Friction stir welding control method, system, storage medium and electronic equipment

Abstract

The present application provides a control method, system, storage medium, and electronic device for friction stir welding, relating to the technical field of friction stir welding. The technical solution provided by the present application can comprehensively and accurately obtain the spatial information of the crack by acquiring a multimodal image of the crack area and identifying the crack morphological characteristics and crack structural characteristics, and then determine the key welding position and welding path based on the crack morphological characteristics and crack structural characteristics, so that the welding path can accurately cover the key parts of the crack area; at the same time, the welding flatness of the welding section is determined based on the crack structural characteristics, and the initial welding parameters of the key welding position are adjusted accordingly to obtain the target welding parameters of each welding section, so that the friction stir welding repair solution can be adaptively adjusted according to the specific characteristics of the crack, ultimately improving the welding effect of the crack repair.

Description

Technical Field

[0001] The present application relates to the technical field of friction stir welding, and in particular to a control method, system, storage medium and electronic device for friction stir welding. Background Art

[0002] Friction stir welding (FSW) is a solid-state joining technology that utilizes frictional heat and plastic deformation generated between a high-speed rotating stirrer and the workpiece to soften and thoroughly mix the materials in the joint area, thereby achieving a metal-to-metal connection. This welding method offers advantages such as minimal deformation, low residual stress, and the absence of filler material. It is particularly suitable for materials such as aluminum alloys that are difficult to weld using traditional fusion welding. Because the material remains in a solid state during FSW, the weld microstructure is fine and uniform, with excellent mechanical properties. Therefore, it holds great promise for crack repair applications.

[0003] Currently, common crack repair technologies mainly use a single visual sensor for crack detection. Since crack areas often have different depth and width characteristics, the use of fixed welding parameters cannot adapt to such structural differences, resulting in uneven welding quality and poor welding repair effects. Summary of the Invention

[0004] The present application provides a control method, system, storage medium and electronic device for friction stir welding, which can improve the welding effect for crack repair.

[0005] In a first aspect, the present application provides a control method for friction stir welding, the method comprising:

[0006] Acquire a multimodal image of the crack area, and identify crack morphological features and crack structural features based on the multimodal image;

[0007] Determining a key welding position and a welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics, wherein the welding path includes at least one key welding position;

[0008] Determining the welding flatness of each welding section in the welding path according to the crack structure characteristics, wherein the welding section is a section between adjacent key welding positions in the welding path;

[0009] Acquiring initial welding parameters corresponding to the key welding positions, and adjusting the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section;

[0010] A friction stir welding repair plan for the welding path is generated according to the target welding parameters, and the stirring head is controlled to execute the friction stir welding repair plan.

[0011] By adopting the above technical solution, multimodal images of the crack area are obtained and the crack morphological characteristics and crack structural characteristics are identified, so that the spatial information of the crack can be fully and accurately obtained, and then the key welding positions and welding paths are determined according to the crack morphological characteristics and crack structural characteristics, so that the welding path can accurately cover the key parts of the crack area; at the same time, the welding flatness of the welding section is determined based on the crack structural characteristics, and the initial welding parameters of the key welding position are adjusted accordingly to obtain the target welding parameters of each welding section, so that the stir friction welding repair scheme can be adaptively adjusted according to the specific characteristics of the crack, ultimately improving the welding effect of the crack repair.

[0012] Optionally, acquiring a multimodal image of the crack region and identifying crack morphological features and crack structural features according to the multimodal image includes:

[0013] Acquire multimodal images of the crack area;

[0014] Extracting the crack edge contour from the multimodal image using an edge detection algorithm to obtain crack morphological features;

[0015] A three-dimensional stereo model of the crack area is constructed according to the multimodal image, and the three-dimensional stereo model is identified to obtain crack structural features.

[0016] By adopting the above technical solution, multimodal images of the crack area are obtained, and the crack edge contour is extracted from the multimodal image using an edge detection algorithm to obtain the crack morphological characteristics. At the same time, a three-dimensional stereo model of the crack area is constructed based on the multimodal image and identified to obtain the crack structural characteristics. This achieves comprehensive acquisition of the two-dimensional morphological characteristics and three-dimensional structural characteristics of the crack, thereby accurately grasping the spatial distribution information of the crack.

[0017] Optionally, determining a key welding position and a welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics includes:

[0018] Determine the crack starting point, crack end point and crack turning point according to the crack morphological characteristics, and use the crack turning point as the key welding position;

[0019] According to the crack structure characteristics, detecting a key area where the crack depth exceeds a preset depth threshold, and using the center point of the key area as the key welding position;

[0020] Using the shortest path algorithm, starting from the crack starting point, sequentially connecting the key welding positions until the crack end point, to obtain an initial welding path;

[0021] According to the motion constraint conditions of the stirring head, the initial welding path is smoothed to obtain the welding path.

[0022] By adopting the above technical solution, the crack starting point, crack end point and crack turning point are determined as the key welding position according to the crack morphological characteristics, and the center point of the key area with a depth exceeding the preset depth threshold is identified as the key welding position according to the crack structural characteristics. The shortest path algorithm is used to connect the key welding positions in sequence to obtain the initial welding path, and then the initial welding path is smoothed according to the motion constraint conditions of the stirring head to obtain the welding path, thereby achieving accurate coverage of the key positions of the crack.

[0023] Optionally, determining the welding flatness of each welding section in the welding path according to the crack structure characteristics includes:

[0024] Based on the crack structure characteristics, respectively calculating the surface curvature value and the average crack depth of each welding section in the welding path;

[0025] The welding flatness of each welding section is determined according to the surface curvature value and the corresponding average crack depth.

[0026] By adopting the above technical solution, the surface curvature value and average crack depth of each welding section in the welding path are calculated based on the crack structure characteristics. The surface curvature value reflects the unevenness of the surface of the welding section. A larger surface curvature value indicates that the surface friction of the stirring head needs to be increased to achieve surface flatness. The average crack depth characterizes the degree of cracking in the welding section. A larger crack depth requires increasing the deep friction of the stirring head to ensure sufficient welding. Then, the welding flatness of each welding section is determined based on the surface curvature value and the corresponding average crack depth, two key factors affecting the stir friction welding effect, thereby achieving an accurate assessment of the required friction level for the welding section.

[0027] Optionally, obtaining initial welding parameters corresponding to the key welding positions and adjusting the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section includes:

[0028] According to the target crack structure characteristics at the key welding position, initial welding parameters matching the target crack structure characteristics are obtained from a preset welding parameter database;

[0029] Determining the welding flatness level of the welding flatness;

[0030] The initial welding parameters are adjusted according to the preset adjustment parameters of the welding flatness level to obtain target welding parameters corresponding to the welding section at the key welding position.

[0031] By adopting the above technical solution, matching initial welding parameters are obtained from a preset welding parameter database based on the target crack structure characteristics at the key welding position, and a corresponding relationship between the crack characteristics and the welding parameters is established. By determining the welding flatness level where the welding flatness is located, the initial welding parameters are quantitatively adjusted according to the adjustment parameters preset for the level, and the target welding parameters corresponding to the welding section at the key welding position are obtained. This realizes the graded optimization adjustment of the welding parameters, so that the welding parameters can be specifically adapted to the welding flatness requirements of different sections, thereby ensuring the welding quality of each welding section.

[0032] Optionally, before generating the friction stir welding repair plan for the welding path according to the target welding parameters and controlling the stirring head to execute the friction stir welding repair plan, the method further includes:

[0033] Obtaining an average crack width of each welding section in the welding path;

[0034] The size and model of the stirring head for friction stir welding are determined according to the average crack width.

[0035] By adopting the above technical solution, the average crack width of each welding section in the welding path is obtained, and the size and model of the stirring head for stir friction welding are determined based on the average crack width, thereby achieving a match between the stirring head specifications and the crack size, thereby ensuring that the stirring head can fully cover the crack area and achieve effective friction welding.

[0036] Optionally, after generating the friction stir welding repair plan for the welding path according to the target welding parameters and controlling the stirring head to execute the friction stir welding repair plan, the method further includes:

[0037] Obtain the actual welding temperature at the welding position in real time;

[0038] When the actual welding temperature deviates from the preset temperature range, the rotation speed and feed speed of the stirring head are adjusted.

[0039] By adopting the above technical solution, the actual welding temperature at the welding position is obtained in real time, and the rotation speed and feed speed of the stirring head are adjusted when the actual welding temperature deviates from the preset temperature range. This realizes real-time monitoring of the temperature during the welding process and dynamic optimization of the welding parameters, thereby ensuring that the welding temperature is always maintained within the appropriate range and improving the stability of the welding quality.

[0040] In a second aspect, the present application provides a control system for friction stir welding, the system comprising:

[0041] an identification module, configured to obtain a multimodal image of the crack region and identify crack morphological features and crack structural features based on the multimodal image;

[0042] A first processing module is configured to determine a key welding position and a welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics, wherein the welding path includes at least one key welding position;

[0043] A second processing module is configured to determine the welding flatness of each welding section in the welding path according to the crack structure characteristics, wherein the welding section is a section between adjacent key welding positions in the welding path;

[0044] a parameter adjustment module, configured to obtain initial welding parameters corresponding to the key welding positions, and adjust the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section;

[0045] An output module is used to generate a friction stir welding repair plan for the welding path according to the target welding parameters, and control the stirring head to execute the friction stir welding repair plan.

[0046] In a third aspect, the present application provides a computer storage medium, which stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing any one of the above methods.

[0047] In a fourth aspect, the present application provides an electronic device comprising a processor, a memory and a transceiver, wherein the memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device performs any one of the above methods.

[0048] In summary, the beneficial effects brought about by the technical solution of this application include:

[0049] By adopting the above technical solution, multimodal images of the crack area are obtained and the crack morphological characteristics and crack structural characteristics are identified, so that the spatial information of the crack can be fully and accurately obtained, and then the key welding positions and welding paths are determined according to the crack morphological characteristics and crack structural characteristics, so that the welding path can accurately cover the key parts of the crack area; at the same time, the welding flatness of the welding section is determined based on the crack structural characteristics, and the initial welding parameters of the key welding position are adjusted accordingly to obtain the target welding parameters of each welding section, so that the stir friction welding repair scheme can be adaptively adjusted according to the specific characteristics of the crack, ultimately improving the welding effect of the crack repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 1 is a flow chart of a control method for friction stir welding according to an embodiment of the present application;

[0051] Figure 2 This is a schematic structural diagram of a friction stir welding control system according to an embodiment of the present application;

[0052] Figure 3 This is a structural diagram of an electronic device provided in an embodiment of the present application.

[0053] Description of reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0054] In order to enable people skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0055] In the description of the embodiments of this application, words such as "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0056] In the description of the embodiments of the present application, the term "multiple" means two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0057] See Figure 1 , a flow chart illustrating a friction stir welding control method provided in an embodiment of the present application. This method can be implemented using a computer program, a single-chip microcomputer, or run on a von Neumann-based friction stir welding control system. The computer program can be integrated into an application or run as a standalone tool application. The specific steps of the friction stir welding control method are described in detail below.

[0058] S101: Acquire a multimodal image of the crack area, and identify crack morphological features and crack structural features based on the multimodal image;

[0059] Among them, the crack area refers to the crack location and its surrounding area caused by fatigue, stress concentration, material defects and other factors on the surface of metal workpieces such as aluminum alloys and magnesium alloys that are suitable for repair by stir friction welding process. This area includes not only the morphological characteristics of the crack itself, but also the affected material structure around the crack.

[0060] Among them, crack morphological characteristics refer to the appearance characteristics of the crack on the surface of the workpiece, mainly including the planar characteristics such as the crack's external contour, direction, length, surface width and crack expansion path.

[0061] Crack structural characteristics refer to the three-dimensional spatial features of the crack region, including three-dimensional geometric features such as crack depth distribution, surface curvature, crack cross-sectional shape, and crack propagation direction. By analyzing the three-dimensional model constructed from multimodal images, spatial information such as the specific depth value and surface flatness of the crack region can be obtained.

[0062] In this embodiment, due to the complexity of crack information, a single image acquisition method is unable to fully reflect all crack characteristics. Therefore, multiple imaging devices are used to capture images of the crack area, obtaining multimodal images including visible light images, infrared thermal images, and ultrasonic images. These different modal images can reflect crack characteristics from different angles. Visible light images are primarily used to observe the surface characteristics of the crack, infrared thermal images can reflect the temperature distribution of the crack area and the internal state of the material, and ultrasonic images can detect crack depth information. The acquired multimodal images are input into an image recognition system, and an edge detection algorithm is used to extract morphological features such as the crack's shape, direction, and length. Combined with depth information analysis, structural features such as the crack's depth distribution and surface curvature are obtained.

[0063] Based on the above embodiment, as an optional implementation manner, the method of identifying the crack morphological characteristics and the crack structural characteristics can be specifically implemented through the following steps S201 to S203.

[0064] S201: Acquire a multimodal image of the crack area;

[0065] S202: extracting the crack edge contour from the multimodal image using an edge detection algorithm to obtain crack morphological features;

[0066] In specific implementation, the multimodal image is converted into a grayscale image, and the grayscale gradient value and gradient direction of each pixel in the image are calculated. On this basis, a gradient threshold is set. When the gradient value of a pixel is greater than the set threshold, it is marked as an edge point. By connecting these edge points, a complete crack edge contour line is obtained. Afterwards, the obtained contour line is digitized and converted into a contour curve represented by a series of coordinate points. Based on the geometric information of the contour curve, the morphological characteristics of the crack, such as shape, direction, and length, can be calculated. For example, the crack length can be determined by analyzing the starting and ending points of the contour curve, the crack direction can be determined by analyzing the directional change of the curve, and the crack shape can be determined by analyzing the curvature of the curve.

[0067] S203: constructing a three-dimensional model of the crack area according to the multimodal image, identifying the three-dimensional model, and obtaining crack structural features.

[0068] In this embodiment, in order to obtain three-dimensional spatial features such as the depth distribution and surface curvature of the crack, it is necessary to construct a three-dimensional model of the crack area based on the multimodal images. Specifically, the depth information in the acquired multimodal images is fused to create spatial point cloud data of the crack area, where each point cloud data contains the spatial coordinate information of the point. By triangulating the point cloud data, a three-dimensional model representing the crack area is generated. The generated three-dimensional model is identified and analyzed, and the depth distribution of the crack can be obtained by calculating the normal vector and curvature distribution of the model surface. The surface curvature characteristics of the crack can be obtained by analyzing the geometric fluctuations of the model surface.

[0069] S102: Determine a key welding position and a welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics, wherein the welding path includes at least one key welding position;

[0070] Among them, the key welding positions refer to the key positions in the crack area that have a significant impact on the structural integrity and repair quality of the workpiece and require focused friction stir welding repair. They mainly include the starting point, end point, turning point and the position where the crack depth suddenly changes. Among them, the crack starting point is the source position of crack initiation, the end point is the end position of crack expansion, the turning point is the position where the crack direction changes significantly, and the depth sudden change position is the area where the crack depth changes significantly.

[0071] The welding path refers to the trajectory of the stirring head during the friction stir welding repair process, including the spatial position of the stirring head, the direction of movement, and the connection sequence between key welding positions. The welding path, determined based on the morphological and structural characteristics of the crack, needs to completely cover the entire crack area and ensure sufficient material stirring at the key welding positions. This welding path is used to guide the movement of the stirring head. By rationally planning the welding path, continuous and effective crack repair can be achieved, avoiding frequent determination of the welding starting point during the welding process.

[0072] In this embodiment, specifically, by first analyzing the morphological features of the crack, such as shape, direction, length, and structural features such as depth distribution and surface curvature, key positions in the crack area that have a greater impact on the repair quality are identified. These key positions include: the starting point of the crack, which is usually the source of crack initiation and has more obvious stress concentration; the end point of the crack, which is the end of crack expansion and requires sufficient welding to prevent further crack expansion; the turning point of the crack, that is, the position where the crack direction changes significantly, which often has a large stress concentration; and the position where the crack depth suddenly changes, which has a strong material structure discontinuity. These key positions are determined as key welding positions, and the motion trajectory of the stirring head is planned on this basis to obtain a complete welding path.

[0073] On the basis of the above embodiment, as an optional implementation manner, for determining the key welding position and the welding path, step S102 specifically includes steps S301 to S304.

[0074] S301: Determine the crack starting point, crack end point, and crack turning point based on crack morphological characteristics, and use the crack turning point as the key welding position;

[0075] Specifically, by analyzing the crack profile curve obtained through edge detection, the crack's starting point, end point, and turning point can be determined. The crack starting point, located at one end of the profile curve, is the source of crack initiation; the crack end point, located at the other end of the profile curve, is the terminal point of crack expansion. The crack turning point is determined by analyzing the directional changes in the profile curve, specifically the location where the slope of the curve changes significantly, indicating that the crack has undergone a significant change in direction. Because crack turning points often experience significant stress concentration, which can easily cause discontinuities in the material structure, crack turning points are identified as key welding locations.

[0076] S302: Detecting key areas where the crack depth exceeds a preset depth threshold based on the crack structure characteristics, and using the center point of the key area as a key welding position;

[0077] Specifically, the depth distribution of the cracks is first analyzed based on the constructed three-dimensional model. By analyzing the geometric fluctuations and depth information of the model surface, the depth value distribution of the cracks in the entire area is obtained. After setting a preset depth threshold, the crack depth is detected in the three-dimensional model. When the crack depth in a certain area exceeds the preset depth threshold, the area is marked as a key area. Since the crack depth in these key areas is larger and the degree of material fracture is more serious, they need to be paid special attention during welding repair. For each marked key area, the geometric center position within the area is calculated to obtain the precise spatial coordinates of the center point, and the center point is determined as the key welding position.

[0078] S303: Using the shortest path algorithm, starting from the crack starting point, connecting each key welding position in sequence until the crack end point, to obtain an initial welding path;

[0079] Specifically, the shortest path algorithm is used to plan the welding path. First, the crack starting point is set as the starting position of the path, and all the key welding positions previously determined are used as the necessary nodes of the path. These key welding positions include two categories: one is the crack turning point obtained by analyzing the crack morphological characteristics. These points are located at the position where the crack direction changes significantly; the other is the center point of the key area obtained by analyzing the crack structural characteristics. These points are located at the geometric center of the area where the crack depth exceeds the preset depth threshold. At the same time, the end point of the crack is set as the end position of the path. After determining the starting position, necessary nodes and end position, based on the shortest path algorithm, starting from the crack starting point, the nearest key welding positions are searched and connected in sequence. In this way, it is gradually extended until it passes through all key welding positions and reaches the crack end point, and finally a complete initial welding path is obtained.

[0080] S304: Smoothing the initial welding path according to the motion constraint conditions of the stirring head to obtain a welding path.

[0081] Specifically, considering that the stirring head is subject to motion constraints such as turning radius and acceleration during movement, if it moves directly according to the initial welding path, it is easy to cause unstable movement of the stirring head at positions with large turning points, affecting the welding quality. Therefore, it is necessary to smooth the initial welding path to make the path turning smoother and avoid sharp turns. By smoothing the transition of each node on the initial welding path, the connection between adjacent path segments is made smoother, while ensuring that the smoothed path can still pass through all key welding positions.

[0082] S103: Determine the welding flatness of each welding section in the welding path according to the crack structure characteristics, where the welding section is the section between adjacent key welding positions in the welding path;

[0083] Among them, welding flatness refers to the comprehensive characteristics of the depth and surface curvature of the crack area. In the embodiment of the present application, it can be understood as being used to characterize the degree of stirring required to achieve the ideal welding effect. This is due to the basic working principle of stir friction welding: the stirring head generates friction heat through high-speed rotation, so that the material reaches a plasticized state, and at the same time, the material is fully stirred and plastically flowed under pressure, thereby completing the welding. When there is a large surface curvature in the crack area, it indicates that the surface is uneven, and the stirring head needs to perform more friction in this area to generate sufficient plastic flow, so that the material fills the depression and eventually reaches a smooth surface; when the crack has a large depth, the stirring head needs to generate more heat and perform deeper material stirring to ensure that the deep material can also achieve sufficient plasticization and effective connection.

[0084] Specifically, within the planned welding path, the sections between adjacent key welding locations, known as welding sections, are first identified. For each welding section, information on the crack depth and surface curvature within that section is acquired and analyzed. During friction stir welding, the high-speed rotation of the stir head generates frictional heat, which plasticizes the material. Pressure is then applied to achieve sufficient stirring and plastic flow. Therefore, the degree of plasticization and fluidity of the material directly impact weld quality, requiring the appropriate weld flatness to be determined based on the structural characteristics of the crack. A deeper crack within the welding section indicates that more heat is required to fully plasticize the deeper material, necessitating deeper material stirring by the stir head. A higher surface curvature within the welding section indicates significant surface irregularities, requiring more material plastic flow to fill these irregularities, thus requiring more friction from the stir head. By analyzing these two key structural characteristic parameters—crack depth and surface curvature—within each welding section, the required weld flatness can be accurately determined.

[0085] Based on the above embodiment, as an optional implementation manner, the method for determining welding flatness in step S103 specifically includes steps S401 - S402 .

[0086] S401: Calculating the surface curvature value and average crack depth of each welding section in the welding path based on the crack structure characteristics;

[0087] Specifically, for each welding section in the welding path, that is, the section between adjacent key welding positions, its surface curvature value and average crack depth need to be calculated separately. The calculation of the surface curvature value is to reflect the degree of concavity and convexity of the welding section surface. It is obtained by analyzing the changes in the surface geometry within the section, mainly including analyzing the undulating trend, slope change and other geometric characteristics of the surface within the section. A larger surface curvature value means that there is obvious unevenness on the surface of the section, which will directly affect the plastic flow and filling effect of the material during stir friction welding. The calculation of the average crack depth is achieved by obtaining the depth values ​​of all depth measurement points in the section and calculating their arithmetic average. This value can reflect the overall depth of the cracks in the section. A larger average crack depth indicates that the section requires deeper material stirring to ensure complete welding. The calculation of these two parameters is of great significance for the subsequent determination of welding flatness: the larger the surface curvature value, the more uneven the surface of the section, and more material plastic flow is required to fill the uneven areas of the surface during the stir friction welding process; the larger the average crack depth, the deeper the material stirring is required to ensure that the deep material can also achieve sufficient plasticization and effective connection.

[0088] S402: Determine the welding flatness of each welding section according to the surface curvature value and the corresponding average crack depth.

[0089] Specifically, for each welding section in the welding path, the weld flatness is comprehensively determined based on two characteristic parameters: the surface curvature value and the average crack depth of the section. This stems from the working principle of stir friction welding: when the surface curvature value is large, it indicates that the surface of the section is significantly uneven, and the stirring head needs to rub for a longer time to achieve surface flatness; when the average crack depth is large, the stirring head needs to apply greater pressure and extend the friction time to ensure that the deep area can also achieve a sufficient welding effect. Therefore, larger surface curvature values ​​and average crack depths require higher weld flatness to ensure the repair effect of stir friction welding.

[0090] S104: Obtaining initial welding parameters corresponding to key welding positions, and adjusting the initial welding parameters according to welding flatness to obtain target welding parameters corresponding to each welding section;

[0091] Among them, the initial welding parameters refer to a set of process parameters when the stirring head is welding at the key welding position, mainly including the speed parameter, pressure parameter and feed speed parameter of the stirring head. Among them, the speed parameter determines the angular velocity of the stirring head rotation, which directly affects the degree of frictional heat generation; the pressure parameter indicates the pressure applied by the stirring head on the welding surface, which affects the degree of plasticization of the material; the feed speed parameter indicates the moving speed of the stirring head on the welding path, which affects the heat input per unit length. In the embodiment of the present application, it can be understood that these initial welding parameters are used to set the benchmark process parameters for the key welding position.

[0092] Specifically, the initial welding parameters corresponding to the key welding position are first obtained, including the rotation speed parameters, pressure parameters and feed speed parameters of the stirring head, which are used as the benchmark process parameters. Then, for each welding section in the welding path, the initial welding parameters are adjusted according to the welding flatness of the section. When the welding flatness of the welding section is high, it indicates that the section requires more heat input and more sufficient welding. At this time, it is necessary to appropriately increase the rotation speed parameter to increase friction heat, increase the pressure parameter to enhance the welding effect, and reduce the feed speed parameter to extend the welding time; conversely, when the welding flatness is low, the rotation speed parameter and pressure parameter can be appropriately reduced, and the feed speed parameter can be increased. Through this parameter adjustment method based on welding flatness, the target welding parameters corresponding to each welding section are obtained, so that the stirring head can adaptively adjust the welding conditions according to the characteristic requirements of different sections, thereby ensuring that good welding quality can be obtained throughout the entire welding path.

[0093] Based on the above embodiment, as an optional implementation manner, the adjustment method of the initial welding parameters in step S104 specifically includes steps S501-S503.

[0094] S501: according to the target crack structure characteristics at the key welding position, obtaining initial welding parameters that match the target crack structure characteristics from a preset welding parameter database;

[0095] Specifically, the target crack structural characteristics at the key welding location are first analyzed. These characteristics, including geometric parameters such as crack depth and width, reflect the basic state of the crack at that location. A search is then performed on a preset welding parameter database, which stores a large number of crack characteristics and corresponding welding parameters from historical welding cases, including stirring head speed parameters, pressure parameters, and feed rate parameters. The target crack structural characteristics at the current key welding location are matched with historical cases in the database, and the welding parameters corresponding to the case with the most similar structural characteristics are selected as the initial welding parameters.

[0096] S502: Determine the welding flatness level of the welding flatness;

[0097] Specifically, based on the requirements for repairing cracks of varying severity using friction stir welding, weld flatness is divided into different levels, each corresponding to different welding requirements. When the surface curvature and average crack depth of a weld section are both large, the weld flatness level for that section is higher, indicating that more stringent welding process requirements are required. When the surface curvature and average crack depth are relatively small, the weld flatness level is lower, indicating that less stringent welding process requirements can be adopted.

[0098] S503: adjusting the initial welding parameters according to the preset adjustment parameters of the welding flatness level to obtain target welding parameters corresponding to the welding section at the key welding position.

[0099] Specifically, corresponding adjustment parameters are preset for each weld flatness level. These parameters define the adjustment range for the stir head speed, pressure, and feed rate parameters. Once the weld flatness level of a weld section is determined, the corresponding adjustment parameters are retrieved and applied to the initial welding parameters obtained from the welding parameter database to achieve optimal parameter adjustment. For sections with higher weld flatness levels, the adjustment parameters will guide the adjustment toward higher speed and pressure, and lower feed rate to ensure an adequate weld quality. For sections with lower weld flatness levels, the parameter adjustment range is reduced accordingly.

[0100] S105: generating a friction stir welding repair plan for the welding path according to the target welding parameters, and controlling the stirring head to execute the friction stir welding repair plan.

[0101] Specifically, the spatial trajectory information of the welding path is first correlated and integrated with the target welding parameters corresponding to each welding section to generate a complete friction stir welding repair plan. This repair plan includes the movement trajectory of the stir head throughout the welding process, as well as the speed, pressure, and feed rate parameters to be used in different sections. This repair plan is then input into the control system of the friction stir welding equipment, which controls the stir head movement along the planned path and automatically adjusts the welding parameters according to the requirements of different welding sections during the movement.

[0102] Based on the above embodiment, as an optional implementation, the average crack width of each welding section in the welding path is obtained; and the size and model of the stirring head for stir friction welding are determined according to the average crack width.

[0103] Specifically, the average crack width of each welding section in the welding path is first obtained. This parameter is obtained by measuring the crack width distribution within each welding section and calculating the average value. Since the size of the stirring head directly affects the width of the welding area and the heat input range during the friction stir welding process, and the crack width determines the range of the area that needs to be repaired, it is necessary to select an appropriate stirring head based on the average crack width. When the average crack width of the welding section is large, a stirring head with a larger diameter is required to ensure that the welding area can completely cover the crack. At the same time, it is also necessary to select an appropriate stirring head shoulder shape and stirring needle structure model based on the crack width to achieve a better plasticization effect.

[0104] Based on the above embodiment, as an optional implementation method, the actual welding temperature at the welding position is obtained in real time; when the actual welding temperature deviates from the preset temperature range, the rotation speed and feed speed of the stirring head are adjusted.

[0105] Specifically, during the welding process, the actual welding temperature at the welding position is first obtained in real time through a temperature sensor, and this temperature value is compared with a pre-set temperature range. When the actual welding temperature exceeds the pre-set temperature range, the operating parameters of the stirring head need to be adjusted in a timely manner: if the actual temperature is higher than the upper limit of the pre-set range, it means that the heat input is too high. In this case, the stirring head speed needs to be reduced to reduce frictional heating, and the feed speed can be appropriately increased to reduce the heat input per unit length. If the actual temperature is lower than the lower limit of the pre-set range, it means that the heat input is insufficient. In this case, the stirring head speed needs to be increased to increase frictional heating, and the feed speed can be appropriately reduced to increase the heat input per unit length.

[0106] The following are system embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the system embodiments of the present application, please refer to the method embodiments of the present application.

[0107] See Figure 2 , which shows a schematic diagram of the structure of a friction stir welding control system provided by an exemplary embodiment of the present application. The system can be implemented as all or part of the system through software, hardware, or a combination of both. The friction stir welding control system includes:

[0108] An identification module is used to obtain a multimodal image of the crack area and identify the crack morphological characteristics and crack structural characteristics based on the multimodal image;

[0109] A first processing module is used to determine a key welding position and a welding path in the crack area according to the crack morphological characteristics and the crack structural characteristics, wherein the welding path includes at least one key welding position;

[0110] The second processing module is used to determine the welding flatness of each welding section in the welding path according to the crack structure characteristics, and the welding section is the section between adjacent key welding positions in the welding path;

[0111] The parameter adjustment module is used to obtain the initial welding parameters corresponding to the key welding position and adjust the initial welding parameters according to the welding flatness to obtain the target welding parameters corresponding to each welding section;

[0112] The output module is used to generate a stir friction welding repair plan for the welding path according to the target welding parameters, and control the stirring head to execute the stir friction welding repair plan.

[0113] Based on the above embodiment, as an optional embodiment, the recognition module is also used to obtain a multimodal image of the crack area; use an edge detection algorithm to extract the crack edge contour from the multimodal image to obtain the crack morphological characteristics; construct a three-dimensional stereo model of the crack area based on the multimodal image, identify the three-dimensional stereo model, and obtain the crack structural characteristics.

[0114] On the basis of the above embodiments, as an optional embodiment, the first processing module is also used to determine the crack starting point, crack end point and crack turning point according to the crack morphological characteristics, and use the crack turning point as the key welding position; according to the crack structural characteristics, detect the key area where the crack depth exceeds the preset depth threshold, and use the center point of the key area as the key welding position; use the shortest path algorithm, take the crack starting point as the starting position, connect each key welding position in sequence until the crack end point, and obtain the initial welding path; according to the motion constraint conditions of the stirring head, smooth the initial welding path to obtain the welding path.

[0115] Based on the above embodiment, as an optional embodiment, the second processing module is also used to calculate the surface curvature value and average crack depth of each welding section in the welding path based on the crack structure characteristics; and determine the welding flatness of each welding section according to the surface curvature value and the corresponding average crack depth.

[0116] Based on the above embodiment, as an optional embodiment, the parameter adjustment module is also used to obtain initial welding parameters that match the target crack structure characteristics from a preset welding parameter database based on the target crack structure characteristics at the key welding position; determine the welding flatness level where the welding flatness is located; adjust the initial welding parameters according to the adjustment parameters preset for the welding flatness level, and obtain the target welding parameters corresponding to the welding section at the key welding position.

[0117] Based on the above embodiment, as an optional embodiment, the output module is further used to obtain the average crack width of each welding section in the welding path; and determine the size and model of the stirring head of the stir friction welding according to the average crack width.

[0118] Based on the above embodiment, as an optional embodiment, the output module is also used to obtain the actual welding temperature at the welding position in real time; when the actual welding temperature deviates from the preset temperature range, the rotation speed and feed speed of the stirring head are adjusted.

[0119] The embodiment of the present application also provides a computer storage medium, which can store multiple instructions. The instructions are suitable for being loaded by a processor and executing the control method of stir friction welding as in the above embodiment. The specific execution process can be found in the specific description of the embodiment and will not be repeated here.

[0120] See Figure 3 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 300 may include: at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0121] The communication bus 302 is used to implement the connection and communication between these components.

[0122] The user interface 303 may include a display screen (Display) and a camera (Camera).

[0123] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0124] The processor 301 may include one or more processing cores. Using various interfaces and circuits, the processor 301 connects to various components within the server. It executes instructions, programs, code sets, or instruction sets stored in the memory 305, as well as accesses data stored in the memory 305, to perform various server functions and process data. Optionally, the processor 301 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 301 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the display screen; and the modem handles wireless communications. It is understood that the modem may also be implemented independently of the processor 301 and implemented as a separate chip.

[0125] Among them, the memory 305 may include a random access memory (RAM) or a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may also be optionally at least one storage device located away from the aforementioned processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of a control method for friction stir welding.

[0126] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 301 can be used to call an application program for a control method for stir friction welding stored in the memory 305. When executed by one or more processors, the electronic device executes one or more methods in the above-mentioned embodiments.

[0127] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more methods in the above embodiments.

[0128] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for this application.

[0129] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of units, which is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0131] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of this application. The aforementioned memory includes various media that can store program code, such as USB flash drives, mobile hard drives, magnetic disks, or optical disks.

[0134] The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any variations, uses or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the field of the present disclosure that are not recorded in the present disclosure.

Claims

1. A control method for friction stir welding, characterized in that: The method comprises: Acquire a multimodal image of the crack area, and identify crack morphological features and crack structural features based on the multimodal image; Determining a key welding position and a welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics, wherein the welding path includes at least one key welding position; Determining the welding flatness of each welding section in the welding path according to the crack structure characteristics, wherein the welding section is a section between adjacent key welding positions in the welding path; Determining the welding flatness of each welding section in the welding path according to the crack structural characteristics includes: calculating the surface curvature value and the average crack depth of each welding section in the welding path based on the crack structural characteristics; and determining the welding flatness of each welding section according to the surface curvature value and the corresponding average crack depth; Acquiring initial welding parameters corresponding to the key welding positions, and adjusting the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section; The obtaining of initial welding parameters corresponding to the key welding position and adjusting the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section includes: obtaining initial welding parameters matching the target crack structure characteristics at the key welding position from a preset welding parameter database; determining a welding flatness level at which the welding flatness is located; and adjusting the initial welding parameters according to adjustment parameters preset for the welding flatness level to obtain target welding parameters corresponding to the welding section at the key welding position; A friction stir welding repair plan for the welding path is generated according to the target welding parameters, and the stirring head is controlled to execute the friction stir welding repair plan.

2. The method according to claim 1, characterized in that The step of acquiring a multimodal image of the crack region and identifying crack morphological features and crack structural features based on the multimodal image includes: Acquire multimodal images of the crack area; Extracting the crack edge contour from the multimodal image using an edge detection algorithm to obtain crack morphological features; A three-dimensional stereo model of the crack area is constructed according to the multimodal image, and the three-dimensional stereo model is identified to obtain crack structural features.

3. The method according to claim 1, characterized in that The determining of the key welding position and the welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics includes: Determine the crack starting point, crack end point and crack turning point according to the crack morphological characteristics, and use the crack turning point as the key welding position; According to the crack structure characteristics, detecting a key area where the crack depth exceeds a preset depth threshold, and using the center point of the key area as the key welding position; Using the shortest path algorithm, starting from the crack starting point, sequentially connecting the key welding positions until the crack end point, to obtain an initial welding path; According to the motion constraint conditions of the stirring head, the initial welding path is smoothed to obtain the welding path.

4. The method according to claim 1, wherein Before generating a friction stir welding repair plan for the welding path according to the target welding parameters and controlling the stirring head to execute the friction stir welding repair plan, the method further includes: Obtaining an average crack width of each welding section in the welding path; The size and model of the stirring head for friction stir welding are determined according to the average crack width.

5. The method according to claim 1, wherein After generating a friction stir welding repair plan for the welding path according to the target welding parameters and controlling the stirring head to execute the friction stir welding repair plan, the method further includes: Obtain the actual welding temperature at the welding position in real time; When the actual welding temperature deviates from the preset temperature range, the rotation speed and feed speed of the stirring head are adjusted.

6. A control system for friction stir welding, characterized in that: The system comprises: an identification module, configured to obtain a multimodal image of the crack region and identify crack morphological features and crack structural features based on the multimodal image; A first processing module is configured to determine a key welding position and a welding path in the crack region according to the crack morphological characteristics and the crack structural characteristics, wherein the welding path includes at least one key welding position; a second processing module, configured to determine, based on the crack structural characteristics, the welding flatness of each welding section in the welding path, wherein the welding section is a section between adjacent key welding positions in the welding path; determining, based on the crack structural characteristics, the welding flatness of each welding section in the welding path, comprising: calculating, based on the crack structural characteristics, a surface curvature value and an average crack depth of each welding section in the welding path; and determining, based on the surface curvature value and the corresponding average crack depth, the welding flatness of each welding section; a parameter adjustment module, configured to obtain initial welding parameters corresponding to the key welding position, and adjust the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section; the obtaining the initial welding parameters corresponding to the key welding position, and adjusting the initial welding parameters according to the welding flatness to obtain target welding parameters corresponding to each welding section, comprising: obtaining initial welding parameters that match the target crack structure characteristics at the key welding position from a preset welding parameter database; determining a welding flatness level at which the welding flatness is located; and adjusting the initial welding parameters according to adjustment parameters preset for the welding flatness level to obtain target welding parameters corresponding to the welding section at the key welding position; An output module is used to generate a friction stir welding repair plan for the welding path according to the target welding parameters, and control the stirring head to execute the friction stir welding repair plan.

7. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method according to any one of claims 1 to 5.

8. An electronic device, characterized in that: The electronic device comprises a processor, a memory and a transceiver, wherein the memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of claims 1 to 5.

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