Narrow gap pre-filling welding control method, system, equipment and medium

Abstract

The present invention discloses a method, system, device, and medium for controlling narrow-gap pre-fill welding. The method first obtains a top-view image of the pre-filled weld groove region with orthogonal horizontal and vertical scale lines. The method then uses the top plane of the pre-set slats as the pre-welding plane, measures the groove width of the pre-welding plane, determines the groove center coordinates based on the top-view image, and calculates the laser oscillation amplitude based on the groove width. The method then adjusts the light spot centering position based on the groove center coordinates and the laser oscillation amplitude based on the calculated laser oscillation amplitude. Finally, when the light spot centering position satisfies a first preset condition and the laser oscillation amplitude satisfies a second preset condition, a welding enable signal is triggered to proceed with welding. The present invention can solve the problem of poor sidewall fusion in narrow-gap pre-fill welding and improve welding efficiency and quality.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding, and in particular to a narrow gap pre-filling welding control method and system. Background Art

[0002] Welding greater thicknesses and achieving higher welding efficiency have been the main development directions of thick plate laser welding technology since its inception. Existing thick plate laser welding technologies mainly include laser autogenous welding and laser wire welding. When dealing with ultra-thick section welding, there is a general contradiction between energy utilization and forming quality. Taking 10,000-watt high-power laser autogenous welding as an example, although it can theoretically meet the penetration requirements, in actual working conditions, excessive energy input can easily cause keyhole collapse, increased spatter and other problems, resulting in pores and cracks inside the weld, which seriously affect the reliability of the structure. In actual engineering applications, excessive power requirements not only increase costs, but also place extremely high demands on equipment, limiting its application scenarios. Therefore, some scholars have proposed pre-placement of solid metal strips that match the composition of the parent material in the narrow gap groove, combined with 10,000-watt high-power laser oscillating welding technology, to achieve single-layer thick filling and efficient welding, that is, narrow gap pre-filling welding.

[0003] However, when faced with the extremely large welding workload in actual engineering applications, the existing narrow gap pre-filling welding technology greatly increases the probability of side wall poor fusion defects due to the lax spot alignment and unreasonable laser swing amplitude setting. In response to the side wall poor fusion defects in narrow gap welding, the existing welding improvement solutions are mainly divided into two categories: optimizing the groove size and laser swing parameters. However, there is a common problem of poor self-adaptation between laser process parameters and grooves. For example, the patent publication number CN110340529B discloses a method for calculating the groove width of a narrow gap laser wire-filled welding plate, which calculates and designs the expected groove width with better forming through side wall melting conditions and spatial interference analysis, but this solution cannot meet specific groove welding requirements, and optimizing the groove size is time-consuming and labor-intensive. In addition, the coordinated control of the groove and laser parameters is not involved, and there are certain limitations in actual application. Patent publication number CN108788471A discloses a narrow gap vibration laser-arc hybrid welding method for thick plates and its welding device, which uses a vibrating laser beam to guide the arc to swing inside the narrow gap groove to solve the side wall fusion problem of the weld. However, although this solution is more efficient by changing the laser form, the laser swing parameters need to be set in advance for each welding cycle, and the adaptability of the laser swing parameters to different grooves is not explained. In addition, there is patent publication number CN116060772A that discloses a laser arc hybrid welding method and laser arc hybrid welding equipment. This solution proposes to detect the groove gap (detect the gap size through contour marking) and adjust the laser swing amplitude (1.5-2 times the gap), but it relies on the contour marking detection of the gap and fixed ratio adjustment. The adjustment logic relies more on preset parameters. Automation is limited to gap detection and swing amplitude adjustment, and the control is relatively simple. Summary of the Invention

[0004] The purpose of the present invention is to provide a narrow gap pre-filled welding control method, system, equipment and medium to achieve adaptive control of light spot centering and laser swing amplitude, reduce the probability of side wall fusion defects, and improve welding efficiency and quality.

[0005] To achieve the above objectives, the present invention provides a narrow gap pre-filling welding control method, comprising:

[0006] Acquire a top view image of the pre-filled weld groove area; wherein the top view image has orthogonal horizontal scale lines and vertical scale lines;

[0007] Using the top plane of the pre-set slats as a pre-welding plane, and measuring the groove width of the pre-welding plane;

[0008] Determine the center coordinates of the groove based on the top view image, and calculate the laser swing amplitude according to the groove width;

[0009] Adjusting the centering position of the light spot according to the center coordinates of the groove, and adjusting the laser swing amplitude according to the calculated laser swing amplitude value;

[0010] If the centering position of the light spot meets the first preset condition and the laser swing amplitude meets the second preset condition, a welding permission signal is triggered to perform welding, otherwise an alarm signal is triggered.

[0011] Optionally, the calculating the laser swing amplitude according to the groove width includes:

[0012] The laser swing amplitude is calculated by the following formula:

[0013] ;

[0014] ;

[0015] in, represents the laser swing amplitude, represents the swing amplitude coefficient, Indicates the groove width, Indicates the width of the preset slats.

[0016] Optionally, determining the center coordinates of the groove based on the overhead image includes:

[0017] Record the horizontal coordinate value where the horizontal scale line intersects the vertical scale line and the vertical coordinate value where one side of the groove area intersects the vertical scale line;

[0018] The horizontal coordinate value at the intersection of the horizontal scale line and the vertical scale line is used as the horizontal coordinate value of the groove center, and the vertical coordinate value of the groove center is calculated according to the vertical coordinate value at the intersection of one side of the groove area and the vertical scale line to obtain the groove center coordinate.

[0019] Optionally, the longitudinal coordinate value of the groove center is calculated by the following formula:

[0020] ;

[0021] in, Indicates the longitudinal coordinate value of the center coordinate of the groove. is the longitudinal coordinate value where one side of the groove area intersects the longitudinal scale line. is the groove width.

[0022] Optionally, if the centering position of the light spot meets a first preset condition and the laser swing amplitude meets a second preset condition, triggering a welding permission signal to perform welding, otherwise triggering an alarm signal includes:

[0023] If the longitudinal coordinate value of the center position of the light spot satisfy , and the laser swing amplitude A satisfies 1≤2A / D≤1.5, then a welding permission signal is triggered to perform welding, otherwise an alarm signal is triggered.

[0024] Optionally, before recording the horizontal coordinate value at the intersection of the horizontal scale line and the vertical scale line and the vertical coordinate value at the intersection of one side of the groove area and the vertical scale line, the method further includes:

[0025] Adjust the middle horizontal scale line of the top view image field to coincide with or be parallel to the side wall of the groove.

[0026] To achieve the above objectives, the present invention further provides a narrow gap pre-filling welding control system, comprising:

[0027] A visual imaging display module is used to obtain a top view image of the pre-filled welding groove area and display orthogonal horizontal scale lines and vertical scale lines in the top view image;

[0028] a laser ranging sensor for measuring the groove width of the pre-welded plane by using the top plane of the pre-set slats as the pre-welded plane;

[0029] a data detection and processing unit, configured to determine the center coordinates of the groove based on the overhead image and calculate the laser swing amplitude according to the groove width;

[0030] A dynamic execution control module is used to adjust the centering position of the light spot according to the center coordinates of the groove and adjust the laser swing amplitude according to the calculated laser swing amplitude value;

[0031] The feedback correction display unit is used to trigger a welding permission signal to perform welding if the centering position of the light spot meets a first preset condition and the laser swing amplitude meets a second preset condition, otherwise trigger an alarm signal.

[0032] Optionally, the dynamic execution control module includes a welding robot and a laser oscillation system;

[0033] The dynamic execution control module receives the output instructions of the data detection processing unit through the CAN bus, and synchronously controls the welding robot to adjust the centering position of the light spot according to the center coordinates of the groove and controls the laser oscillation system to adjust the laser oscillation amplitude according to the calculated laser oscillation amplitude value.

[0034] To achieve the above objectives, the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the narrow gap pre-filling welding control method as described in any one of the above.

[0035] To achieve the above objectives, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the narrow gap pre-filling welding control method as described in any one of the above.

[0036] Compared with the prior art, the present invention provides a narrow gap pre-filling welding control method, system, equipment and medium, which first obtains the pre-filling welding groove area, a top view image with orthogonal horizontal scale lines and vertical scale lines, and then uses the top plane of the preset strip as the pre-welding plane to measure the groove width of the pre-welding plane, and determines the center coordinates of the groove and calculates the laser swing amplitude. The scale line positioning and precise calculation can be used to accurately determine the center of the groove and the position of the filling material, so that the laser beam can act accurately and improve the welding position accuracy; then the light spot centering position is adjusted according to the groove center coordinates, and the laser swing amplitude is adjusted according to the calculated laser swing amplitude value. Finally, when the light spot centering position meets the first preset condition and the laser swing amplitude meets the second preset condition, the welding permission signal is triggered to perform welding. The welding parameters can be monitored and judged in real time to avoid defects such as poor fusion and porosity caused by inappropriate parameters, thereby ensuring the quality of the weld. The present invention can automatically adapt to changes in groove width and adjust the spot position and swing amplitude in real time, solving the problem of poor side wall fusion caused by groove shrinkage, spot centering deviation and unreasonable laser swing amplitude in narrow gap pre-filling welding, thereby improving welding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings used in the implementation methods. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a flow chart of a narrow gap pre-filling welding control method provided by an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of a narrow gap pre-filling welding method provided by an embodiment of the present invention;

[0040] Figure 3 1 is a schematic diagram of measuring geometric parameters of a narrow gap pre-filled weld provided by an embodiment of the present invention;

[0041] Figure 4 A structural block diagram of a narrow gap pre-filling welding control system provided by an embodiment of the present invention;

[0042] Figure 5This is a schematic diagram of a top-view image field of view provided by an embodiment of the present invention;

[0043] Figure 6 This is a structural block diagram of a terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] See also Figure 1 , Figure 1 1 is a flow chart of a narrow gap pre-filling welding control method provided by an embodiment of the present invention, wherein the narrow gap pre-filling welding control method comprises steps S1 to S5:

[0046] S1. Obtaining a top view image of a pre-filled welding groove area; wherein the top view image has orthogonal horizontal scale lines and vertical scale lines;

[0047] It should be noted that before performing narrow gap pre-filling welding, a narrow gap groove (such as V-type, U-type or I-type) will be processed first to ensure that the groove width meets the laser beam energy concentration requirements.

[0048] See also Figure 2 , Figure 2 This is a schematic diagram of a narrow gap pre-filling welding method provided by an embodiment of the present invention. Figure 2 As shown in the figure, the arrow indicates the welding direction, indicating that the welding operation proceeds in this direction. During operation, the laser is incident at a certain angle (generally 5° from vertical). The laser beam is the source of welding energy and provides heat for the welding process. The weld is the joint between two plates and the active area of ​​the welding operation. The keyhole is a small hole formed in the molten pool during laser welding. It is a key feature of laser deep penetration welding, facilitating energy transfer and material fusion. The molten pool is the pool of liquid metal formed by the laser action. As welding progresses, the molten pool cools and solidifies to form the weld. Pre-placed strips, plate-like filler material placed in the groove, can increase the fill volume of the weld and improve weld performance. The base weld is a pre-welded bottom layer welded before the actual welding process, which acts as a seal and base to ensure the quality of subsequent welds. The laser beam is angled 5° from vertical. This angle helps control the molten pool shape, keyhole stability, and weld quality.

[0049] As can be understood, orthogonal laser scale lines are projected directly above the groove (from a top-down perspective). The transverse scale lines (parallel to the weld length, i.e., the X-axis) are used to locate the measurement section (e.g., the transverse coordinates of the weld start, midpoint, and end points). The longitudinal scale lines (perpendicular to the weld length, i.e., the Y-axis) are used to quantify the widthwise position of the groove edge and filler material (e.g., the groove edge coordinates and the filler strip edge coordinates). In specific implementations, an industrial camera or laser vision sensor can be mounted with its optical axis perpendicular to the groove surface to obtain a distortion-free top-down image.

[0050] S2. Using the top plane of the pre-installed slats as a pre-welding plane, measuring the groove width of the pre-welding plane;

[0051] It should be noted that in this embodiment of the present invention, the top plane of the slat is defined as the pre-welding plane. Automatic focus calibration can then be performed at any point (X, Y) on the top plane of the slat according to a preset focal length. The pre-welding plane groove width is then scanned and measured, and the value recorded. The groove width measurement accuracy should reach ±0.1mm to ensure the accuracy of subsequent calculations.

[0052] S3, determining the center coordinates of the groove based on the top view image, and calculating the laser swing amplitude according to the groove width;

[0053] In an optional embodiment, determining the center coordinates of the groove based on the overhead image includes:

[0054] Record the horizontal coordinate value where the horizontal scale line intersects the vertical scale line and the vertical coordinate value where one side of the groove area intersects the vertical scale line;

[0055] The horizontal coordinate value at the intersection of the horizontal scale line and the vertical scale line is used as the horizontal coordinate value of the groove center, and the vertical coordinate value of the groove center is calculated according to the vertical coordinate value at the intersection of one side of the groove area and the vertical scale line to obtain the groove center coordinate;

[0056] The longitudinal coordinate value of the groove center is calculated by the following formula:

[0057] ;

[0058] in, Indicates the longitudinal coordinate value of the center coordinate of the groove. is the longitudinal coordinate value where one side of the groove area intersects the longitudinal scale line. is the groove width.

[0059] Preferably, before recording the horizontal coordinate value at the intersection of the horizontal scale line and the vertical scale line and the vertical coordinate value at the intersection of one side of the groove area and the vertical scale line, the method further includes:

[0060] Adjust the middle horizontal scale line of the top view image field to coincide with or be parallel to the side wall of the groove.

[0061] It's worth noting that industrial cameras or vision sensors can produce perspective distortion in non-orthogonal viewing angles (for example, the groove sidewall appears trapezoidal rather than rectangular in the image), causing scale lines to misalign with their actual physical locations. However, by adjusting the laser head so that the transverse scale lines coincide with or are strictly parallel to the groove sidewall, the imaging plane of the vision system is forced to be perpendicular to the groove surface, minimizing distortion errors and ensuring that the coordinates of the scale lines in the image directly correspond to their actual physical locations, minimizing problems such as fill offset, insufficient fusion, or weld defects.

[0062] In an optional embodiment, the calculating the laser oscillation amplitude according to the groove width includes:

[0063] The laser swing amplitude is calculated by the following formula:

[0064] ;

[0065] ;

[0066] in, represents the laser swing amplitude, represents the swing amplitude coefficient, Indicates the groove width, Indicates the width of the preset slats.

[0067] It is worth noting that the inventors have found through existing experiments that the setting of the laser swing amplitude directly affects the side wall fusion effect. As long as the relationship between the laser swing amplitude and the pre-weld groove satisfies 1≤2A / D≤1.5, it is within the optimized laser swing amplitude range and can effectively avoid the side wall unfused defect. 、 The purpose of calculating the laser swing amplitude is to control the laser swing amplitude to meet the condition of "1≤2A / D≤1.5".

[0068] It should be noted that in actual welding, since W / D is constantly changing, the embodiment of the present invention uses the formula “ 、 By calculating and controlling the laser swing amplitude, the laser swing amplitude can ultimately satisfy the condition of "1≤2A / D≤1.5".

[0069] For example, see Figure 3 , Figure 3 FIG. 1 is a schematic diagram of measuring geometric parameters of a narrow gap pre-filled welding according to an embodiment of the present invention. Figure 3As shown, the laser beam is emitted vertically downward from the top of the groove, and a preset slat is placed in the groove as a filling material. D is the groove width, that is, the distance between the two side walls of the groove opening, W is the slat width, and A is the laser swing amplitude.

[0070] It should be noted that the formula , The derivation of is based on the following considerations:

[0071] when When it approaches 1 (the strip width is close to the groove width), β = 0.75, which can ensure that the swing amplitude A covers the pre-weld plane groove width (A = 0.75D) to achieve good side wall fusion; when When it approaches 0 (the slat width is smaller than the groove width), β=0.5, which can ensure that the swing amplitude covers the slat width (A=0.5D).

[0072] In addition, after multiple experimental verifications, the formula can effectively adapt to the combination of different groove widths and slat widths, automatically satisfying the optimization condition 0.5≤A≤0.75D, while covering the slat width 2A≥W.

[0073] S4, adjusting the centering position of the light spot according to the center coordinates of the groove, and adjusting the laser swing amplitude according to the calculated laser swing amplitude value;

[0074] It should be noted that the position of the laser spot after centering is the center of the groove, and the laser spot position at this time can be set as the welding starting point. At the same time, the calculated swing amplitude value can be used as a control instruction to adjust the actual laser swing amplitude to the laser swing amplitude value.

[0075] In an optional embodiment, after adjusting the centering position of the light spot according to the center coordinates of the groove and adjusting the laser swing amplitude according to the calculated laser swing amplitude value, the narrow gap pre-filling welding control method further includes:

[0076] The spot image information after the spot is centered is obtained, and the spot image information is superimposed on the overhead image for display. The groove width, spot center coordinates and the final determined laser swing amplitude are updated and displayed in real time.

[0077] It is worth mentioning that all data will be presented synchronously in digital and graphical form on the display, which can facilitate operators to monitor and participate in regulation.

[0078] S5. If the centering position of the light spot meets the first preset condition and the laser swing amplitude meets the second preset condition, a welding permission signal is triggered to perform welding; otherwise, an alarm signal is triggered.

[0079] Specifically, step S5 includes:

[0080] If the longitudinal coordinate value of the center position of the light spot satisfy , and the laser swing amplitude A satisfies 1≤2A / D≤1.5, then a welding permission signal is triggered to perform welding, otherwise an alarm signal is triggered;

[0081] in, It is the longitudinal coordinate value of the intersection of one side of the groove area and the longitudinal scale line, and D is the groove width.

[0082] Specifically, when the first preset condition and the second preset condition are met, it means that the light spot has been strictly centered and the laser swing amplitude has been set within a reasonable range. After the setting is successful, a prompt will be given that welding can be performed; when only the first preset condition or the second preset condition is met, that is, the preset conditions are not met at the same time, an alarm signal will be generated to prompt the operator to check the light spot centering status or adjust the swing amplitude parameters.

[0083] In summary, the embodiment of the present invention provides a narrow gap pre-filling welding control method, which first obtains a top view image with orthogonal horizontal scale lines and vertical scale lines in the pre-filling welding groove area, then uses the top plane of the pre-set strip as the pre-welding plane, measures the groove width of the pre-welding plane, and calculates the groove width of the pre-welding plane according to the pre-welding plane. Determine the center coordinates of the groove according to By calculating and controlling the laser oscillation amplitude, the center of the groove and the position of the filling material can be accurately determined through scale line positioning and precise calculation, so that the laser beam acts precisely and the welding position accuracy is improved; then, the centering position of the light spot is adjusted according to the center coordinates of the groove, and the laser oscillation amplitude is adjusted according to the calculated laser oscillation amplitude value. Finally, when the centering position of the light spot meets the first preset condition and the laser oscillation amplitude meets the second preset condition, the welding permission signal is triggered to perform welding. The welding parameters can be monitored and judged in real time to avoid defects such as poor fusion and porosity caused by improper parameters, thereby ensuring the quality of the weld. The embodiment of the present invention can realize the automatic control of the light spot position and oscillation amplitude, eliminate the reliance on manual experience, reduce the probability of side wall poor fusion defects, thereby improving welding efficiency and quality, and is suitable for pre-filling welding of narrow gaps in thick plates.

[0084] Based on the above method items, the present invention provides corresponding embodiments of the system items.

[0085] See also Figure 4 , Figure 4 This is a block diagram of a narrow gap pre-filling welding control system provided by an embodiment of the present invention. The narrow gap pre-filling welding control system includes:

[0086] The visual imaging display module 21 is used to obtain a top view image of the pre-filled welding groove area and display the orthogonal horizontal scale lines and vertical scale lines in the top view image; the visual imaging display module 21 includes a high-resolution CCD sensor and an image processing algorithm, and supports image scaling and grayscale processing.

[0087] a laser ranging sensor 22 for measuring the groove width of the pre-welded plane by using the top plane of the pre-set slats as the pre-welded plane;

[0088] a data detection and processing unit 23, configured to determine the center coordinates of the groove based on the top view image and calculate the laser swing amplitude according to the groove width;

[0089] A dynamic execution control module 24 is used to adjust the centering position of the light spot according to the center coordinates of the groove, and adjust the laser swing amplitude according to the calculated laser swing amplitude value;

[0090] The feedback correction display unit 25 is used to trigger a welding permission signal to perform welding if the centering position of the light spot meets a first preset condition and the laser swing amplitude meets a second preset condition, otherwise trigger an alarm signal.

[0091] Specifically, the dynamic execution control module 24 includes a welding robot and a laser oscillation system;

[0092] The dynamic execution control module 24 receives the output instructions of the data detection processing unit 23 through the CAN bus, and synchronously controls the welding robot to adjust the centering position of the light spot according to the center coordinates of the groove and controls the laser oscillation system to adjust the laser oscillation amplitude according to the calculated laser oscillation amplitude value.

[0093] It should be noted that the narrow gap pre-filling welding control system provided in an embodiment of the present invention is used to execute all the process steps of a narrow gap pre-filling welding control method in the above embodiment. The working principles and beneficial effects of the two correspond one to one, so they will not be repeated here.

[0094] The present invention also provides a method for using the narrow gap pre-filling welding control system to perform all steps of the narrow gap pre-filling welding control method of the above embodiment. Specifically, steps 1 to 7 are as follows:

[0095] It should be noted that, in specific implementation, the narrow gap pre-filling welding control system also includes auxiliary welding devices such as a power supply, a laser, a welding robot, a robot teaching pendant, a laser oscillating welding head and a welding platform.

[0096] Step 1: After turning on the power, start the welding robot, adjust the laser oscillating welding head to be above the groove of the welding platform through the robot teaching pendant, and obtain a top-view image of the groove area taken vertically from directly above the groove through the visual imaging display module 21, and the top-view image field of view has orthogonal horizontal scale lines and vertical scale lines.

[0097] See also Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a top view image field provided by an embodiment of the present invention. Figure 5 As shown, the straight line where the X-axis is located is the horizontal scale line, and the straight line where the Y-axis is located is the vertical scale line.

[0098] Step 2: In the top view image, define the top plane of the solid metal strip pre-placed in the narrow gap groove as the pre-welding plane. Figure 5 As shown, the laser distance measuring sensor 22 performs automatic focus calibration at any point (X, Y) on the top plane of the slat according to the preset focus, and scans and measures the groove width D of the pre-welded plane and records its value.

[0099] It's important to note that any point (X, Y) on the top plane of the slat is the location of the guide laser. The guide laser is a low-power laser emitted by the oscillating laser welding head. It is used for positioning and calibration and does not participate in the actual welding. During the welding preparation phase, the robot teach pendant adjusts the guide laser to a specific position on the top plane of the slat. This position is defined as the origin of the coordinate system (0, 0).

[0100] Step 3: After obtaining the top-view imaging field of view through the visual imaging display module 21 and displaying the image information where the horizontal scale line and the vertical scale line intersect, adjust the laser head so that the horizontal scale line in the top-view imaging field of view coincides with or is parallel to the side wall of the groove. Figure 5 As shown, before starting the welding cycle at any point (X, Y) on the top plane, record the horizontal coordinate value where the horizontal scale line intersects the vertical scale line. (at this time ), and the longitudinal coordinate value of the intersection of one side of the groove area and the longitudinal scale line .

[0101] Step 4: Use the formula , calculate the center coordinates of the groove of the pre-welding plane ( ) data, and transmits the center coordinate data to the robot control cabinet through the dynamic execution control module 24, so as to adjust the laser spot position in real time according to the center coordinate data to perform spot centering. The position of the spot after centering is the center position of the groove, and the position of the spot after centering at this time is set as the welding starting point position.

[0102] Step 5: According to the formula ,in, , the laser oscillation amplitude A is calculated. To ensure that the laser oscillation amplitude adapts to the groove geometry, the condition 1 ≤ 2A / D ≤ 1.5 must be satisfied. The calculated oscillation amplitude is used to generate a control instruction, which is fed back to the laser oscillation system via the dynamic execution control module 24 to adjust the laser beam oscillation amplitude to the calculated value.

[0103] Step 6: Obtain the spot image information after the spot is centered through the visual imaging display module 21, and superimpose the spot image information with the top-view imaging field of view, while updating and displaying the groove width D of the pre-welding plane and the coordinates of the center of the spot ( ) and the final swing amplitude A. To facilitate operator monitoring, all data will be presented synchronously in digital and graphical form on the display.

[0104] Step 7: When the first preset condition ( ) and the second preset condition (1≤2A / D≤1.5, in, ), the welding permission signal is triggered to start welding from the welding starting point, otherwise an alarm signal is triggered.

[0105] In summary, the embodiment of the present invention directly maps the groove geometric parameter D to the swing amplitude A through a mathematical formula, which can eliminate the reliance on manual experience. During manual operation, the light spot needs to be aligned with the center of the slat. The slat assembly error directly causes the swing laser energy distribution to deviate from the groove, resulting in poor sidewall fusion defects. In the embodiment of the present invention, the focus and centering position of the light spot is automatically adjusted as the groove width changes. Even if the slat is offset by ±1mm, good sidewall fusion can still be achieved through adaptive adjustment of the swing amplitude. It can also achieve simultaneous alignment of the laser spot and the laser swing energy distribution, breaking the surface tension-dominated molten pool flow and avoiding sidewall unfused defects. Through automated control, human intervention is reduced, the consistency and stability of the welding process are improved, and the welding efficiency and quality are simultaneously improved.

[0106] The embodiment of the present invention further provides a terminal device, such as Figure 6 FIG2 is a block diagram of a preferred embodiment of a terminal device provided by the present invention. The terminal device includes a processor 31, a memory 32, and a computer program stored in the memory 32 and configured to be executed by the processor 31. When the processor 31 executes the computer program, it implements the narrow gap pre-fill welding control method described in any of the above embodiments.

[0107] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the narrow gap pre-filling welding control method described in any of the above embodiments.

[0108] When the processor 31 executes the computer program, the steps in the embodiment of the narrow gap pre-filling welding control method are implemented, for example: Figure 1 All steps of the narrow gap pre-fill welding control method are shown.

[0109] Preferably, the computer program can be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor 31 to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0110] The processor 31 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor, or the processor 31 can be any conventional processor. The processor 31 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the terminal device.

[0111] The memory 32 primarily includes a program storage area and a data storage area. The program storage area can store an operating system, at least one application required for a function, and the data storage area can store related data. Furthermore, the memory 32 can be a high-speed random access memory or a non-volatile memory, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, or a flash card. Alternatively, the memory 32 can be another volatile solid-state memory device.

[0112] It should be noted that the above terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 6 The structural block diagram shown is only an example of the structure of the terminal device and does not constitute a structural limitation of the terminal device. The terminal device may include more or fewer components than shown in the figure, or a combination of certain components, or different components.

[0113] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A narrow gap pre-filling welding control method, characterized in that: include: Acquire a top view image of the pre-filled weld groove area; wherein the top view image has orthogonal horizontal scale lines and vertical scale lines; Using the top plane of the pre-set slats as a pre-welding plane, and measuring the groove width of the pre-welding plane; Determine the center coordinates of the groove based on the top view image, and calculate the laser swing amplitude according to the groove width; Adjusting the centering position of the light spot according to the center coordinates of the groove, and adjusting the laser swing amplitude according to the calculated laser swing amplitude value; If the centering position of the light spot meets the first preset condition and the laser swing amplitude meets the second preset condition, a welding permission signal is triggered to perform welding, otherwise an alarm signal is triggered; Among them, the first preset condition is , the second preset condition is 1≤2A / D≤1.5; in, Indicates the longitudinal coordinate value of the center position of the light spot, Indicates the longitudinal coordinate value of the center coordinate of the groove. is the longitudinal coordinate value where one side of the groove area intersects the longitudinal scale line. is the groove width, Indicates the laser swing amplitude.

2. The narrow gap pre-filling welding control method according to claim 1, characterized in that: The step of calculating the laser swing amplitude according to the groove width includes: The laser swing amplitude is calculated using the following formula: ； ； in, Indicates the laser swing amplitude, represents the swing amplitude coefficient, Indicates the groove width, Indicates the width of the preset slats.

3. The narrow gap pre-filling welding control method according to claim 2, characterized in that: The determining of the center coordinates of the groove based on the overhead image includes: Record the horizontal coordinate value where the horizontal scale line intersects the vertical scale line and the vertical coordinate value where one side of the groove area intersects the vertical scale line; The horizontal coordinate value at the intersection of the horizontal scale line and the vertical scale line is used as the horizontal coordinate value of the groove center, and the vertical coordinate value of the groove center is calculated according to the vertical coordinate value at the intersection of one side of the groove area and the vertical scale line to obtain the groove center coordinate.

4. The narrow gap pre-filling welding control method according to claim 3, characterized in that: Before recording the horizontal coordinate value at the intersection of the horizontal scale line and the vertical scale line and the vertical coordinate value at the intersection of one side of the groove area and the vertical scale line, the method further includes: Adjust the middle horizontal scale line of the top view image field to coincide with or be parallel to the side wall of the groove.

5. A narrow gap pre-filling welding control system, characterized in that: include: A visual imaging display module is used to obtain a top view image of the pre-filled welding groove area and display orthogonal horizontal scale lines and vertical scale lines in the top view image; a laser ranging sensor for measuring the groove width of the pre-welded plane by using the top plane of the pre-set slats as the pre-welded plane; a data detection and processing unit, configured to determine the center coordinates of the groove based on the overhead image and calculate the laser swing amplitude according to the groove width; A dynamic execution control module is used to adjust the centering position of the light spot according to the center coordinates of the groove and adjust the laser swing amplitude according to the calculated laser swing amplitude value; a feedback correction display unit, configured to trigger a welding permission signal to perform welding if the centering position of the light spot satisfies a first preset condition and the laser oscillation amplitude satisfies a second preset condition, and trigger an alarm signal otherwise; Among them, the first preset condition is , the second preset condition is 1≤2A / D≤1.5; in, Indicates the longitudinal coordinate value of the center position of the light spot, Indicates the longitudinal coordinate value of the center coordinate of the groove. is the longitudinal coordinate value where one side of the groove area intersects the longitudinal scale line. is the groove width, Indicates the laser swing amplitude.

6. The narrow gap pre-filling welding control system according to claim 5, characterized in that: The dynamic execution control module includes a welding robot and a laser oscillation system; The dynamic execution control module receives the output instructions of the data detection processing unit through the CAN bus, and synchronously controls the welding robot to adjust the centering position of the light spot according to the center coordinates of the groove and controls the laser oscillation system to adjust the laser oscillation amplitude according to the calculated laser oscillation amplitude value.

7. A terminal device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the narrow gap pre-filling welding control method according to any one of claims 1 to 4 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the narrow gap pre-filling welding control method according to any one of claims 1 to 4.

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