A method and system for detecting penetration state, electronic device and storage medium

Abstract

The present application provides a method and system for detecting the penetration state, an electronic device, and a storage medium, which belong to the field of magnetron arc welding technology. The method includes: performing a welding operation on a target object through an electric welding arc to form a target molten pool; obtaining current generation constraints; generating an alternating pulse current according to the current generation constraints; wherein the alternating pulse current is used to control the shape of the electric welding arc; generating a magnetic field acting on the electric welding arc through the alternating pulse current so that the electric welding arc causes deformation of the target molten pool; after applying the magnetic field to the electric welding arc, collecting the arc voltage corresponding to the electric welding arc; and determining the penetration state of the target molten pool when the arc voltage meets a first preset condition. The present application can improve the accuracy of detecting the penetration state of the molten pool.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetron arc welding, and in particular to a method and system for detecting a penetration state, an electronic device and a storage medium. Background Art

[0002] Welding, particularly tungsten inert gas welding (TIG) technology, is an indispensable process in the manufacturing industry. TIG welding offers stable process parameters, high weld quality, and the ability to weld virtually all metals and alloys. It is also suitable for welding in various positions and easily automated, process-controlled, and inspected. Therefore, this welding technology is an ideal method for automation and even robotics.

[0003] The core of realizing automated welding technology is to achieve quality monitoring during the welding process, among which monitoring the penetration depth of the molten pool is of utmost importance. However, welding involves a complex process of multi-information, strong coupling, and nonlinearity involving arc physics, heat transfer, metallurgy, and mechanics, and is accompanied by interference such as strong arc light, high-temperature radiation, electromagnetic interference, smoke, and spatter. These have always been the focus and difficulty of research for automated welding.

[0004] In related technologies, the penetration state of the molten pool is detected through visual sensing, arc sound sensing, infrared temperature sensing, arc light sensing, and arc sensing technologies. However, visual sensing and infrared temperature sensing are relatively expensive, require a lot of calculations, and have poor accessibility; arc sound sensing is easily affected by noise, resulting in low penetration recognition accuracy; arc light sensing and arc sensing both rely on the influence of the arc on the oscillation process of the molten pool, and the low signal strength leads to low recognition accuracy. Summary of the Invention

[0005] Embodiments of the present invention provide a method and system for detecting a penetration state, an electronic device, and a storage medium, aiming to improve the accuracy of detecting a penetration state of a molten pool.

[0006] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present application provides a method for detecting a melt penetration state, the method comprising:

[0007] Performing a welding operation on a target object through an electric welding arc to form a target molten pool;

[0008] Obtain current generation constraints;

[0009] generating an alternating pulse current according to the current generation constraint; wherein the alternating pulse current is used to control the shape of the welding arc;

[0010] generating a magnetic field acting on the welding arc by the alternating pulse current, so that the welding arc causes deformation of the target molten pool;

[0011] After applying the magnetic field to the welding arc, collecting the arc voltage corresponding to the welding arc;

[0012] When the arc voltage satisfies a first preset condition, a penetration state of the target molten pool is determined.

[0013] In some embodiments, generating the alternating pulse current according to the current generation constraint condition includes:

[0014] dividing each pulse period of the alternating pulse current according to the current generation constraint condition;

[0015] According to the current generation constraint conditions, the alternating pulse current is multiplied and amplified for the first half of each pulse cycle, and is multiplied and amplified for the second half of each pulse cycle, so as to generate the alternating pulse current.

[0016] In some embodiments, after applying the magnetic field to the welding arc, collecting the arc voltage corresponding to the welding arc includes:

[0017] detecting the alternating pulse current within a pulse cycle to obtain a time when the alternating pulse current is changing;

[0018] At each of the moments, the arc voltage corresponding to the welding arc is collected.

[0019] In some embodiments, when the arc voltage satisfies a first preset condition, determining the penetration state of the target molten pool includes:

[0020] averaging the arc voltage within a pulse period to obtain an arc voltage average value;

[0021] A judgment process is performed based on the average arc voltage and a first preset condition to determine the penetration state of the target molten pool.

[0022] In some embodiments, the first preset condition includes a threshold value of a critical penetration state and a threshold value of a complete penetration state, and the first preset condition is obtained by:

[0023] Acquire multiple molten pool images within a pulse period and arc voltages corresponding to the multiple molten pool images;

[0024] Performing recognition processing on the plurality of molten pool images to obtain a plurality of recognition results;

[0025] Determining a first arc voltage set corresponding to the molten pool image having the first recognition result, calculating an average value of the first arc voltage set to obtain a first average value, and determining the first average value as a threshold value of the critical penetration state;

[0026] Determine a second arc voltage set corresponding to the molten pool image whose recognition result is the second result, calculate an average value of the second arc voltage set to obtain a second average value, and determine the second average value as the threshold value of the complete penetration state.

[0027] In some embodiments, the penetration state includes an incomplete penetration state, a critical penetration state, a moderate penetration state, a complete penetration state, and an overpenetration state. The determination of the penetration state of the target molten pool based on the average arc voltage and a first preset condition includes:

[0028] If the arc voltage average value is less than the threshold value of the critical penetration state, determining that the penetration state is the incomplete penetration state;

[0029] If the arc voltage average value is equal to the threshold value of the critical penetration state, determining that the penetration state is the critical penetration state;

[0030] If the arc voltage average value is greater than the threshold value of the critical penetration state and the arc voltage average value is less than the threshold value of the complete penetration state, then the penetration state is determined to be the moderate penetration state;

[0031] If the arc voltage average value is equal to the threshold value of the complete penetration state, determining that the penetration state is the complete penetration state;

[0032] If the arc voltage average value is greater than the threshold value of the complete penetration state, the penetration state is determined to be the overpenetration state.

[0033] In some embodiments, after obtaining the arc voltage average value, the method further includes:

[0034] The welding speed is adjusted based on the average arc voltage and a threshold value of a complete penetration state, including:

[0035] When the average arc voltage is less than the threshold value of the complete penetration state, reducing the welding speed until the updated average arc voltage is equal to the threshold value of the complete penetration state;

[0036] When the average arc voltage value is greater than the threshold value of the complete penetration state, the welding speed is increased until the updated average arc voltage value is equal to the threshold value of the complete penetration state.

[0037] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a melt penetration state detection system, the system comprising:

[0038] A first welding module is used to perform a welding operation on a target object through an electric welding arc to form a target molten pool;

[0039] A constraint acquisition module, used to obtain current generation constraint conditions;

[0040] a current generating module, configured to generate an alternating pulse current according to the current generation constraint; wherein the alternating pulse current is used to control the shape of the welding arc;

[0041] a second welding module, configured to generate a magnetic field acting on the welding arc through the alternating pulse current, so that the welding arc causes deformation of the target molten pool;

[0042] a data acquisition module, configured to acquire an arc voltage corresponding to the welding arc after applying the magnetic field to the welding arc;

[0043] A data processing module is used to determine the penetration state of the target molten pool when the arc voltage meets a first preset condition.

[0044] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a processor, a communication interface, a memory and a communication bus. The processor, communication interface, and memory communicate with each other through the communication bus. The memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0045] To achieve the above-mentioned purpose, the fourth aspect of the embodiments of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method described in the first aspect.

[0046] The present application proposes a method and system for detecting penetration status, an electronic device, and a storage medium. The method comprises the following steps: performing a welding operation on a target object through an electric welding arc to form a target molten pool; obtaining current generation constraints; generating an alternating pulse current according to the current generation constraints; wherein the alternating pulse current is used to control the shape of the electric welding arc; generating a magnetic field acting on the electric welding arc through the alternating pulse current so that the electric welding arc causes deformation of the target molten pool; collecting an arc voltage corresponding to the electric welding arc after applying the magnetic field to the electric welding arc; and determining the penetration status of the target molten pool when the arc voltage satisfies a first preset condition. Compared to image recognition, the method of determining the penetration status of the molten pool through arc voltage has the advantages of strong real-time performance, fast processing speed, avoidance of visual obstructions, and simple equipment. These characteristics enable the arc voltage to more accurately and quickly reflect changes in the welding process, provide more accurate penetration status detection, and thus significantly improve welding quality and process control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 This is a flow chart of a method for detecting a melt-through state provided in an embodiment of the present application;

[0049] Figure 2 yes Figure 1 Flowchart of step S103 in FIG.

[0050] Figure 3 yes Figure 1 Flowchart of step S105 in FIG.

[0051] Figure 4 yes Figure 1 Flowchart of step S106 in FIG.

[0052] Figure 5 This is a flow chart of obtaining a first preset condition in the method for detecting a melt-through state provided in an embodiment of the present application;

[0053] Figure 6 yes Figure 4 Flowchart of step S402 in FIG.

[0054] Figure 7 1 is a schematic structural diagram of a melt penetration state detection device provided in an embodiment of the present application;

[0055] Figure 81 is a schematic structural diagram of an excitation magnetic head in a melt penetration state detection device provided in an embodiment of the present application;

[0056] Figure 9 Schematic diagram of the structure of the melt penetration state detection system provided in an embodiment of the present application;

[0057] Figure 10 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0059] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0061] Welding, particularly tungsten inert gas welding (TIG) technology, is an indispensable process in the manufacturing industry. TIG welding offers stable process parameters, high weld quality, and the ability to weld virtually all metals and alloys. It is also suitable for welding in various positions and easily automated, process-controlled, and inspected. Therefore, this welding technology is an ideal method for automation and even robotics.

[0062] The core of realizing automated welding technology is to achieve quality monitoring during the welding process, among which monitoring the penetration depth of the molten pool is of utmost importance. However, welding involves a complex process of multi-information, strong coupling, and nonlinearity involving arc physics, heat transfer, metallurgy, and mechanics, and is accompanied by interference such as strong arc light, high-temperature radiation, electromagnetic interference, smoke, and spatter. These have always been the focus and difficulty of research for automated welding.

[0063] In related technologies, the penetration state of the molten pool is detected through visual sensing, arc sound sensing, infrared temperature sensing, arc light sensing, and arc sensing technologies. However, visual sensing and infrared temperature sensing are relatively expensive, require a lot of calculations, and have poor accessibility; arc sound sensing is easily affected by noise, resulting in low penetration recognition accuracy; arc light sensing and arc sensing both rely on the influence of the arc on the oscillation process of the molten pool, and the low signal strength leads to low recognition accuracy.

[0064] The embodiments of the present invention provide a method and system for detecting the penetration state, an electronic device, and a storage medium, which are intended to improve the accuracy of detecting the penetration state of a molten pool.

[0065] The embodiments of the present application provide a method and system for detecting a penetration state, an electronic device, and a storage medium, which are specifically described through the following embodiments. First, the method for detecting a penetration state in the embodiments of the present application is described.

[0066] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to achieve optimal results.

[0067] Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interaction systems, and mechatronics. AI software technologies primarily encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0068] The method for detecting the penetration state provided in the embodiment of the present application relates to the technical field of magnetic arc welding. The method for detecting the penetration state provided in the embodiment of the present application can be applied to a terminal, can be applied to a server side, or can be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or as a server cluster or distributed system composed of multiple physical servers, or as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the method for detecting the penetration state, etc., but is not limited to the above forms.

[0069] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0070] It should be noted that in each specific embodiment of the present application, when it comes to the need to perform relevant processing based on data related to the identity or characteristics of the object, such as object information, object behavior data, object historical data, and object location information, the permission or consent of the object will be obtained first, and the collection, use, and processing of such data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the sensitive personal information of the object, the separate permission or consent of the object will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the separate permission or consent of the object, the necessary object-related data for the normal operation of the embodiment of the present application will be obtained.

[0071] See also Figure 1 , Figure 1 This is an optional flow chart of the method for detecting the penetration state provided in the embodiment of the present application. Figure 1 The method may include but is not limited to steps S101 to S106:

[0072] Step S101, performing a welding operation on a target object by using an electric welding arc to form a target molten pool;

[0073] Step S102, obtaining current generation constraint conditions;

[0074] Step S103, generating an alternating pulse current according to the current generation constraint condition; wherein the alternating pulse current is used to control the shape of the welding arc;

[0075] Step S104, generating a magnetic field acting on the welding arc by an alternating pulse current, so that the welding arc causes deformation of the target molten pool;

[0076] Step S105, after applying a magnetic field to the welding arc, collecting the arc voltage corresponding to the welding arc;

[0077] Step S106: When the arc voltage satisfies a first preset condition, determining the penetration state of the target molten pool.

[0078] In the embodiment of the present application, steps S101 to S106 are shown, in which a welding operation is performed on a target object by an electric welding arc to form a target molten pool; a current generation constraint is obtained; an alternating pulse current is generated according to the current generation constraint; wherein the alternating pulse current is used to control the shape of the electric welding arc; a magnetic field is generated by the alternating pulse current to act on the electric welding arc so that the electric welding arc causes deformation of the target molten pool; after applying the magnetic field to the electric welding arc, an arc voltage corresponding to the electric welding arc is collected; and when the arc voltage meets a first preset condition, the penetration state of the target molten pool is determined. Compared with image recognition, the method of determining the penetration state of the molten pool by arc voltage has the advantages of strong real-time performance, fast processing speed, avoidance of visual obstruction, and simple equipment. These characteristics enable the arc voltage to more accurately and quickly reflect changes in the welding process, provide more accurate penetration state detection, and thus significantly improve welding quality and process control accuracy.

[0079] In step S101 of some embodiments, the electric welding arc is a high-temperature arc formed by electric current between a welding electrode and a target object, which is used to melt metal for welding. The welding electrode is also called a welding rod or welding wire. Specifically, the welding machine transmits electric current to the welding electrode so that the welding electrode emits a welding arc. The target object can be a workpiece to be welded or a material to be welded. The target object is usually a metal part. The welding operation is the process of connecting two or more workpieces together through heat energy, pressure, or a combination of both. The target molten pool is the area of molten metal generated on the target object by the high-temperature arc during the welding process.

[0080] In step S102 of some embodiments, the current generation constraint condition is used to generate specific parameters or restrictions of the alternating pulse current. The current generation constraint condition includes the division condition of the pulse period and the change condition of the alternating pulse current. Among them, the division condition of the pulse period is used to indicate how many parts the pulse period is divided into, and the change condition of the alternating pulse current is used to indicate how the alternating pulse current changes within the pulse period. The current generation constraint condition can be set according to actual needs, or it can be obtained based on historical data or simulation. Specifically, the current generation constraint condition can be defined as: each pulse period is divided into 4n+2 parts, where n>1 and n is an integer, and for each pulse period, the current in the first half of the pulse period is amplified in sequence by 1 times, 2 times, 3 times, ... 2n times, and the current in the second half of the pulse period is reduced from 2n times, 2n-1 times to 1 times. Among them, amplification can be achieved by a power amplifier circuit.

[0081] See also Figure 2 In step S103 of some embodiments, the method for detecting the penetration state may include but is not limited to steps S201 to S202:

[0082] Step S201, dividing each pulse cycle of the alternating pulse current according to the current generation constraint condition;

[0083] Step S202 , according to the current generation constraint condition, for the first half of each pulse cycle, the alternating pulse current is multiplied and amplified, and for the second half of each pulse cycle, the alternating pulse current is multiplied and amplified to generate the alternating pulse current.

[0084] In step S201 of some embodiments, an alternating pulse current is used to control the shape of the welding arc. Specifically, the alternating pulse current causes the magnetic induction coil to generate a sharp-angled magnetic field in the arc region, thereby controlling the shape of the welding arc. According to the current generation constraint, each pulse cycle of the alternating pulse current is divided into 4n+2 parts. The division can be uniform or uneven. Uniform division is an efficient and reliable method for standard welding tasks that do not require complex heat input adjustment. It provides stable heat input, can maintain a constant heat supply during the welding process, helps to form a stable molten pool, and reduces welding defects such as cracks and pores. Uneven division allows for more precise control of heat input during the welding process, and can increase or decrease heat supply within a specific time period according to the welding process requirements to adapt to complex welding tasks.

[0085] In step S202 of some embodiments, according to the current generation constraint, for the first half of each pulse cycle, the alternating pulse current is multiplied and amplified according to the number of divided parts. For the second half of each pulse cycle, the alternating pulse current is multiplied and amplified according to the number of divided parts. This step allows the alternating pulse current to change symmetrically within a pulse cycle, which helps to balance the heat input to maintain the temperature stability of the molten pool, avoid overheating or too rapid cooling of the welding area, and thus reduce welding defects such as cracks, pores and deformation; it can also maintain the stability of the arc. The process of gradually increasing and decreasing the current avoids sudden current changes, reduces arc instability and welding spatter, and thus improves the stability and controllability of the welding process; it can also reduce the concentration of thermal stress, help reduce the residual stress generated during welding and post-weld cooling, and reduce the risk of welding deformation and cracks.

[0086] In one application, assuming n is 2 and the original current of the alternating pulse current is I, the pulse cycle is divided into 10 equal parts. For the first five parts, the first part is I, the second part is 2I, the third part is 3I, the fourth part is 4I, and the fifth part is 4I. For the second five parts, the sixth part is 4I, the seventh part is 4I, the eighth part is 3I, the ninth part is 2I, and the tenth part is I. This amplification method provides faster heat input and a relatively stable cooling process, which helps to quickly build the molten pool and maintain its stability. Specifically, the higher current segments in the first and second half-cycles are maintained for a longer period of time, which helps to stabilize and uniform the molten pool morphology. Therefore, this amplification method is suitable for welding tasks that require rapid molten pool buildup and stability, and is suitable for welding thick materials. This is not the only option; alternatives are: for the first five parts, the first part is I, the second part is I, the third part is 2I, the fourth part is 3I, and the fifth part is 4I. For the second five parts, the sixth part is 4I, the seventh part is 3I, the eighth part is 2I, the ninth part is I, and the tenth part is I. This amplification method provides a smoother heat input transition, helping to evenly distribute the temperature gradient in the molten pool and reduce internal stress. This method reduces molten pool oscillations through continuous and uniform current variation, improving weld quality and appearance. This amplification method is suitable for welding tasks that require smoother heat input and reduced molten pool oscillation, and is suitable for thin materials or precision welding tasks.

[0087] Through the above steps S201 to S202, each pulse cycle can be divided into multiple small parts, and the current can be gradually increased and decreased in these small parts, so that the heat input of the molten pool can be accurately controlled. Gradually increasing and decreasing the current helps to avoid sudden temperature changes, making the temperature distribution of the molten pool more uniform, and reducing welding defects such as cracks and deformation, thereby achieving the intensification of the oscillation of the molten pool surface by changing the pressure on the molten pool surface.

[0088] In step S104 of some embodiments, an alternating pulse current is output to the four magnetic induction coils, so that any two adjacent magnetic induction coils generate magnetic induction with the same magnitude and opposite magnetic field directions, forming a sharp-angled magnetic field in the welding arc region. When the welding arc is compressed by the sharp-angled magnetic field, the cross-section of the welding arc will change from a circle to an ellipse. When the alternating pulse current is multiplied and amplified, the degree of compression of the welding arc will increase, the pressure of the welding arc on the surface of the target molten pool will increase, and the depth of the pit formed by the target molten pool will increase. When the alternating pulse current is multiplied and amplified, the surface pressure of the target molten pool will decrease, and the depth of the pit formed by the target molten pool will decrease. In this way, during continuous and rapid welding, under the action of the sharp-angled magnetic field, the point of action of the welding arc force always remains at the center of the target molten pool, the oscillation amplitude of the target molten pool increases, and the signal-to-noise ratio of the target molten pool oscillation signal is improved, thereby increasing the accuracy of predicting the penetration state. At the same time, the introduction of the alternating sharp-angle magnetic field causes the molten pool to oscillate regularly, thereby refining the grains. This also solves the problem in the prior art that DC tungsten inert gas arc welding cannot induce the molten pool to oscillate and thus identify the molten pool's penetration state.

[0089] See also Figure 3 In step S105 of some embodiments, the method for detecting the penetration state may include but is not limited to steps S301 to S302:

[0090] Step S301, detecting the alternating pulse current within a pulse cycle to obtain the moment when the alternating pulse current is changing;

[0091] Step S302: collecting the arc voltage corresponding to the welding arc at each moment.

[0092] In step S301 of some embodiments, the moment when the alternating pulse current is changing is each time the alternating pulse current is amplified. By detecting the alternating pulse current within a pulse cycle, the current change of the alternating pulse current is obtained, thereby obtaining the moment when the current is changing, that is, the specific time point when the alternating pulse current changes in amplitude or direction. The number of such moments is consistent with the number of amplification processes.

[0093] In step S302 of some embodiments, the arc voltage is the voltage difference across the welding arc. The arc voltage can be acquired using a Hall effect sensor, an optical fiber sensor, a high-voltage probe, a digital voltmeter, or the like, without limitation. Specifically, the arc voltage corresponding to the welding arc is acquired each time the alternating pulse current changes.

[0094] Steps S301 and S302 accurately capture instantaneous changes in arc voltage, enabling better adjustment and control of welding parameters such as current and speed, thereby optimizing weld pool morphology and weld quality. Obtaining the arc voltage corresponding to each current change within a pulse cycle provides an overall reflection of the heat input level during the welding process.

[0095] See also Figure 4 In step S106 of some embodiments, the method for detecting the penetration state may include but is not limited to steps S401 to S402:

[0096] Step S401, averaging the arc voltage within a pulse period to obtain an average arc voltage value;

[0097] Step S402 : performing a judgment based on the average arc voltage and a first preset condition to determine the penetration state of the target molten pool.

[0098] In step S401 of some embodiments, after obtaining multiple arc voltages within a pulse period, these multiple arc voltages are averaged to obtain an average arc voltage value. The instantaneous value of the arc voltage may be affected by noise and interference. By taking the average value, these effects can be effectively reduced, thereby improving the reliability of the data.

[0099] In some embodiments, before step S402, the method for detecting the penetration state further includes obtaining a first preset condition. Figure 5 The first preset condition includes a threshold value of a critical penetration state and a threshold value of a complete penetration state. The first preset condition is obtained by:

[0100] Step S501, acquiring multiple molten pool images within a pulse period and arc voltages corresponding to the multiple molten pool images;

[0101] Step S502, performing recognition processing on the multiple melt pool images to obtain multiple recognition results;

[0102] Step S503, determining a first arc voltage set corresponding to the molten pool image having a first recognition result, calculating an average value of the first arc voltage set to obtain a first average value, and determining the first average value as a threshold value of a critical penetration state;

[0103] Step S504 , determining a second arc voltage set corresponding to the molten pool image having the second recognition result, and calculating an average value of the second arc voltage set to obtain a second average value, and determining the second average value as a threshold value of a complete penetration state.

[0104] In step S501 of some embodiments, the molten pool is photographed at a preset frequency to obtain multiple molten pool images within a pulse cycle, and the arc voltage corresponding to the molten pool image is obtained during the photographing.

[0105] In step S502 of some embodiments, the recognition result refers to the melt pool state. The recognition process can be manual recognition, machine recognition, or a combination of the two. Specifically, it can be performed by machine recognition for rough recognition followed by manual recognition for fine recognition. Specifically, recognition processing is performed on each of the multiple melt pool images to obtain a recognition result corresponding to each melt pool image.

[0106] In step S503 of some embodiments, the first result is a molten pool just beginning to flow down the target object. The first average value is the arc voltage average value of the first arc voltage set. Specifically, the arc voltage corresponding to the molten pool image for which the recognition result is determined to be the first result is used as the first arc voltage set, and the arc voltage average value of the first arc voltage set is calculated to obtain a first average value, which is then determined as the threshold value for the critical penetration state.

[0107] In step S504 of some embodiments, the second result is a molten pool with a noticeable downward flow on the target object. The second average value is the arc voltage average value of the second arc voltage set. Specifically, the arc voltage corresponding to the molten pool image for which the recognition result is the second result is determined as the second arc voltage set, and the arc voltage average value of the second arc voltage set is calculated to obtain a second average value, which is then determined as the threshold value for the complete penetration state.

[0108] Through the above steps S501 to 504, the average value can be used instead of the instantaneous value, which can effectively avoid the error caused by instantaneous fluctuations and ensure that the obtained voltage value is more representative and stable. The average value reflects the comprehensive state of the arc during the entire pulse cycle, thereby improving the accuracy of the detection of the molten pool penetration state.

[0109] See also Figure 6 The penetration state includes an incomplete penetration state, a critical penetration state, a moderate penetration state, a complete penetration state, and an excessive penetration state. In step S402 of some embodiments, the penetration state detection method may include but is not limited to steps S601 to S605:

[0110] Step S601: If the average arc voltage is less than the threshold value of the critical penetration state, the penetration state is determined to be an incomplete penetration state;

[0111] Step S602: If the average arc voltage is equal to the threshold value of the critical penetration state, the penetration state is determined to be the critical penetration state;

[0112] Step S603: If the average arc voltage is greater than the threshold value of the critical penetration state and the average arc voltage is less than the threshold value of the complete penetration state, then the penetration state is determined to be the moderate penetration state;

[0113] Step S604: if the arc voltage average value is equal to the threshold value of the complete penetration state, the penetration state is determined to be the complete penetration state;

[0114] Step S605: If the average arc voltage is greater than the threshold value of the complete penetration state, the penetration state is determined to be an over-penetration state.

[0115] In some embodiments, in steps S601 to S605, the penetration state of the target molten pool is determined by comparing the average value of the arc voltage with two thresholds: the threshold of the critical penetration state and the threshold of the complete penetration state. The incomplete penetration state refers to the state in which the welding material has not been completely melted, forming an incomplete weld and molten pool; the critical penetration state refers to the state in which the welding material is close to being completely melted during the melting process, but has not yet reached a state of complete penetration; the moderate penetration state refers to the state in which the welding material has reached a good degree of melting during the melting process, and the weld forms a good connection; the complete penetration state refers to the state in which the welding material is completely melted during the melting process, forming a complete and uniform weld and molten pool; the excessive penetration state refers to the state in which the welding material is excessively melted during the melting process, resulting in a weld that is too wide or too deep, or even overmelting, burn-through, etc. Specifically, if the average value of the arc voltage is Less than the threshold of critical penetration state Right now The melting state is determined to be the non-melting state; if the average arc voltage Equal to the threshold of critical penetration state Right now The melting state is determined to be the critical melting state; if the average arc voltage Greater than the threshold of critical penetration state And the average arc voltage Less than the threshold of complete penetration Right now The melting state is determined to be moderate melting state; if the average arc voltage Equal to the threshold of complete penetration state Right now The melting state is determined to be complete melting state; if the average arc voltage Greater than the threshold of complete penetration Right now It is determined that the melt-through state is an over-melt-through state.

[0116] Through the above steps S601 to S605, the average arc voltage value can be compared with the threshold values corresponding to the two penetration states, thereby determining the penetration state corresponding to the average arc voltage value. Based on the obtained arc voltage average value which is more stable than the instantaneous value, the accuracy of the detection of the molten pool penetration state can be improved.

[0117] Through the above steps S401 to S402, the average arc voltage obtained by averaging the arc voltage within a pulse cycle can be compared with the preset conditions to determine the penetration state of the target molten pool. Since the analysis of a single pulse cycle can provide real-time welding status information, compared with the use of the instantaneous value of the arc voltage, the use of a single pulse cycle can improve the accuracy of the molten pool penetration state; compared with the analysis across multiple pulse cycles, the use of a single pulse cycle can achieve rapid response and fine-grained control, thereby quickly and accurately determining the penetration state of the molten pool, providing real-time feedback adjustments, and ensuring stability during the welding process and weld quality. At the same time, this method not only improves the accuracy and response speed of the prediction, but also simplifies the data processing process, making the welding control system more efficient, thereby significantly improving welding efficiency and final product quality.

[0118] In some embodiments, after step S401, the penetration detection method further includes adjusting the welding speed based on the average arc voltage and a threshold for full penetration. Specifically, when the average arc voltage is less than the threshold for full penetration, the welding speed is reduced until the updated average arc voltage equals the threshold for full penetration; and when the average arc voltage is greater than the threshold for full penetration, the welding speed is increased until the updated average arc voltage equals the threshold for full penetration. The updated average arc voltage can be obtained in the same manner as the average arc voltage, or in other ways, without limitation. This method dynamically adjusts the welding speed by comparing the average arc voltage with the threshold for full penetration, enabling precise control of the penetration state and ensuring high quality and efficiency of the welding process. Furthermore, through real-time feedback and adaptive adjustment, not only is the mechanical properties and consistency of the welded joint improved, but energy utilization and production efficiency are also optimized, while weld defects and heat-affected zones are reduced, further improving the overall quality and economic benefits of the welding process.

[0119] In other embodiments, while comparing the average arc voltage with the threshold, images of the target molten pool can be captured within the same pulse period, and the penetration state can be judged based on the multiple captured images. The penetration state can then be comprehensively judged based on the comparison results and the image recognition results. Compared with a single threshold comparison and a single image recognition, the accuracy of detecting the penetration state of the target molten pool is improved.

[0120] See also Figure 7 , Figure 7 : is a schematic diagram of the structure of the penetration state detection device provided in the embodiment of the present application. The penetration state detection device includes a visual arc voltage synchronous acquisition device, a welding device, a magnetic field generating device, and a data analysis device. Among them, the visual arc voltage synchronous acquisition device includes a high-speed camera 3 and a Hall sensor 6. The high-speed camera 3 is used to obtain image information, and the Hall sensor 6 is used to obtain arc voltage information. The welding device includes a welding gun (such as Figure 8 14) and an AC / DC welding power supply 7. The magnetic field generating device includes an excitation power supply 1, a power amplifier circuit 2, and an excitation head 4. The data analysis device includes a computer 5. The excitation power supply 1 outputs an alternating pulse current, which is amplified by the power amplifier circuit 2 and output to the excitation head 4, causing any two adjacent magnetic induction coils in the excitation head 4 to generate magnetic fields with the same magnetic induction intensity but opposite magnetic field directions, ultimately forming a sharp-angled magnetic field in the arc region. The AC / DC welding power supply 7 outputs current to operate the welding gun. When the welding gun strikes the arc, the sharp-angled magnetic field changes the shape of the welding arc, causing the target molten pool generated by the welding arc on the target object to oscillate. Each time the power amplifier circuit 2 amplifies the alternating pulse current, the high-speed camera 3 captures an image of the target molten pool and transmits it to the computer 5. The Hall sensor 6 captures the arc voltage of the welding arc and transmits it to the computer 5. Computer 5 processes the molten pool image and arc voltage to determine the molten pool penetration status and adjusts the welding speed based on the arc voltage. A feedback loop is also included between the excitation power supply 1, the power amplifier circuit 2, and the excitation head 4. The feedback loop obtains the magnetic field strength of the excitation head 4 and feeds it back to the power amplifier circuit 2, which then feeds it back to the excitation power supply 1.

[0121] See also Figure 8 , Figure 8Schematic diagram of the structure of the excitation head in the device for detecting the penetration state provided in the embodiment of the present application. The excitation head includes a buckle 8, a magnetic rod 9, a water outlet 10, a water inlet 11, a magnetic induction coil 12, a magnetic pole 13, a welding gun 14, and a fixed chuck 15. The top of the excitation head is a fixed chuck 15, and four convex clamping parts are evenly distributed radially on the outer circumference of the fixed chuck 15. The cross section of each convex clamping part is equipped with two threaded holes. The pointed magnetic field conductive rod 9 made of Permalloy is placed in the groove of the convex clamping part, and the side of the conductive rod 9 away from the groove is fastened with an I-shaped buckle cap, and then tightened with a screw so that the conductive rod 9 is fastened to the fixed chuck 15; the magnetic induction coil 12 is evenly wound around the outer wall of the conductive rod 9, and a spiral through hole is punched in the middle of the conductive rod 9. The upper end face of the conductive rod 9 is a water inlet 11, and the lower end face is a water outlet 10 to ensure that the temperature of the magnetic induction coil 12 is always controlled at room temperature, and a T-shaped magnetic pole 13 is fixed at the lower end of each conductive rod, and a welding gun 14 is set in the center of the four conductive rods 9.

[0122] In one application, an excitation power supply outputs an alternating pulse current (or an alternating polarity pulse current) to four magnetic induction coils to generate a magnetic field. Since the current directions of the magnetic induction coils 12 on any two adjacent magnetic rods 9 are different, the magnetic fields generated by the adjacent magnetic induction coils 12 are in opposite directions. The magnetic field generated by the magnetic induction coils 12 is then guided into the arc region via the magnetic poles 13 to form a sharp-angled magnetic field, which acts on the welding arc. Subsequently, the current magnitude and direction of the magnetic induction coils 12 on the four magnetic rods 9 are regularly changed, altering the arc pressure magnitude and pressure distribution of the welding arc acting on the target molten pool, thereby inducing oscillation in the molten pool. When the polarity of the excitation power supply, i.e., the current direction of the excitation coils, is changed, the direction of the pressure distribution on the surface of the molten pool also changes.

[0123] See also Figure 9 The present application also provides a melt-through state detection system that can implement the above-mentioned melt-through state detection method. The system includes:

[0124] The first welding module 901 is used to perform welding operation on the target object through electric welding arc to form a target molten pool;

[0125] The constraint acquisition module 902 is used to obtain current generation constraint conditions;

[0126] The current generation module 903 is used to generate an alternating pulse current according to the current generation constraint conditions; wherein the alternating pulse current is used to control the shape of the welding arc;

[0127] The second welding module 904 is configured to generate a magnetic field acting on the welding arc by an alternating pulse current, so that the welding arc causes deformation of the target molten pool;

[0128] The data acquisition module 905 is used to collect the arc voltage corresponding to the welding arc after applying a magnetic field to the welding arc;

[0129] The data processing module 906 is used to determine the penetration state of the target molten pool when the arc voltage meets the first preset condition.

[0130] The specific implementation of the melt-through state detection system is basically the same as the specific embodiment of the melt-through state detection method described above, and will not be repeated here.

[0131] The present application also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-described method for detecting penetration when executing the computer program. The electronic device can be any smart terminal, such as a tablet computer or an in-vehicle computer.

[0132] See also Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0133] The processor 1001 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0134] The memory 1002 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1002 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 1002 and are called by the processor 1001 to execute the method for detecting the penetration state of the embodiments of this application.

[0135] Input / output interface 1003, used to implement information input and output;

[0136] Communication interface 1004, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0137] Bus 1005 , which transmits information between various components of the device (e.g., processor 1001 , memory 1002 , input / output interface 1003 , and communication interface 1004 );

[0138] The processor 1001 , the memory 1002 , the input / output interface 1003 and the communication interface 1004 are connected to each other in communication within the device via the bus 1005 .

[0139] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned method for detecting the penetration state is implemented.

[0140] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0141] The embodiments of the present application provide a method for detecting a penetration state, a system for detecting a penetration state, an electronic device, and a storage medium. The method comprises: performing a welding operation on a target object through an electric welding arc to form a target molten pool; obtaining current generation constraints; generating an alternating pulse current according to the current generation constraints; wherein the alternating pulse current is used to control the shape of the electric welding arc; generating a magnetic field acting on the electric welding arc through the alternating pulse current so that the electric welding arc causes deformation of the target molten pool; after applying the magnetic field to the electric welding arc, collecting the arc voltage corresponding to the electric welding arc; and determining the penetration state of the target molten pool when the arc voltage meets a first preset condition. Compared to image recognition, the method of determining the penetration state of the molten pool through arc voltage has the advantages of strong real-time performance, fast processing speed, avoidance of visual obstructions, and simple equipment. These characteristics enable the arc voltage to more accurately and quickly reflect changes in the welding process, providing more accurate penetration state detection, thereby significantly improving welding quality and process control accuracy. Furthermore, due to the generation of a sharp-angle magnetic field, during continuous and rapid welding, the arc force is maintained at the center of the target molten pool under the action of the sharp-angle magnetic field. This results in a large oscillation amplitude for the target molten pool, improving the signal-to-noise ratio of the molten pool oscillation signal and thus increasing the accuracy of penetration detection. Simultaneously, the introduction of the alternating sharp-angle magnetic field causes the molten pool to oscillate regularly, thereby refining the grain size. This solves the existing problem of DC tungsten inert gas arc welding, which prevents the molten pool from oscillating and thus identifying penetration.

[0142] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0143] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0144] The system embodiment described above is merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0145] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0146] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0147] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0148] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0149] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0151] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store programs.

[0152] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for detecting penetration state, characterized in that: The method comprises: Performing a welding operation on a target object through an electric welding arc to form a target molten pool; Obtain current generation constraints; dividing each pulse period of the alternating pulse current according to the current generation constraint condition; According to the current generation constraint, for the first half of each pulse period, the alternating pulse current is multiplied and amplified, and for the second half of each pulse period, the alternating pulse current is multiplied and amplified, so as to generate the alternating pulse current; wherein the alternating pulse current is used to control the shape of the welding arc, the multiplication and amplification of the alternating pulse current is used to increase the degree of compression of the welding arc and thereby increase the pressure of the welding arc on the surface of the target molten pool, and the multiplication and amplification of the alternating pulse current is used to reduce the pressure on the surface of the target molten pool; generating a magnetic field acting on the welding arc by the alternating pulse current to change the pressure of the welding arc acting on the target molten pool, thereby causing deformation of the target molten pool, wherein the point of application of the welding arc force always remains at the center of the target molten pool; detecting the alternating pulse current within a pulse cycle to obtain a time when the alternating pulse current is changing; At each moment, collecting the arc voltage corresponding to the welding arc; When the arc voltage satisfies a first preset condition, the penetration state of the target molten pool is determined, including: averaging the arc voltage within a pulse cycle to obtain an average arc voltage value; and performing judgment processing based on the average arc voltage value and the first preset condition to determine the penetration state of the target molten pool.

2. A method for detecting penetration state according to claim 1, characterized in that: The first preset condition includes a threshold value of a critical penetration state and a threshold value of a complete penetration state, and the first preset condition is obtained by: Acquire multiple molten pool images within a pulse period and arc voltages corresponding to the multiple molten pool images; Performing recognition processing on the plurality of molten pool images to obtain a plurality of recognition results; Determining a first arc voltage set corresponding to the molten pool image having the first recognition result, calculating an average value of the first arc voltage set to obtain a first average value, and determining the first average value as a threshold value of the critical penetration state; Determine a second arc voltage set corresponding to the molten pool image whose recognition result is the second result, calculate an average value of the second arc voltage set to obtain a second average value, and determine the second average value as the threshold value of the complete penetration state.

3. A method for detecting penetration state according to claim 2, characterized in that: The penetration state includes an incomplete penetration state, a critical penetration state, a moderate penetration state, a complete penetration state, and an over-penetration state. The determination of the penetration state of the target molten pool based on the average arc voltage and the first preset condition includes: If the arc voltage average value is less than the threshold value of the critical penetration state, determining that the penetration state is the incomplete penetration state; If the arc voltage average value is equal to the threshold value of the critical penetration state, determining that the penetration state is the critical penetration state; If the arc voltage average value is greater than the threshold value of the critical penetration state and the arc voltage average value is less than the threshold value of the complete penetration state, then the penetration state is determined to be the moderate penetration state; If the arc voltage average value is equal to the threshold value of the complete penetration state, determining that the penetration state is the complete penetration state; If the arc voltage average value is greater than the threshold value of the complete penetration state, the penetration state is determined to be the overpenetration state.

4. A method for detecting penetration state according to claim 1, characterized in that: After obtaining the arc voltage average value, the method further includes: The welding speed is adjusted based on the average arc voltage and a threshold value of a complete penetration state, including: When the average arc voltage is less than the threshold value of the complete penetration state, reducing the welding speed until the updated average arc voltage is equal to the threshold value of the complete penetration state; When the average arc voltage value is greater than the threshold value of the complete penetration state, the welding speed is increased until the updated average arc voltage value is equal to the threshold value of the complete penetration state.

5. A penetration state detection system, characterized in that: The system includes: A first welding module is used to perform a welding operation on a target object through an electric welding arc to form a target molten pool; A constraint acquisition module, used to obtain current generation constraint conditions; a current generating module, configured to divide each pulse period of the alternating pulse current according to the current generating constraint; and to multiply and amplify the alternating pulse current for the first half of each pulse period, and to multiply and amplify the alternating pulse current for the second half of each pulse period, so as to generate the alternating pulse current; wherein the alternating pulse current is used to control the shape of the welding arc, the multiplying and amplifying of the alternating pulse current is used to increase the degree of compression of the welding arc and thereby increase the pressure of the welding arc on the surface of the target molten pool, and the multiplying and amplifying of the alternating pulse current is used to reduce the pressure on the surface of the target molten pool; a second welding module, configured to generate a magnetic field acting on the welding arc through the alternating pulse current to change the pressure of the welding arc acting on the target molten pool, thereby causing deformation of the target molten pool, wherein the point of application of the welding arc force always remains at the center of the target molten pool; A data acquisition module is used to detect the alternating pulse current within a pulse cycle to obtain the moment when the alternating pulse current is changing; and for each moment, collect the arc voltage corresponding to the welding arc; A data processing module is used to determine the penetration state of the target molten pool when the arc voltage meets a first preset condition, including: averaging the arc voltage within a pulse period to obtain an arc voltage average value; and performing judgment processing based on the arc voltage average value and the first preset condition to determine the penetration state of the target molten pool.

6. An electronic device, characterized in that: The device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the steps of a method for detecting a penetration state according to any one of claims 1 to 4 when executing a program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for detecting a penetration state as claimed in any one of claims 1 to 4 are implemented.

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