Welding track optimization method and system for welding wind-resistant structure of steel box girder

Abstract

The invention discloses a welding track optimization method and system for welding a wind-resistant structure of a steel box girder, and the method comprises the steps: obtaining the working information of each laser source, the working information comprises the starting position of the laser track, the ending position of the laser track, the current position of the laser track, the spatial position of the welding seam and the moving speed of the laser track; setting a laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model and a multi-laser source cooperation model, and calculating a first correction factor, a second correction factor, a third correction factor and a fourth correction factor of laser trajectory optimization; and the laser source is adjusted, so that the first correction factor for laser track optimization, the second correction factor for laser track optimization, the third correction factor for laser track optimization and the fourth correction factor for laser track optimization are close to respective preset threshold values in a wireless mode, and welding track optimization is completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding trajectory optimization, and more specifically, relates to a welding trajectory optimization method and system for welding a wind-resistant steel box girder structure. Background Art

[0002] At present, when welding on site for split steel box girder wind-resistant structures, traditional inspection vehicles are mainly used as construction platforms. The inspection vehicles are equipped with lifting platforms to lift construction personnel and equipment to high-altitude working positions. In addition, manual welding is still the mainstream construction method, although some projects have begun to try to use semi-automatic welding equipment to assist construction. Although this traditional method can meet basic construction needs, it still has many limitations when facing complex structures and high-altitude operations.

[0003] The existing technology has obvious shortcomings in dealing with on-site welding of split steel box girder wind-resistant structures, which are mainly reflected in two aspects: low construction efficiency and low precision.

[0004] Therefore, there is an urgent need for a technical solution that can improve welding accuracy and welding efficiency. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a welding trajectory optimization method for welding a steel box girder wind-resistant structure, wherein the steel box girder wind-resistant structure is a split steel box girder wind-resistant structure, comprising: Acquire working information of each laser source, wherein the working information includes: a starting position of a laser track, an ending position of a laser track, a current position of the laser track, a curvature tensor, a spatial position of a weld, and a moving speed of the laser track; A laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model, and a multi-laser source coordination model are respectively set to calculate a first correction factor for laser trajectory optimization, a second correction factor for laser trajectory optimization, a third correction factor for laser trajectory optimization, and a fourth correction factor for laser trajectory optimization; The laser source is adjusted so that the first correction factor of the laser trajectory optimization, the second correction factor of the laser trajectory optimization, the third correction factor of the laser trajectory optimization and the fourth correction factor of the laser trajectory optimization are infinitely close to their respective preset thresholds to complete the welding trajectory optimization.

[0006] Furthermore, the laser path optimization model includes: , in, is the first correction factor for laser trajectory optimization, is the starting position of the laser trajectory, is the end position of the laser trajectory, is the curvature tensor, which represents the curvature of the laser trajectory, is the current position of the laser track, is the spatial position of the weld, For time The moving speed of the laser trajectory at time , which represents the rate of change of the laser position over time, is the adjustment factor for the laser path optimization model, For time The laser track The x-axis coordinate of the position, For time The laser track The y-axis coordinate of the position, For time The laser track The z-axis coordinate of the position, is the Laplace operator.

[0007] Furthermore, the laser error correction model includes: , in, The second correction factor for laser trajectory optimization, For time The time adjustment factor is For time The position of the laser track at is the target location, is the first adjustment factor of the laser error correction model, is the second adjustment factor of the laser error correction model, is the current magnetic field amplitude, is the current electric field amplitude, is the third adjustment factor of the laser error correction model.

[0008] Furthermore, the electromagnetic field and space coupling model is used to describe the influence of the electromagnetic field on the laser trajectory, including: , in, The third correction factor for laser trajectory optimization, is the spatial area where the weld is located, is the first adjustment factor of the electromagnetic field and space coupling model, is the second adjustment factor of the electromagnetic field and space coupling model, It is the third adjustment factor of the electromagnetic field and space coupling model.

[0009] Furthermore, the multi-laser source collaborative model is used to control multiple laser sources to work collaboratively, including: , in, The fourth correction factor for laser trajectory optimization, For the The first weight of the laser source, For the The current position of the laser track of each laser source, For the The second weight of the laser source, For the The current position of the laser track of each laser source, For time The time-varying coefficient is used to dynamically adjust the contribution of each laser source. For the The third weight of the laser source.

[0010] The present invention also proposes a welding trajectory optimization system for welding a steel box girder wind-resistant structure, wherein the steel box girder wind-resistant structure is a split steel box girder wind-resistant structure, comprising: An information acquisition module, used to acquire working information of each laser source, wherein the working information includes: a starting position of a laser track, an ending position of a laser track, a current position of the laser track, a curvature tensor, a spatial position of a weld, and a moving speed of the laser track; A model module is set to respectively set a laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model, and a multi-laser source coordination model, and respectively calculate a first correction factor for laser trajectory optimization, a second correction factor for laser trajectory optimization, a third correction factor for laser trajectory optimization, and a fourth correction factor for laser trajectory optimization; The optimization module is used to adjust the laser source so that the first correction factor of the laser trajectory optimization, the second correction factor of the laser trajectory optimization, the third correction factor of the laser trajectory optimization and the fourth correction factor of the laser trajectory optimization are wirelessly close to their respective preset thresholds to complete the welding trajectory optimization.

[0011] Furthermore, the laser path optimization model includes: , in, is the first correction factor for laser trajectory optimization, is the starting position of the laser trajectory, is the end position of the laser trajectory, is the curvature tensor, which represents the curvature of the laser trajectory, is the current position of the laser track, is the spatial position of the weld, For time The moving speed of the laser trajectory at time , which represents the rate of change of the laser position over time, is the adjustment factor for the laser path optimization model, For time The laser track The x-axis coordinate of the position, For time The laser track The y-axis coordinate of the position, For time The laser track The z-axis coordinate of the position, is the Laplace operator.

[0012] Furthermore, the laser error correction model includes: , in, The second correction factor for laser trajectory optimization, For time The time adjustment factor is For time The position of the laser track at is the target location, is the first adjustment factor of the laser error correction model, is the second adjustment factor of the laser error correction model, is the current magnetic field amplitude, is the current electric field amplitude, is the third adjustment factor of the laser error correction model.

[0013] Furthermore, the electromagnetic field and space coupling model is used to describe the influence of the electromagnetic field on the laser trajectory, including: , in, The third correction factor for laser trajectory optimization, is the spatial area where the weld is located, is the first adjustment factor of the electromagnetic field and space coupling model, is the second adjustment factor of the electromagnetic field and space coupling model, It is the third adjustment factor of the electromagnetic field and space coupling model.

[0014] Furthermore, the multi-laser source collaborative model is used to control multiple laser sources to work collaboratively, including: , in, The fourth correction factor for laser trajectory optimization, For the The first weight of the laser source, For the The current position of the laser track of each laser source, For the The second weight of the laser source, For the The current position of the laser track of each laser source, For time The time-varying coefficient is used to dynamically adjust the contribution of each laser source. For the The third weight of the laser source.

[0015] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art: Through the above technical scheme, the present invention can monitor the laser trajectory in real time when the split steel box girder wind-resistant structure is automatically welded, and correct the laser trajectory in real time by setting a model, thereby improving the accuracy of the laser trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of the method of embodiment 1 of the present invention; Figure 2 is a system structure diagram of Embodiment 2 of the present invention; Figure 3 Schematic diagram of an automated welding platform for a split steel box girder wind-resistant structure according to Embodiment 3 of the present invention; Figure 4 It is a schematic diagram of the specific structure of the mobile construction platform in the automated welding platform for the split steel box girder wind-resistant structure of Example 3 of the present invention. DETAILED DESCRIPTION

[0019] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] The present invention provides a welding trajectory optimization method for welding steel box girder wind-resistant structures. By combining a new wind-resistant welding platform with intelligent welding robot technology, an intelligent welding system for the "horizontal vortex baffle + lower stabilizing plate" structure between split steel box girders is formed. The welding robot is transported to a designated position using a construction platform, and automated welding is achieved using the robot arm of the welding robot. This can effectively solve the welding of most "horizontal vortex baffle + lower stabilizing plate" structures on the market, leading the technological innovation in the high-altitude manufacturing of steel bridges at bridge locations, and has high feasibility.

[0021] Example 1 like Figure 1 As shown, an embodiment of the present invention provides a welding trajectory optimization method for welding a steel box girder wind-resistant structure, wherein the steel box girder wind-resistant structure is a split steel box girder wind-resistant structure, comprising: Step 101, obtaining working information of each laser source, wherein the working information includes: a starting position of a laser track, an ending position of a laser track, a current position of the laser track, a curvature tensor, a spatial position of a weld, and a moving speed of the laser track; Step 102, respectively setting a laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model, and a multi-laser source coordination model, and respectively calculating a first correction factor for laser trajectory optimization, a second correction factor for laser trajectory optimization, a third correction factor for laser trajectory optimization, and a fourth correction factor for laser trajectory optimization; Specifically, the laser path optimization model includes: , in, is the first correction factor for laser trajectory optimization, is the starting position of the laser trajectory, is the end position of the laser trajectory, is the curvature tensor, which represents the curvature of the laser trajectory, is the current position of the laser track, is the spatial position of the weld, For time The moving speed of the laser trajectory at time , which represents the rate of change of the laser position over time, is the adjustment factor for the laser path optimization model, For time The laser track The x-axis coordinate of the position, For time The laser track The y-axis coordinate of the position, For time The laser track The z-axis coordinate of the position, is the Laplace operator.

[0022] Specifically, the laser error correction model includes: , in, The second correction factor for laser trajectory optimization, For time The time adjustment factor is For time The position of the laser track at is the target location, is the first adjustment factor of the laser error correction model, is the second adjustment factor of the laser error correction model, is the current magnetic field amplitude, is the current electric field amplitude, is the third adjustment factor of the laser error correction model.

[0023] Specifically, the electromagnetic field and space coupling model is used to describe the influence of the electromagnetic field on the laser trajectory, including: , in, The third correction factor for laser trajectory optimization, is the spatial area where the weld is located, is the first adjustment factor of the electromagnetic field and space coupling model, is the second adjustment factor of the electromagnetic field and space coupling model, It is the third adjustment factor of the electromagnetic field and space coupling model.

[0024] Specifically, the multi-laser source collaborative model is used to control multiple laser sources to work collaboratively, including: , in, The fourth correction factor for laser trajectory optimization, For the The first weight of the laser source, For the The current position of the laser track of each laser source, For the The second weight of the laser source, For the The current position of the laser track of each laser source, For time The time-varying coefficient is used to dynamically adjust the contribution of each laser source. For the The third weight of the laser source.

[0025] Step 103, adjusting the laser source so that the first correction factor of the laser trajectory optimization, the second correction factor of the laser trajectory optimization, the third correction factor of the laser trajectory optimization and the fourth correction factor of the laser trajectory optimization are infinitely close to their respective preset thresholds to complete the welding trajectory optimization.

[0026] Example 2 like Figure 2As shown, an embodiment of the present invention further provides a welding trajectory optimization system for welding a steel box girder wind-resistant structure, wherein the steel box girder wind-resistant structure is a split steel box girder wind-resistant structure, comprising: An information acquisition module, used to acquire working information of each laser source, wherein the working information includes: a starting position of a laser track, an ending position of a laser track, a current position of the laser track, a curvature tensor, a spatial position of a weld, and a moving speed of the laser track; A model module is set to respectively set a laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model, and a multi-laser source coordination model, and respectively calculate a first correction factor for laser trajectory optimization, a second correction factor for laser trajectory optimization, a third correction factor for laser trajectory optimization, and a fourth correction factor for laser trajectory optimization; Specifically, the laser path optimization model includes: , in, is the first correction factor for laser trajectory optimization, is the starting position of the laser trajectory, is the end position of the laser trajectory, is the curvature tensor, which represents the curvature of the laser trajectory, is the current position of the laser track, is the spatial position of the weld, For time The moving speed of the laser trajectory at time , which represents the rate of change of the laser position over time, is the adjustment factor for the laser path optimization model, For time The laser track The x-axis coordinate of the position, For time The laser track The y-axis coordinate of the position, For time The laser track The z-axis coordinate of the position, is the Laplace operator.

[0027] Specifically, the laser error correction model includes: , in, The second correction factor for laser trajectory optimization, For time The time adjustment factor is For time The position of the laser track at is the target location, is the first adjustment factor of the laser error correction model, is the second adjustment factor of the laser error correction model, is the current magnetic field amplitude, is the current electric field amplitude, is the third adjustment factor of the laser error correction model.

[0028] Specifically, the electromagnetic field and space coupling model is used to describe the influence of the electromagnetic field on the laser trajectory, including: , in, The third correction factor for laser trajectory optimization, is the spatial area where the weld is located, is the first adjustment factor of the electromagnetic field and space coupling model, is the second adjustment factor of the electromagnetic field and space coupling model, It is the third adjustment factor of the electromagnetic field and space coupling model.

[0029] Specifically, the multi-laser source collaborative model is used to control multiple laser sources to work collaboratively, including: , in, The fourth correction factor for laser trajectory optimization, For the The first weight of the laser source, For the The current position of the laser track of each laser source, For the The second weight of the laser source, For the The current position of the laser track of each laser source, For time The time-varying coefficient is used to dynamically adjust the contribution of each laser source. For the The third weight of the laser source.

[0030] The optimization module is used to adjust the laser source so that the first correction factor of the laser trajectory optimization, the second correction factor of the laser trajectory optimization, the third correction factor of the laser trajectory optimization and the fourth correction factor of the laser trajectory optimization are wirelessly close to their respective preset thresholds to complete the welding trajectory optimization.

[0031] Example 3 like Figure 3 and Figure 4 As shown, this embodiment provides an automated welding platform for a split steel box girder wind-resistant structure, comprising: A mobile construction platform, which is a gantry structure, and the gantry spans the left and right widths of the split steel box girder. The mobile construction platform is provided with universal wheels and directional wheel groups, and is driven by a motor to achieve movement and retreat along the longitudinal direction of the bridge; a lifting device installed on the mobile construction platform, used to control the lifting and lowering of the construction platform in the vertical direction; a telescopic device provided on the mobile construction platform, used to increase the lateral construction range of the construction platform after the construction site is lowered to a certain height; an all-position intelligent welding robot, which includes laser scanning, laser tracking skills and a built-in camera, can perform all-position welding, and transmit welding information to a host terminal in real time; and an intelligent cloud welding system, which can receive real-time video and various welding parameters from the welding robot, allowing manual correction of welding errors and display of on-site construction progress.

[0032] Specifically, according to the structural characteristics of the wind-resistant structure at different parts of the split steel box girder, different welding devices that adapt to the structural characteristics are designed.

[0033] The mobile construction platform of the horizontal vortex baffle needs to be able to move in the longitudinal direction of the bridge; the construction platform has a lifting function, and after the device reaches the designated position, it can be lowered to the bottom of the horizontal vortex baffle to meet the construction conditions; the construction platform has a telescopic function, and after the construction site is lowered to a certain height, the lateral construction range of the construction platform is increased; For the lower central stabilizing plate, the mobile construction platform provided in this embodiment can move in the longitudinal direction of the bridge; the mobile construction platform has a lifting function, and after the device reaches the designated position, it can be lowered to the position of the stabilizing plate area to meet the construction conditions; the mobile construction platform must meet the needs of double-sided construction of the stabilizing plate and avoid interference with the horizontal vortex plate and the lower central stabilizing plate.

[0034] The fully automatic intelligent welding robot provided in this embodiment has an all-position welding function; the intelligent welding robot has laser scanning and laser tracking skills, can scan complex structures and compare drawings, and extend the robotic arm to the correct welding position; the intelligent welding robot can transmit welding information to the host terminal in real time through the built-in camera, and personnel can confirm information such as weld quality by checking the host.

[0035] The intelligent cloud welding system provided in this embodiment has the function of outputting real-time welding video and various welding parameters through the chip on the welding robot; it also has the function of manually correcting the welding errors of the intelligent welding robot through the host and displaying the on-site construction progress in real time through the system.

[0036] The present embodiment provides a mobile construction platform, which can be used for the construction and welding of the horizontal vortex baffle and the lower central stabilizing plate at the same time. The mobile construction platform adopts the same gantry structure. The gantry spans the left and right widths of the split steel box girder and is equipped with a universal wheel + directional wheel group. The gantry is driven by a motor to move upward and backward on the longitudinal bridge, and the lifting device is used to realize the lifting and lowering of the construction platform in the vertical direction.

[0037] The construction process of the horizontal vortex plate on the mobile construction platform includes: 1. After the construction platform is moved to the construction location, open the brake system of the wheel group, and tighten the cable wind ropes around it to fix it. After the personnel fasten their safety belts, they enter the lifting platform.

[0038] 2. The lifting platform is smoothly lowered to the construction site by controlling the lifting device, and the construction site is also equipped with a limiting device to avoid excessive descent.

[0039] 3. After the lifting platform is in place, push and pull the platform to the construction range and start construction.

[0040] The construction process of the mobile construction platform for the lower central stabilizing plate includes: 1. After the construction platform is moved to the construction location, open the brake system of the wheel group, and tighten the cable wind ropes around it to fix it. After the personnel fasten their safety belts, they enter the lifting platform.

[0041] 2. By controlling the lifting device, the mobile platform is smoothly lowered to the position between the horizontal vortex isolation plate and the central stabilizing plate, and the platform is pushed and pulled into place while avoiding interference between the stabilizing plate and the vortex isolation plate.

[0042] 3. After the lifting platform is pushed and pulled into place, continue to lower the lifting platform steadily until it reaches the construction position of the lower stabilizing plate and start construction.

[0043] The full-position intelligent welding robot installed on the mobile construction platform can confirm the welding position of the robotic arm by comparing it with the internal drawing data through laser scanning. Combined with visual equipment and laser tracking technology, the robotic arm begins welding. For the 8mm thick vortex baffle and the 10mm thick lower stabilization plate, special welding parameters are set to achieve welding automation. Backstage personnel observe the weld bead formation and welding parameters through the camera on the robotic arm and the intelligent cloud welding system. If there are certain problems with the weld bead formation during the welding process, the robotic arm can be remotely controlled through the background to correct the errors.

[0044] The intelligent cloud welding system can input the welding process parameters of each weld and set the upper and lower limits to prevent the welding current from being too large or too small during the welding process of the all-position intelligent welding robot. The welding robot is connected to the network and the robot is remotely controlled to perform welding tasks. The weld formation is observed through the camera, and the weld bead and welding parameters can be corrected at any time. After welding is completed, the quality inspection checks the weld formation. If qualified, the quality inspection submits it for approval and completes the welding system archiving.

[0045] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0046] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0047] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, 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 units or modules, which can be electrical or other forms.

[0048] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0049] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0050] 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 invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, RandomAccess Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0051] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A welding trajectory optimization method for welding a steel box girder wind-resistant structure, wherein the steel box girder wind-resistant structure is a split steel box girder wind-resistant structure, characterized in that: include: Acquire working information of each laser source, wherein the working information includes: a starting position of a laser track, an ending position of a laser track, a current position of the laser track, a curvature tensor, a spatial position of a weld, and a moving speed of the laser track; A laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model, and a multi-laser source coordination model are respectively set to calculate a first correction factor for laser trajectory optimization, a second correction factor for laser trajectory optimization, a third correction factor for laser trajectory optimization, and a fourth correction factor for laser trajectory optimization; The laser source is adjusted so that the first correction factor of the laser trajectory optimization, the second correction factor of the laser trajectory optimization, the third correction factor of the laser trajectory optimization and the fourth correction factor of the laser trajectory optimization are infinitely close to their respective preset thresholds to complete the welding trajectory optimization.

2. A welding trajectory optimization method for welding a steel box girder wind-resistant structure according to claim 1, characterized in that: The laser path optimization model includes: ， in, The first correction factor for laser trajectory optimization, is the starting position of the laser trajectory, is the end position of the laser trajectory, is the curvature tensor, which represents the curvature of the laser trajectory, is the current position of the laser track, is the spatial position of the weld, For time The moving speed of the laser trajectory at time , which represents the rate of change of the laser position over time, is the adjustment factor for the laser path optimization model, For time The laser track The x-axis coordinate of the position, For time The laser track The y-axis coordinate of the position, For time The laser track The z-axis coordinate of the position, is the Laplace operator.

3. A welding trajectory optimization method for welding a steel box girder wind-resistant structure according to claim 2, characterized in that: The laser error correction model comprises: ， in, The second correction factor for laser trajectory optimization, For time The time adjustment factor is For time The position of the laser track at is the target location, is the first adjustment factor of the laser error correction model, is the second adjustment factor of the laser error correction model, is the current magnetic field amplitude, is the current electric field amplitude, is the third adjustment factor of the laser error correction model.

4. A welding trajectory optimization method for welding a steel box girder wind-resistant structure according to claim 3, characterized in that: The electromagnetic field and space coupling model is used to describe the influence of the electromagnetic field on the laser trajectory, including: ， in, The third correction factor for laser trajectory optimization, is the spatial area where the weld is located, is the first adjustment factor of the electromagnetic field and space coupling model, is the second adjustment factor of the electromagnetic field and space coupling model, It is the third adjustment factor of the electromagnetic field and space coupling model.

5. A welding trajectory optimization method for welding a steel box girder wind-resistant structure according to claim 4, characterized in that: The multi-laser source collaborative model is used to control multiple laser sources to work collaboratively, including: ， in, The fourth correction factor for laser trajectory optimization, For the The first weight of the laser source, For the The current position of the laser track of each laser source, For the The second weight of the laser source, For the The current position of the laser track of each laser source, For time The time-varying coefficient is used to dynamically adjust the contribution of each laser source. For the The third weight of the laser source.

6. A welding trajectory optimization system for welding a steel box girder wind-resistant structure, wherein the steel box girder wind-resistant structure is a split steel box girder wind-resistant structure, characterized in that: include: An information acquisition module, used to acquire working information of each laser source, wherein the working information includes: a starting position of a laser track, an ending position of a laser track, a current position of the laser track, a curvature tensor, a spatial position of a weld, and a moving speed of the laser track; A model module is set to respectively set a laser path optimization model, a laser error correction model, an electromagnetic field and space coupling model, and a multi-laser source coordination model, and respectively calculate a first correction factor for laser trajectory optimization, a second correction factor for laser trajectory optimization, a third correction factor for laser trajectory optimization, and a fourth correction factor for laser trajectory optimization; The optimization module is used to adjust the laser source so that the first correction factor of the laser trajectory optimization, the second correction factor of the laser trajectory optimization, the third correction factor of the laser trajectory optimization and the fourth correction factor of the laser trajectory optimization are wirelessly close to their respective preset thresholds to complete the welding trajectory optimization.

7. A welding trajectory optimization system for welding a steel box girder wind-resistant structure according to claim 6, characterized in that: The laser path optimization model includes: ， in, is the first correction factor for laser trajectory optimization, is the starting position of the laser trajectory, is the end position of the laser trajectory, is the curvature tensor, which represents the curvature of the laser trajectory, is the current position of the laser track, is the spatial position of the weld, For time The moving speed of the laser trajectory at time , which represents the rate of change of the laser position over time, is the adjustment factor for the laser path optimization model, For time The laser track The x-axis coordinate of the position, For time The laser track The y-axis coordinate of the position, For time The laser track The z-axis coordinate of the position, is the Laplace operator.

8. A welding trajectory optimization system for welding a steel box girder wind-resistant structure according to claim 7, characterized in that: The laser error correction model comprises: ， in, The second correction factor for laser trajectory optimization, For time The time adjustment factor is For time The position of the laser track at is the target location, is the first adjustment factor of the laser error correction model, is the second adjustment factor of the laser error correction model, is the current magnetic field amplitude, is the current electric field amplitude, is the third adjustment factor of the laser error correction model.

9. A welding trajectory optimization system for welding a steel box girder wind-resistant structure according to claim 8, characterized in that: The electromagnetic field and space coupling model is used to describe the influence of the electromagnetic field on the laser trajectory, including: ， in, The third correction factor for laser trajectory optimization, is the spatial area where the weld is located, is the first adjustment factor of the electromagnetic field and space coupling model, is the second adjustment factor of the electromagnetic field and space coupling model, It is the third adjustment factor of the electromagnetic field and space coupling model.

10. A welding trajectory optimization system for welding a steel box girder wind-resistant structure according to claim 9, characterized in that: The multi-laser source collaborative model is used to control multiple laser sources to work collaboratively, including: ， in, The fourth correction factor for laser trajectory optimization, For the The first weight of the laser source, For the The current position of the laser track of each laser source, For the The second weight of the laser source, For the The current position of the laser track of each laser source, For time The time-varying coefficient is used to dynamically adjust the contribution of each laser source. For the The third weight of the laser source.

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