Temperature adjusting method, system and equipment for titanium alloy welding and storage medium

Abstract

The invention provides a temperature adjusting method, system and device for titanium alloy welding and a storage medium, and the temperature adjusting method comprises the following steps that a picture of a welding seam during welding is collected; the collected pictures are analyzed to obtain the welding temperature of the welding seam; and the welding temperature is compared with the preset temperature, if the welding temperature is smaller than the preset temperature, the titanium alloy part is heated through the heating module, and if the welding temperature is larger than the preset temperature, the titanium alloy part is cooled through the heat dissipation module. According to the method, the welding temperature is determined after the pictures during welding are collected and analyzed, and compared with an existing method, the method is more accurate and timely. And the sheet metal part is preheated through the heating module before being welded, so that the temperature of the sheet metal part is increased before a welding seam is welded, a welding wire and the titanium alloy sheet metal part can be rapidly fused during welding, and when it is judged that the welding temperature is higher than the preset temperature, heat dissipation is conducted on the sheet metal part through the heat dissipation module.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a temperature regulating method, system, equipment and storage medium for titanium alloy welding. Background Art

[0002] Welding is the most widely used assembly connection method in the automotive industry. Compared with traditional steel body structures, titanium alloy products are lighter, stronger and more corrosion-resistant. They can reduce the weight of the body, improve the economy of the car, and improve the performance, stability and safety of the car.

[0003] Titanium is an active metal. As the temperature rises, the ability of titanium and titanium alloys to absorb oxygen, nitrogen and hydrogen also increases significantly. At high temperatures, titanium reacts with oxygen, nitrogen and hydrogen at a faster rate. Titanium begins to absorb hydrogen at 250°C, oxygen at 400°C and nitrogen at 600°C. Titanium and its alloys have poor thermal conductivity, slow cooling rate, and long high temperature residence time. In addition, titanium is highly active. Due to the poor gas stability of the welding gun body and the small nozzle diameter commonly used in industrial production, it is difficult to ensure the quality of the weld of titanium and its alloys. The existing welding of titanium and titanium alloys generally uses infrared temperature probes to collect the temperature of the weld during welding, so as to adjust the power of the welding gun. However, the arc light emitted during welding is relatively strong, which will interfere with the red light emitted by the infrared temperature probe, resulting in inaccurate detection. Summary of the invention

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a temperature regulation method, system, equipment and storage medium for titanium alloy welding, which is used to solve the problem in the prior art that the temperature is directly detected by an infrared temperature probe, resulting in unqualified welding of titanium and titanium alloy parts.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a temperature adjustment method for titanium alloy welding, comprising the following steps:

[0006] Collect pictures of welds during welding;

[0007] Analyze the collected pictures to get the welding temperature of the weld;

[0008] The welding temperature is compared with the preset temperature. If it is lower than the preset temperature, the titanium alloy part is heated by the heating module. If it is higher than the preset temperature, the titanium alloy part is cooled by the heat dissipation module.

[0009] Furthermore, before analyzing the collected pictures to obtain the welding temperature of the weld, the method further includes:

[0010] Collect several pictures of titanium alloy parts welded at different temperatures, analyze the pictures to obtain their colors, and form a picture library of several welding pictures;

[0011] Compare the color of the picture with the pre-stored titanium alloy welding standard color to determine the welding temperature;

[0012] The data set is established through the mapping relationship between the image library and the welding temperature.

[0013] Furthermore, comparing the color of the image with the pre-stored titanium alloy welding standard color to determine the welding temperature specifically includes:

[0014] Divide the standard color of titanium alloy welding into several color areas, each color area corresponds to a temperature range;

[0015] The collected images are preprocessed, several pixels are selected, and compared with the standard color of titanium alloy welding to extract the color area corresponding to the image;

[0016] The images of each color region are formed into an image library, and each image library and the corresponding temperature range form a data set.

[0017] Furthermore, the collected pictures are preprocessed, a number of pixels are selected, and the pixels are compared with the standard color of titanium alloy welding to extract the color area corresponding to the picture, specifically including:

[0018] Divide the image into pixels of several regions;

[0019] Collect the colors in each area;

[0020] Compare each color with the standard color, and obtain the color information of the image based on the comparison result. If the comparison result cannot be obtained, increase the number of image segmentations.

[0021] Furthermore, if the welding temperature cannot be determined after comparing the collected images with the images in the data set, the gas generated during welding is collected, the collected gas is analyzed for components to determine the welding temperature, and the collected images and the corresponding temperatures are added to the data set to update the data set.

[0022] Furthermore, when collecting images of the weld during welding, at least two 3D structured light cameras are used to illuminate the weld from different directions to form at least two laser points, and welding images between the laser points are collected.

[0023] On the other hand, the present application provides a temperature regulation system for titanium alloy welding, wherein the temperature regulation system adopts the temperature regulation method described above, and comprises:

[0024] The acquisition module is used to collect pictures of the weld during welding;

[0025] An analysis module is used to analyze the collected images to obtain the welding temperature of the weld;

[0026] The judgment module compares the welding temperature with the preset temperature. If the welding temperature is lower than the preset temperature, the titanium alloy part is heated by the heating module. If the welding temperature is higher than the preset temperature, the titanium alloy part is cooled by the heat dissipation module.

[0027] Furthermore, it also includes a temperature measuring module, which is used to detect the temperature of the titanium alloy; the heating modules are arranged in plurality along the extension direction of the weld, the heat dissipation module adopts an air cooling mode, and the heat dissipation module is installed on the welding gun.

[0028] On the other hand, the present application also provides a device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the temperature regulation method for titanium alloy welding as described above are implemented.

[0029] On the other hand, the present application also provides a computer-readable storage medium, which has a computer program. When the computer program is executed by a processor, the steps of the temperature regulation method for titanium alloy welding as described above are implemented.

[0030] As described above, the present invention has the following beneficial effects: the present invention collects pictures during welding, analyzes the welding pictures, and then determines the welding temperature. Compared with directly using an infrared probe to measure the temperature of the weld, the obtained result is more accurate and timely, and the temperature of the sheet metal can be controlled in real time. In addition, the present invention first preheats the sheet metal through a heating module before welding, so that the temperature of the sheet metal is increased before the weld, so that the welding wire and the titanium alloy sheet metal can melt quickly during welding, and when it is determined that the welding temperature is higher than the preset temperature, the heat dissipation module is used to dissipate the heat of the sheet metal. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flow chart of the temperature adjustment method for titanium alloy welding provided by the present invention;

[0032] Figure 2 This is a schematic diagram of the classification and corresponding colors of titanium oxides after heating in air;

[0033] Figure 3 This is a schematic diagram of the temperature regulation system for titanium alloy welding provided by the present invention.

[0034] Part Number Description

[0035] 1-titanium alloy parts, 2-heating module, 3-welding gun, 4-3D structured light camera, 5-welding seam, 6-temperature measurement module. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0037] Figure 1 Displayed as, see Figure 1 In one aspect, the present invention provides a temperature adjustment method for titanium alloy welding, comprising the following steps:

[0038] S101. Collect pictures of the weld during welding.

[0039] To collect pictures of the weld seam during titanium alloy welding, a camera is fixed to the welding gun on the side of the welding gun by means of a buckle or the like. The camera moves with the movement of the welding gun and collects pictures at any time. Pictures are generally collected by an industrial camera, and in some embodiments, a 3D structured light camera is used for collection. Since the arc light emitted by the welding gun during welding is very strong, 3D structured light cameras can generally be installed on both the upper and lower sides of the sheet metal welding, that is, one of the 3D structured light cameras is located on one side of the welding gun, and the other 3D structured light camera is on the side of the sheet metal away from the welding gun. The 3D structured light camera located on the upper side moves with the welding gun, and the 3D structured light camera on the lower side of the sheet metal moves synchronously with the welding gun through a moving mechanism, so that most of the arc light of the 3D structured light camera located at the lower part of the titanium alloy part is blocked by the titanium alloy part, and the arc light passes through the weld seam and enters the lower part, which will be weakened. Therefore, the weld seam picture collected by the 3D structured light camera at the lower part is clearer and more accurate.

[0040] 3D structured light camera is a technology used to obtain three-dimensional information of objects. It projects a specific light pattern onto the target object, and the 3D structured light camera captures the reflected image. The light pattern is usually infrared. Although 3D structured light cameras can build three-dimensional models, for objects with smooth surfaces, the reflected light may not form diffuse reflection, which will cause the pattern received by the sensor to be distorted or fail to capture complete pattern information.

[0041] If only one 3D structured light camera is used on the upper side of the titanium alloy plate, a small-area image will be formed on the weld. The 3D structured light camera will focus on shooting this small-area image when collecting pictures. The extracted picture is a bit single and may not be clear or the extracted weld photo cannot accurately reflect the welding condition of the weld.

[0042] In some embodiments, two or more 3D structured light cameras are used on one side of the welding gun, and they are irradiated onto the weld from different directions at the same time. For example, if two 3D structured light cameras are used, they are respectively located on the left and right sides of the weld, and both are irradiated onto the weld with an angle relative to the welding gun. The two 3D structured light cameras are generally at the same height, and at the same angle from the left and right sides of the welding gun, which is equivalent to symmetrically arranging the two welding guns.

[0043] If there are multiple 3D structured light cameras, the multiple 3D structured light cameras are at the same height from the titanium alloy sheet metal part and are evenly arranged around the position of the weld.

[0044] During the welding process, the infrared light emitted by a 3D structured light camera can be seen as a large dot, and two 3D structured light cameras form two points. A laser line is formed between the two points. At least two 3D structured light cameras project laser lines inclined to the titanium alloy part into the weld area, and the 3D structured light cameras capture the pattern between the laser lines in real time.

[0045] The light source emitted by a single 3D structured light camera is a point. When two 3D structured light cameras shine light on the weld, two points are formed. The two points are connected to form a line segment. The 3D structured light camera can then capture the image on this line segment during image acquisition. Compared to the 3D structured light camera's acquisition of a point, it can now capture a line segment or even a surface. The resulting image is clearer, more comprehensive, and can more accurately reflect the condition of the weld.

[0046] S102, analyzing the collected images to obtain the welding temperature of the weld.

[0047] Before analyzing the collected images, the images are preprocessed, including denoising and contrast enhancement, to ensure the accuracy of subsequent analysis. Median filtering can be used to remove noise from the image for denoising, histogram equalization can be used to enhance image contrast, thresholds can be set, images can be divided into regions of different colors, and the color histogram of each region can be calculated to prepare for subsequent color analysis.

[0048] Before using the temperature adjustment method, a data set must be established so that when it is officially used, the collected images can be compared with the images in the data set.

[0049] The method of establishing the data set specifically includes:

[0050] Collect several pictures of titanium alloy parts welded at different temperatures, analyze the pictures and get the color of the pictures. The operation of extracting the color information of the pictures usually involves image processing and computer vision technology. Generally, the pictures are preprocessed as mentioned above, and then each picture is divided into several pixels, the pixels are selected, and their colors are compared with the standard colors to get the color of the picture.

[0051] The color of the picture is compared with the pre-stored standard color of titanium alloy welding to determine the welding temperature, and a number of welding pictures are formed into a picture library.

[0052] During the titanium alloy welding process, the actual color may be slightly different from the standard color of titanium alloy welding. If the collected pictures are directly compared with the standard color of titanium alloy welding every time, the comparison time will be long, and the subsequent temperature control may be delayed. In order to avoid this situation, ensure real-time monitoring and timely adjustment of welding parameters, and generally use the welding pictures as the comparison object.

[0053] During the first welding, the colors of the collected images are extracted and compared with the standard colors to determine the welding temperature corresponding to each color range. These compared color images are then saved to form a standard image library, which will serve as the basis for subsequent comparisons.

[0054] During the production process, newly collected pictures can be directly compared with pictures in the picture library. Since the pictures in the picture library have been compared and verified and are close to the actual welding situation, the comparison speed is fast and efficient. Through rapid retrieval, the closest color interval is found to quickly determine the temperature status of the current welding area. According to the comparison results, the color changes of the welding area are monitored in real time to ensure that the temperature is always within the optimal range.

[0055] The color change of titanium alloy welding at different temperatures is an important monitoring indicator during the welding process. These color changes can help operators determine whether the temperature of the welding area is within the ideal range. When titanium alloy is welded, the color of the weld is different according to the welding temperature. It is silver-white below 100℃, light yellow at 100℃~300℃, blue at 300℃~600℃, purple at 600℃~700℃, and gray of different shades at 700℃~900℃. Figure 2 Therefore, the temperature of the protection zone during welding can be judged according to the color of the titanium alloy surface.

[0056] The welding temperature of the weld at that time is determined by comparing the extracted image color with the standard color of titanium alloy welded at different temperatures.

[0057] Then the images are matched one by one with the temperature, and a data set is established through the mapping relationship between the image library and the welding temperature. By establishing an image library containing welding images at different temperatures and establishing a mapping relationship between the image library and the welding temperature, a reliable data set is formed. This data set can not only improve the real-time monitoring accuracy of temperature during titanium alloy welding, but also ensure welding quality and improve production efficiency.

[0058] As mentioned above, the titanium alloy will show different colors due to different temperatures during welding. Therefore, if each color corresponds to a temperature, it will reduce the efficiency during comparison. Therefore, the color is generally divided into multiple intervals, and the color of each interval corresponds to a temperature range.

[0059] The present invention divides the standard color of titanium alloy welding into several color areas, each color area corresponds to a temperature range. For example, the titanium alloy welding temperature is silvery white when it is below 100°C, light yellow when it is 100°C to 300°C, blue when it is 300°C to 600°C, purple when it is 600°C to 700°C, and gray of different shades when it is 700°C to 900°C. According to the welding color of titanium alloy, the temperature interval is temporarily set to five, which is equivalent to temporarily setting the picture library to five.

[0060] Among them, the collected images are preprocessed, several pixel points are selected, the information of each image is compared with the standard color of titanium alloy welding, and finally the color area corresponding to the image is determined.

[0061] After preprocessing, when selecting pixels, each image is first divided into several separated areas. If the color area is too wide, it is difficult to determine which image library the part between adjacent colors belongs to, such as the junction of yellow and blue. When the collected image cannot determine whether it belongs to the yellow image library or the blue image library, the separated areas of the image are increased. For example, if 6 separated areas are set at the beginning, the 6 separated areas are numbered respectively, and the pixels in each area are extracted and compared with the standard color. If the pixels extracted from the 6 separated areas cannot be identified after comparing with the standard color, the separated areas 1, 3 and 5 can be divided into two respectively, and the number of separated areas of the image is increased from the original 6 to 9, and the pixels in the separated areas of the 9 images are extracted and compared with the standard color. If the color of the corresponding image cannot be identified after being divided into 9 separated areas, then the 2nd, 4th and 6th are divided into two separated areas, and the image separated areas are increased by 3 intervals, and the number of separated areas of the image is increased from 9 to 12. The more image separation regions there are, the higher the accuracy is, but the comparison speed is slower.

[0062] The image libraries of the images in each color area are finally collected to form an image library. Each image library can be numbered to record the storage path of each image. Each image library is matched with the corresponding temperature range to form a data set.

[0063] When the number of separated areas increases to a certain extent, further increase will reduce the comparison speed. For example, when the number of separated areas increases to 15, the analysis time is relatively long, and the number of separated areas of the image no longer continues to increase. However, if the collected image still cannot be determined to which image library it belongs, the welding temperature cannot be determined. In this case, the gas generated during welding is collected, and the welding temperature range is determined by analyzing the gas composition. The collected image is classified into the image library corresponding to this temperature range, and the image is stored in the image library to update the data set.

[0064] When titanium alloy is welded at 100℃ or below, the gas composition produced is Ti, and the gas between 100℃-600℃ becomes TiO-TiO1.9, where TiO1.9 refers to a transition state between titanium monoxide TiO and titanium dioxide TiO2. The number 1.9 here means that the ratio of oxygen atoms to titanium atoms is between 1 and 2. By analyzing the gas composition produced by welding, the welding temperature range can be inferred, and then the color corresponding to the picture can be determined.

[0065] S103. After the data set is established, in subsequent production use, the welding temperature can be obtained by comparing the collected images with the images in the data set, and then comparing the welding temperature with the preset temperature. If it is lower than the preset temperature, the titanium alloy part is heated by the heating module; if it is higher than the preset temperature, the titanium alloy part is cooled by the heat dissipation module.

[0066] In order to make the quality of the titanium alloy weld high, the color of the weld is preferably silver-white. The color of the weld is related to the welding temperature and the temperature of the sheet metal itself. The existing technology only changes the quality of the weld by changing the welding power of the welding gun, and does not consider the influence of the temperature of the titanium alloy itself on the welding quality. This application focuses on improving the influence of the temperature of the titanium alloy itself on the quality of the weld.

[0067] In order to ensure a relatively high quality weld after welding, the preset ideal temperature is below 300°C. If the welding wire is melted directly with a welding torch, due to the low thermal conductivity of titanium alloy, if the temperature of the titanium alloy part is low during welding, the welding wire in the molten pool cannot fuse quickly with the titanium alloy part. Preheating can evenly distribute the heat energy during welding, reduce the temperature gradient of the titanium alloy part in the welding area, thereby reducing welding stress, and can also reduce the cooling rate of the weld joint and reduce the risk of hydrogen-induced cracks. Hydrogen is one of the common harmful elements in titanium alloy welding, which can easily cause cracks during the cooling process. Heating the titanium alloy parts in advance can ensure uniform temperature during welding and help form a good weld joint.

[0068] A heating module is installed next to the weld, and the heating module is used to heat the area around the weld of the titanium alloy sheet metal to increase the temperature of the titanium alloy part to be welded. The preheating temperature of the titanium alloy is usually 100°C to 200°C, and the specific temperature depends on the thickness of the material. Common preheating methods include resistance heating or induction heating. During the heating process, the temperature of the weld sheet metal is measured by a temperature measuring module. The temperature measuring module of the present invention is preferably an infrared temperature probe. In order not to affect the accuracy of the infrared temperature probe, the infrared temperature probe can be set on the side of the sheet metal away from the welding gun.

[0069] Multiple heating modules are generally arranged close to the weld, but do not affect welding. Heating modules are installed on both sides of the two titanium alloy parts to be welded close to the weld, and multiple heating modules are arranged on each side along the length direction of the weld.

[0070] At the same time, a heat dissipation module is installed on the welding gun, and the heat dissipation module moves with the movement of the welding gun. The heat dissipation module preferably adopts an air-cooled heat dissipation method. When the corresponding temperature of the collected images is higher than the preset temperature after analysis, the heat dissipation module is used to blow air to dissipate heat to the titanium alloy parts. When the heat dissipation module cools down the titanium alloy parts, the heating module is turned off or its power is reduced as needed.

[0071] On the other hand, the present application also provides a temperature regulation system for titanium alloy welding, wherein the temperature regulation system adopts the above-mentioned temperature regulation method, comprising:

[0072] The acquisition module is used to acquire images of the weld 5 during welding. A 3D structured light camera 4 can be installed on the welding gun 3, and a 3D structured light camera 4 can also be installed on the bottom of the sheet metal part away from the welding gun 3. The two 3D structured light cameras 4 are more accurate in acquisition. In addition, the 3D structured light camera is used to irradiate the weld 5 with infrared rays for shooting guidance during acquisition, so that the photos acquired by the 3D structured light camera 4 are more accurate.

[0073] The analysis module is used to analyze the collected pictures to obtain the welding temperature of the weld 5. The collected pictures are compared with the pictures in the picture library to obtain the temperature of the weld 5. If the pictures cannot be compared with the pictures in the picture library, the welding gas is collected and the component analysis of the collected gas is performed to obtain the temperature of the weld 5.

[0074] The judgment module compares the welding temperature with the preset temperature. If it is lower than the preset temperature, the titanium alloy part 1 is heated by the heating module 2. If it is higher than the preset temperature, the titanium alloy part 1 is cooled by the heat dissipation module. Assuming that the set temperature is about 100°C, the corresponding image color should be silver-white. The welding temperature obtained after analyzing the collected images is compared with the preset 100°C. If the welding temperature is higher than 100°C, the heat dissipation module cools the titanium alloy part 1 by blowing air. If it is judged that the welding temperature is lower than 100°C, the titanium alloy part 1 is heated by the heating module 2.

[0075] Wherein, multiple heating modules 2 are installed along both sides of the weld 5, which is equivalent to installing multiple heating modules on the two titanium alloy sheet metal parts. The heating modules 2 on the two sheet metal parts can be arranged at intervals or side by side. Each heating module 2 is controlled separately, and generally, the titanium alloy part 1 is heated before the welding gun 3 is used to weld the weld 5. The heating module 2 located behind the welding gun 3 does not need to be turned on.

[0076] When the heating module 2 heats the sheet metal part, the temperature is monitored by the temperature measuring module 6 .

[0077] When welding with welding gun 3, firstly, the welding wire should be polished with a welding wire grinding device, and the welding groove and root of the titanium alloy workpiece should be processed with a planer. The groove should be degreased with acetone or anhydrous ethanol, and then the front and back surfaces of the processed surface should be polished with a grinder until the metallic luster is exposed. Finally, it should be wiped clean with white gauze dipped in acetone or anhydrous ethanol. It is qualified when the white gauze no longer turns black. The welding work area should be clean, and the welding platform, equipment and tooling should be clean. If necessary, the drag cover protection device, pressure plate, etc. should be wiped manually with acetone. Welders and assemblers should wear clean gauze gloves.

[0078] On the other hand, the present application also provides a device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the temperature regulation method for titanium alloy welding described above when executing the computer program.

[0079] On the other hand, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium has a computer program, and when the computer program is executed by a processor, the steps of the temperature adjustment method for titanium alloy welding described above are implemented.

[0080] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0081] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0082] The units involved in the embodiments of the present invention described in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not constitute limitations on the units themselves in certain circumstances. The units or modules described may also be arranged in a processor, for example, may be described as: a processor includes a data acquisition module, a first processing module, a second processing module, and a result generation module. The names of these units or modules do not constitute limitations on the units or modules themselves in certain circumstances.

[0083] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A temperature regulation method for titanium alloy welding, characterized in that: The following steps are involved: Collect pictures of welds during welding; Analyze the collected pictures to get the welding temperature of the weld; The welding temperature is compared with the preset temperature. If it is lower than the preset temperature, the titanium alloy part is heated by the heating module. If it is higher than the preset temperature, the titanium alloy part is cooled by the heat dissipation module.

2. The temperature adjustment method according to claim 1, characterized in that: Before analyzing the collected images to obtain the welding temperature of the weld, the following steps are also included: Collect several pictures of titanium alloy parts welded at different temperatures, analyze the pictures to obtain their colors, and form a picture library of several welding pictures; Compare the color of the picture with the pre-stored titanium alloy welding standard color to determine the welding temperature; The data set is established through the mapping relationship between the image library and the welding temperature.

3. The temperature adjustment method according to claim 2, characterized in that: The process of comparing the color of the image with the pre-stored titanium alloy welding standard color to determine the welding temperature specifically includes: Divide the standard color of titanium alloy welding into several color areas, each color area corresponds to a temperature range; The collected images are preprocessed, several pixels are selected, and compared with the standard color of titanium alloy welding to extract the color area corresponding to the image; The images of each color region are formed into an image library, and each image library and the corresponding temperature range form a data set.

4. The temperature adjustment method according to claim 3, characterized in that: The collected pictures are preprocessed, a number of pixels are selected, and the pixels are compared with the standard color of titanium alloy welding to extract the color area corresponding to the picture, specifically including: Split the image into several regions; Collect the colors in each area; Compare each color with the standard color, and obtain the color information of the image based on the comparison result. If the comparison result cannot be obtained, increase the number of image segmentations.

5. The temperature adjustment method according to claim 3 or 4, characterized in that: If the welding temperature cannot be determined after comparing the collected images with the images in the data set, the gas generated during welding is collected, the collected gas is analyzed for composition to determine the welding temperature, and the collected images and the corresponding temperature are added to the data set to update the data set.

6. The temperature adjustment method according to claim 1, characterized in that: When collecting images of the weld during welding, at least two 3D structured light cameras are used to illuminate the weld from different directions to form at least two laser points, and welding images between the laser points are collected.

7. A temperature control system for titanium alloy welding, the temperature control system adopts the temperature control method according to any one of claims 1 to 6, characterized in that: include: The acquisition module is used to collect pictures of the weld during welding; An analysis module is used to analyze the collected images to obtain the welding temperature of the weld; The judgment module compares the welding temperature with the preset temperature. If the welding temperature is lower than the preset temperature, the titanium alloy part is heated by the heating module. If the welding temperature is higher than the preset temperature, the titanium alloy part is cooled by the heat dissipation module.

8. The temperature adjustment system according to claim 7, characterized in that: It also includes a temperature measuring module, which is used to detect the temperature of the titanium alloy; a plurality of heating modules are arranged along the extension direction of the weld, and the heat dissipation module adopts an air cooling mode, and the heat dissipation module is installed on the welding gun.

9. A device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the temperature regulating method for titanium alloy welding as claimed in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, the computer-readable storage medium having a computer program, characterized in that: When the computer program is executed by a processor, the steps of the temperature adjustment method for titanium alloy welding according to any one of claims 1 to 6 are implemented.

Images