding overlap quality control method of the embodiment.

[0080] The specific steps of the laser cladding overlap quality control method and the beneficial effects obtained by applying the readable storage medium provided in the embodiments of the present invention are the same as those in the above embodiments, and will not be repeated here.

[0081] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing a processor. The program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disk, and any combination thereof. The storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. This available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state drive (SSD)).

[0082] To address the aforementioned technical problems in the prior art, embodiments of the present invention also provide a terminal. Figure 6 A schematic diagram of the terminal structure according to an embodiment of the present invention is shown. (Refer to...) Figure 6 As shown, the terminal in this embodiment of the invention includes a processor and a memory, and the memory and the processor are communicatively connected; the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal performs all the steps of the laser cladding overlap quality control method of the above embodiment.

[0083] The specific steps of the laser cladding overlap quality control method and the beneficial effects obtained by applying the terminal provided in the embodiments of the present invention are the same as those in the above embodiments, and will not be repeated here.

[0084] It should be noted that the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Similarly, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0085] While the embodiments disclosed in this invention are as described above, the content is merely for the purpose of facilitating understanding of the invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope disclosed herein; however, the scope of protection of this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A method for quality control of laser cladding overlap, comprising: Acquire an image of the reference stepping area in the previous cladding channel to be overlapped by the area to be clad in the cladding channel, and acquire the vertical distance data between the laser cladding nozzle and the area to be clad in the cladding channel. Obtaining the actual half-width of the reference stepping region based on the image of the reference stepping region and the vertical distance data includes: using the image of the reference stepping region and the vertical distance data to obtain the actual half-width of the reference stepping region through a transformation matrix; the transformation matrix is ​​obtained by: using a camera calibration method to obtain the camera parameters corresponding to the camera model at different camera height values; and obtaining the transformation matrix between image pixel distance and actual image width based on all the camera height values ​​and the camera parameters corresponding to all the camera height values. Based on the relationship between the actual half-width and the preset half-width, the position of the cladding center in the laser cladding nozzle is corrected according to the preset correction method, so that the driving system drives the laser cladding nozzle with the corrected cladding center position to clad the area to be stepped. Wherein, the actual half-width is half the width of the reference stepping area, the cladding motion of the laser cladding nozzle is stepping motion, the cladding path to be clad is any one of the second to the last path, the stepping area to be stepped is the stepping area in the cladding path to be clad, and the camera that captures the image of the reference stepping area is close to the laser cladding nozzle. The preset correction method is as follows: if the actual half-width is less than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction closer to the reference stepping area; if the actual half-width is greater than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction farther from the reference stepping area; if the actual half-width is equal to the preset half-width, the position of the cladding center does not need to be corrected; the preset correction distance is a preset multiple multiplied by the theoretical moving distance; the preset multiple is the ratio of the absolute value of the difference between the preset half-width and the actual half-width to the preset half-width; During the cladding process of each cladding channel, the actual height of the laser cladding nozzle from the area to be clad is collected in real time. When the actual height deviates from the preset height, the height of the laser cladding nozzle is adjusted to make the actual height equal to the preset height.

2. The method according to claim 1, characterized in that, Also includes: Each cladding pass refers to each of the first to the last cladding passes, and the area to be clad refers to the step area to be clad.

3. The method according to claim 1, characterized in that, Also includes: Adjust the laser power data and powder feeding data according to the actual half-width and the preset half-width.

4. The method according to claim 3, characterized in that, The method for adjusting the laser power data and powder feeding data is to search for the corresponding laser power data and powder feeding data from the reference process parameter database based on the actual half-width and the preset half-width, so as to use them as the actual laser power data and powder feeding data.

5. The method according to claim 3, characterized in that, The method for adjusting the laser power data and powder feeding data is as follows: Adjust the original laser power to the corrected power, and adjust the original powder feed rate to the corrected powder feed rate; The corrected power is the sum of the original laser power and a preset multiple of the original laser power; The corrected powder feeding amount is the sum of the original powder feeding amount and a preset multiple of the original powder feeding amount; The preset multiple is twice the ratio of the difference between the preset half-width and the actual half-width to the preset half-width.

6. A laser cladding overlap quality control device, comprising: The overlap quality tracking module is used to acquire an image of the reference stepping area in the previous cladding channel to be overlapped in the area to be clad in the cladding channel, and to acquire the vertical distance data between the laser cladding nozzle and the area to be clad in the cladding channel. A control module is configured to obtain the actual half-width of the reference stepping region based on the image of the reference stepping region and the vertical distance data, including: obtaining the actual half-width of the reference stepping region using the image of the reference stepping region and the vertical distance data through a transformation matrix; the transformation matrix is ​​obtained by: obtaining camera parameters corresponding to different camera height values ​​using a camera calibration method; and obtaining a transformation matrix between image pixel distance and actual image width based on all camera height values ​​and the camera parameters corresponding to all camera height values. The robot module is used to correct the position of the cladding center in the laser cladding nozzle based on the relationship between the actual half-width and the preset half-width, according to a preset correction method, so that the drive system drives the laser cladding nozzle with the corrected cladding center position to clad the area to be stepped. Wherein, the actual half width is half the width of the reference stepping area, the cladding movement of the laser cladding nozzle is a stepping movement, the cladding channel to be clad is any one of the second to the last channel, the stepping area to be stepped is the stepping area in the cladding channel to be clad, and the camera that captures the image of the reference stepping area is close to the laser cladding nozzle. The preset correction method is as follows: if the actual half-width is less than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction closer to the reference stepping area; if the actual half-width is greater than the preset half-width, the position of the cladding center is corrected by moving a preset correction distance along the direction farther from the reference stepping area; if the actual half-width is equal to the preset half-width, the position of the cladding center does not need to be corrected; the preset correction distance is a preset multiple multiplied by the theoretical moving distance; the preset multiple is the ratio of the absolute value of the difference between the preset half-width and the actual half-width to the preset half-width; During the cladding process of each cladding channel, the actual height of the laser cladding nozzle from the area to be clad is collected in real time. When the actual height deviates from the preset height, the height of the laser cladding nozzle is adjusted to make the actual height equal to the preset height.

7. A storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the laser cladding overlap quality control method as described in any one of claims 1 to 5.

8. A terminal, characterized in that, The device includes a processor and a memory, the memory being communicatively connected to the processor; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal performs the laser cladding overlap quality control method as described in any one of claims 1 to 5.

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