Laser welding positioning method for hyperboloid of ship guide pipe

Abstract

The invention relates to the field of ship conduit welding, in particular to a laser welding positioning method for a ship conduit hyperboloid, which comprises the following steps: determining whether to perform parameter optimization for a welding positioning process or not according to a reference curvature evaluation index of a target welding component; when parameter optimization is executed, whether a dynamic acquisition analysis mode or a reference execution analysis mode is adopted for positioning execution optimization is determined according to the regional curvature difference index and the regional reference curvature index; during dynamic acquisition and analysis, determining whether to adjust the positioning acquisition parameters or not according to the acquisition mapping difference index, and determining to perform distribution characteristic analysis or distribution interference analysis on the mapping difference point location according to the acquisition mapping difference index; and determining whether optimization processing is executed or not according to the mapping difference distribution parameters of the reference welding areas during reference execution analysis. According to the method, the analysis efficiency and effectiveness of the welding positioning result of the ship guide pipe with the complex geometric structure are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship conduit welding, and particularly relates to a laser welding positioning method for a hyperboloid of a ship conduit. BACKGROUND

[0002] In the preparation process of the energy-saving conduit used by the ship, due to the difference in the curvature of the hyperboloid of the inner and outer ring plates and the requirement for the curvature precision of the hyperboloid, the welding quality of the traditional welding positioning process often depends on the operation experience of the actual operator, and the quality of the prepared energy-saving conduit cannot be fully guaranteed. Therefore, the laser welding technology can better adapt to the complex structure of the prepared energy-saving conduit and reduce the heat effect caused by the welding process. However, when the laser welding technology is used for automatic welding of the prepared conduit components, accurate identification needs to be made for the weld seam existing in the welding process, and the existing weld seam identification method for welding positioning often fails to consider the influence of the complex structure of the energy-saving conduit with a hyperboloid on the welding positioning identification process. Therefore, how to optimize the welding positioning identification process based on the geometric complexity of the actual welded conduit to ensure the accuracy of the welding seam identification positioning result is a problem to be solved by those skilled in the art.

[0003] Chinese Patent Publication No. CN113146041A discloses a laser welding method for a curved sheet, which comprises positioning and butting a first welding section and a second welding section with each other, the joint surface of the first welding section and the second welding section is a same curved surface, the curved surface comprises a plurality of first arc surfaces and second arc surfaces connected in a head-to-tail manner, a welding gun is arranged on one side of the joint surface, and the welding gun is controlled to perform laser welding on the joint surface of the first welding section and the second welding section along a simulated welding path according to the first arc surfaces and the second arc surfaces. However, the above-mentioned scheme has the following defects: it fails to make targeted adjustment for the welding positioning identification process based on the geometric complexity of the actual welded component, resulting in poor accuracy of the welding seam positioning identification result of the prepared component in the actual welding process. SUMMARY

[0004] Therefore, the present application provides a laser welding positioning method for a hyperboloid of a ship conduit to overcome the problem in the prior art that the accuracy of the welding seam positioning identification result of the prepared component is poor in the actual welding process due to the failure to make targeted adjustment for the welding positioning identification process based on the geometric complexity of the actual welded component.

[0005] To achieve the above-mentioned purpose, the present application provides a laser welding positioning method for a hyperboloid of a ship conduit, which comprises the following steps:

[0006] determining whether to perform execution parameter optimization for the welding positioning process according to the reference curvature evaluation index of the target welding member;

[0007] when performing the execution parameter optimization, determining the positioning execution state of each welding execution area according to the area curvature difference index and the area reference curvature index, and determining whether to adopt the dynamic acquisition analysis mode or the reference execution analysis mode to perform positioning execution optimization for each welding execution area according to the positioning execution state;

[0008] when the dynamic acquisition analysis is performed, determining whether to adjust the positioning acquisition parameters of each welding execution area in a first positioning execution state according to the acquisition mapping difference index, and determining to perform distribution feature analysis or distribution interference analysis on the mapping difference points according to the acquisition mapping difference index;

[0009] when the reference execution analysis is performed, determining whether to perform execution optimization processing on each welding execution area in a second positioning execution state according to the mapping difference distribution parameters of each reference welding area;

[0010] The positioning acquisition parameters include scanning execution frequency parameters, positioning acquisition light source parameters, and filtering execution parameters.

[0011] Further, if the reference curvature evaluation index of the target welding member is greater than a preset reference curvature evaluation index, execution parameter optimization is performed for the welding positioning process.

[0012] The reference curvature evaluation index is determined according to the curvature parameters of each evaluation point.

[0013] Further, the positioning execution state includes a first positioning execution state and a second positioning execution state.

[0014] The welding execution area in the first positioning execution state is a welding execution area with an area curvature difference index greater than a preset area curvature difference index or an area reference curvature index greater than a preset area reference curvature index.

[0015] The welding execution area in the second positioning execution state is a welding execution area with an area curvature difference index less than or equal to a preset area curvature difference index and an area reference curvature index less than or equal to a preset area reference curvature index.

[0016] Further, if there is a welding execution area in the first positioning execution state, the dynamic acquisition analysis mode is adopted to perform positioning execution optimization on the welding execution area.

[0017] Further, if the acquisition mapping difference index is greater than a preset acquisition mapping difference index, the positioning acquisition parameters are dynamically adjusted.

[0018] The acquisition mapping difference index is determined based on the positioning analysis data obtained under each positioning acquisition parameter.

[0019] Furthermore, when the mapping difference distribution parameter is greater than the preset mapping difference distribution parameter, a distribution characteristic analysis is performed on the mapping difference points to determine the distribution reference curvature index.

[0020] The distribution reference curvature index determines whether to adjust the scanning execution frequency parameters or the positioning acquisition light source parameters.

[0021] Furthermore, if the distribution reference curvature index is greater than the preset distribution reference curvature index, the scanning execution frequency parameter is increased and adjusted according to the mapping difference distribution parameter.

[0022] If the distribution reference curvature index is less than or equal to the preset distribution reference curvature index, the positioning and acquisition light source parameters will be increased and adjusted according to the distribution reference curvature index.

[0023] Furthermore, if the mapping difference distribution parameter is less than or equal to the preset mapping difference distribution parameter, a distribution interferometry analysis is performed on the mapping difference points, wherein...

[0024] The filtering execution parameters for the positioning acquisition process are increased and adjusted based on the acquisition mapping difference index;

[0025] The increase in the filtering execution parameter is positively correlated with the acquisition mapping difference index.

[0026] Furthermore, if a welding execution area is in a Class II positioning execution state, a reference execution analysis method is used to optimize the positioning execution for that welding execution area.

[0027] Furthermore, if the reference difference distribution parameter is less than or equal to the preset reference difference distribution parameter, the device activation ratio index is reduced according to the reference difference distribution parameter.

[0028] The reference difference distribution index is determined based on the mapping difference distribution parameters of each reference welding area, and the decrease in the device activation ratio index is negatively correlated with the reference difference distribution index.

[0029] Compared with the prior art, the beneficial effect of the present invention is that, in the technical solution of the present invention, the need to optimize the execution parameters for the welding positioning process is determined based on the reference curvature evaluation index of the target welding component in actual welding. The reference curvature evaluation index characterizes the overall curvature of the welding surface of the target welding component, so as to determine whether the geometry of the target welding component in the welding preparation process will interfere with the weld identification process. Furthermore, the acquisition parameters for the laser positioning process are optimized. The present invention improves the effectiveness of the welding positioning results for ship ducts with relatively complex geometries.

[0030] Furthermore, in this invention, when the reference curvature evaluation index is large, the positioning execution state of each welding execution area is determined based on the regional curvature difference index and the regional reference curvature index. The specific analysis method for positioning execution optimization is then determined based on the positioning execution state. The regional curvature difference index and the regional reference curvature index characterize the curvature change of the surface corresponding to each welding execution area and the overall curvature, thereby characterizing the surface complexity of each welding execution area. This allows for the determination of a targeted analysis method, making the parameter optimization analysis method for the weld identification and positioning process of each welding execution area in the actual welding preparation process more consistent with the actual working scenario. This improves the timeliness and effectiveness of parameter optimization decisions for the weld identification and positioning process.

[0031] Furthermore, in this invention, for welding execution areas in a certain positioning execution state, a dynamic acquisition and analysis method is used to optimize the positioning execution of the welding execution area. Since the weld identification situation in such welding execution areas is relatively complex, the current weld positioning and identification execution status is analyzed in real time, and targeted adjustments are made based on the analysis results. This makes the image acquisition process for weld identification and positioning on complex curved surfaces more in line with actual work needs, improves the information acquisition quality of the weld identification and positioning process, and thus improves the effectiveness of the welding positioning results for ship ducts with relatively complex geometric structures.

[0032] Furthermore, in this invention, when using dynamic acquisition and analysis to optimize the positioning of the welding execution area, the method determines whether to dynamically adjust the positioning acquisition parameters based on the acquisition mapping difference index. The acquisition mapping difference index characterizes the influence of the geometric complexity of the welding execution surface on the currently acquired positioning analysis image. When the acquisition mapping difference index is large, targeted decisions are made on the positioning acquisition parameters based on the mapping difference distribution parameters, making the adjustments made to the positioning acquisition parameters more consistent with the actual working conditions. This invention ensures the timeliness and effectiveness of parameter optimization decisions for the weld identification and positioning process. Attached Figure Description

[0033] Fig. 1 This is a schematic diagram of the laser welding positioning method for hyperboloid ducts of the present invention.

[0034] Fig. 2 This is a flowchart illustrating how the positioning execution state of each welding execution area is determined based on the regional curvature difference index and the regional reference curvature index according to the present invention.

[0035] Fig. 3 This is a flowchart illustrating the method of determining whether to perform dynamic data acquisition and analysis or refer to the execution analysis method for each welding execution area based on the positioning execution status in this invention.

[0036] Fig. 4 This is a flowchart illustrating how the present invention determines whether to adjust the positioning acquisition parameters based on the acquisition mapping difference index. Detailed Implementation

[0037] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0038] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0039] It should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] Please see Figs. 1 to 4 As shown, the present invention provides a laser welding positioning method for hyperboloidal duct surfaces in ships, comprising:

[0041] Determine whether to optimize the execution parameters for the welding positioning process based on the reference curvature evaluation index of the target welded component;

[0042] When optimizing the execution parameters, the positioning execution status of each welding execution area is determined based on the regional curvature difference index and the regional reference curvature index. Based on the positioning execution status, it is determined whether to use dynamic acquisition and analysis or reference execution analysis to optimize the positioning execution of each welding execution area.

[0043] During dynamic acquisition and analysis, the acquisition mapping difference index determines whether to adjust the positioning acquisition parameters for each welding execution area in a first-class positioning execution state, and the acquisition mapping difference index determines whether to perform distribution feature analysis or distribution interference analysis for the mapping difference points.

[0044] During the execution analysis, the mapping difference distribution parameters of each reference welding area are used to determine whether to perform execution optimization processing on each welding execution area in the second-class positioning execution state;

[0045] The positioning and acquisition parameters include scanning execution frequency parameters, positioning and acquisition light source parameters, and filtering execution parameters.

[0046] In this invention, the weld seam identification and positioning process during the welding preparation stage of a ship energy-saving duct is optimized in real time. The energy-saving duct for which the weld seam identification process is optimized is denoted as the target welding component. The target welding component includes an inner ring component and an outer ring component. Both the inner ring component and the outer ring component have welding points that need to be welded. The welding tasks that need to be performed by this invention include, but are not limited to, the inner ring component needing to be welded and fixed with tooling, upper and lower round steel bars, and horizontal and vertical stiffening plates, and the welding and fixing of the inner ring component and the outer ring component.

[0047] In this invention, a movable laser welding positioning module is provided during the welding process. This module can automatically perform welding positioning tasks. The laser welding positioning module is equipped with multiple positioning acquisition devices, and the positioning acquisition angles of the images acquired by each positioning acquisition device are different. The positioning acquisition devices can be high-speed industrial cameras or other optical acquisition devices capable of acquiring images of the welding execution surface. The laser welding positioning module is also equipped with a dot matrix laser emitter to project a laser beam of a specific wavelength onto the welding execution surface. This invention does not specify the specific model of the positioning acquisition devices or the dot matrix laser emitter. How to determine the specific setting angle of the positioning acquisition devices and the distribution between the positioning acquisition devices according to the actual working scenario is a content that is easily understood by those skilled in the art and will not be elaborated here. The images acquired on the welding execution surface are referred to as positioning analysis images.

[0048] This invention utilizes several preparation execution records. Each preparation execution record records at least one reference curvature evaluation index, regional curvature difference index, regional reference curvature index, acquisition mapping difference index, mapping difference coefficient, mapping difference distribution parameter, distribution reference curvature index, evaluation difference index, and reference difference distribution index during the welding positioning process of the target welded component. Each preparation execution record also has a corresponding qualification mark, which records whether the validity of the welding positioning result of the welding preparation process of the target welded component meets the user's requirements.

[0049] Specifically, if the reference curvature evaluation index of the target welded component is greater than the preset reference curvature evaluation index, the execution parameters for the welding positioning process will be optimized.

[0050] The reference curvature evaluation index is determined based on the curvature parameters of each evaluation point.

[0051] The process involves acquiring the welding execution surface of the target welded component, where the welding execution surface is the surface encountered when performing the welding task on the target welded component. Several points are randomly and uniformly extracted from each acquired welding execution surface and recorded as evaluation points. The number of evaluation points can be set by the user according to the actual work scenario. The higher the user's requirement for the effectiveness of the welding positioning results in the welding preparation process of the target welded component, the larger the number of evaluation points. The curvature parameters of each evaluation point are detected. For a single evaluation point, the normal curvature of that evaluation point relative to its welding execution surface in each direction is detected. The average of the maximum and minimum values ​​of the normal curvature in each direction is recorded as the curvature parameter of that evaluation point. How to determine the curvature parameters of each evaluation point is a topic already understood by those skilled in the art and will not be elaborated upon here.

[0052] The value of the preset reference curvature evaluation index can be determined by the user according to the actual working scenario. For example, the user can set it according to the preparation execution record. The higher the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component, the smaller the value of the preset reference curvature evaluation index. A method for determining the value of the preset reference curvature evaluation index is provided, in which the preparation execution record that optimizes the execution parameters for the welding positioning process is recorded as the optimized reference record, and the average value of the reference curvature evaluation index in the optimized reference record that meets the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component is recorded as the preset reference curvature evaluation index.

[0053] Specifically, the positioning execution state includes a first-class positioning execution state and a second-class positioning execution state;

[0054] The welding execution area in the first type of positioning execution state is a welding execution area where the regional curvature difference index is greater than the preset regional curvature difference index or the regional reference curvature index is greater than the preset regional reference curvature index.

[0055] The welding execution area in the second type of positioning execution state is a welding execution area where the regional curvature difference index is less than or equal to the preset regional curvature difference index and the regional reference curvature index is less than or equal to the preset regional reference curvature index.

[0056] Among them, the welding execution surfaces of the target welding component are divided into regions to obtain several quadrilateral regions with the same area. The divided rectangular regions are recorded as welding execution regions. The area of ​​each welding execution region can be set by the user according to the actual working scenario.

[0057] For a single welding execution area, the area curvature difference index is calculated as follows: (maximum value of curvature parameter at each welding point within the welding execution area - minimum value of curvature parameter at each welding point within the welding execution area) / average value of curvature parameter at each welding point within the welding execution area. The area reference curvature index is the average value of curvature parameter at each welding point within the welding execution area. The values ​​of the preset area curvature difference index and the preset area reference curvature index can be determined by the user based on the actual working scenario. For example, the user can set them based on the preparation execution record. The higher the user's requirement for the effectiveness of the welding positioning result in the welding preparation process of the target welded component, the higher the preset area curvature difference index will be. The smaller the value of the difference index, the smaller the value of the preset region reference curvature index. A method for determining the preset region curvature difference index is provided, where the maximum value of the region curvature difference index of the welding execution surface in the preparation execution record that meets the user's requirements for the effectiveness of the welding positioning results in the welding preparation process of the target welded component is recorded as the preset region curvature difference index. A method for determining the preset region reference curvature index is also provided, where the maximum value of the region reference curvature index of the welding execution surface in the preparation execution record that meets the user's requirements for the effectiveness of the welding positioning results in the welding preparation process of the target welded component is recorded as the preset region reference curvature index.

[0058] Specifically, if a welding execution area is in a type of positioning execution state, a dynamic acquisition and analysis method is used to optimize the positioning execution of that welding execution area.

[0059] Specifically, for a single welding execution area, if the welding execution area is in a type I positioning execution state, it indicates that the curvature of the surface within the corresponding area of ​​the welding execution area changes significantly or the overall curvature of the surface within the corresponding area of ​​the welding execution area is large. This indicates that there are complex changes in the corresponding weld lines within the welding execution area. The process of weld identification and positioning for this welding execution area is subject to significant interference and analysis burden. Therefore, a dynamic acquisition and analysis method is adopted to optimize the positioning execution for this welding execution area, and to determine in a timely manner whether the positioning acquisition parameters used for the weld positioning and identification process need to be adjusted based on the acquired image information.

[0060] Specifically, if the acquisition mapping difference index is greater than the preset acquisition mapping difference index, the positioning acquisition parameters will be dynamically adjusted.

[0061] The acquisition mapping difference index is determined based on the mapping difference points present in each positioning analysis image.

[0062] In this invention, a cyclic difference assessment period is applied. The duration of the difference assessment period can be determined by the user. The higher the user's requirements for the effectiveness of the welding positioning results of the welding preparation process of the target welded component, the shorter the duration of the difference assessment period. A difference assessment period of 6 seconds is provided. At the end of each difference assessment period, the acquisition mapping difference index is detected, and it is determined whether to dynamically adjust the positioning acquisition parameters based on the acquisition mapping difference index.

[0063] If the current time is the end time of a difference assessment cycle, the acquisition mapping difference index is detected. The acquisition mapping difference index is the average percentage of mapping difference points in each combination of positioning analysis images within the difference assessment cycle. The acquisition time of each positioning analysis image in any combination of positioning analysis images is the same, but they correspond to different positioning acquisition devices. For a single combination of positioning analysis images, the area of ​​the welding execution surface covered by each positioning analysis image in the combination of positioning analysis images is recorded as the difference assessment area. The percentage of mapping difference points = the number of mapping difference points in the difference assessment area / the number of mapping assessment points in the difference assessment area. The mapping difference points are mapping assessment points whose mapping difference coefficient is greater than the preset mapping difference coefficient.

[0064] For a single combination of location analysis images, a rasterized uniform sampling method is used to determine the mapping evaluation points for the difference evaluation area. For each determined mapping evaluation point, the corresponding pixel in each location analysis image is determined and denoted as the difference analysis pixel of the corresponding mapping evaluation point. For a single mapping evaluation point, if there is a location analysis image that cannot determine the pixel corresponding to the mapping evaluation point, the evaluation parameter of that location analysis image for that mapping evaluation point is set to 0. If there is a location analysis image that can determine the pixel corresponding to the mapping evaluation point, the evaluation parameter of that location analysis image for that mapping evaluation point is the grayscale value of the pixel corresponding to the mapping evaluation point. The mapping difference coefficient is calculated as: (maximum value of the evaluation parameter of each location analysis image for that mapping evaluation point - minimum value of the evaluation parameter of each location analysis image for that mapping evaluation point) / average value of the evaluation parameter of each location analysis image for that mapping evaluation point.

[0065] The values ​​of the preset acquisition mapping difference index and the preset mapping difference coefficient can be determined by the user according to the actual working scenario. For example, the user can set them according to the preparation execution record. The higher the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component, the smaller the value of the preset acquisition mapping difference index and the smaller the value of the preset mapping difference coefficient. A method for determining the value of the preset acquisition mapping difference index is provided, in which the preparation execution record that dynamically adjusts the positioning acquisition parameters is recorded as the difference reference record, and the minimum value of the acquisition mapping difference index in the difference reference record that meets the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component is recorded as the preset acquisition mapping difference index. A method for determining the value of the preset mapping difference coefficient is provided, in which the average value of the mapping difference coefficients of each mapping difference point in the preparation execution record that meets the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component is recorded as the preset mapping difference coefficient.

[0066] Specifically, when the mapping difference distribution parameter is greater than the preset mapping difference distribution parameter, the distribution characteristics of the mapping difference points are analyzed to determine the distribution reference curvature index.

[0067] The distribution reference curvature index determines whether to adjust the scanning execution frequency parameters or the positioning acquisition light source parameters.

[0068] Wherein, if the current difference assessment period is in, the mapping difference distribution parameter is the average value of the mapping point density parameter of each positioning analysis image combination in the current difference assessment period. For a single positioning analysis image combination, the mapping point density parameter is the average value of the point distribution parameter of each mapping difference point determined by the positioning analysis image combination. For a single mapping difference point, the point distribution parameter = the number of mapping difference points within the distribution assessment range of the mapping difference point / the number of mapping difference points existing in the difference assessment area. The distribution assessment range is a part of the welding execution surface. The interval distance between each mapping assessment point and the mapping difference point within the distribution assessment range of the mapping difference point relative to the welding execution surface is less than the preset distribution assessment distance. The value of the preset distribution assessment distance can be set by the user according to the actual working scenario. The higher the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welding component, the larger the value of the preset distribution assessment distance. A preset distribution assessment distance value is provided, which is 10% of the maximum value of the interval distance between any mapping assessment points within the difference assessment area relative to the welding execution surface.

[0069] If the mapping difference distribution parameter is greater than the preset mapping difference distribution parameter, it indicates that the distribution of mapping difference points in the positioning analysis image acquired within the current difference assessment period is relatively concentrated. In this case, it is necessary to further analyze the curvature of the concentrated distribution area of ​​mapping difference points to analyze the specific reasons for the concentrated existence of mapping difference points. The value of the preset mapping difference distribution parameter can be determined by the user according to the actual working scenario. For example, the user can set it according to the preparation execution record. A method for determining the value of the preset mapping difference distribution parameter is provided, in which the preparation execution record for analyzing the distribution characteristics of mapping difference points is recorded as the distribution reference record, and the minimum value of the mapping difference distribution parameter in the distribution reference record that meets the user's requirements for the effectiveness of the welding positioning results of the welding preparation process of the target welding component is recorded as the preset mapping difference distribution parameter.

[0070] Specifically, if the distribution reference curvature index is greater than the preset distribution reference curvature index, the scanning execution frequency parameter is increased and adjusted according to the mapping difference distribution parameter.

[0071] If the distribution reference curvature index is less than or equal to the preset distribution reference curvature index, the positioning and acquisition light source parameters will be increased and adjusted according to the distribution reference curvature index.

[0072] Wherein, the distribution reference curvature index is the average value of the curvature parameters of each difference evaluation point within the difference distribution area. The point distribution parameters of any mapped difference point within the difference distribution area are all greater than the preset mapped difference distribution parameters. The value of the preset distribution reference curvature index can be determined by the user according to the actual working scenario. For example, the user can set it according to the preparation execution record. A method for determining the value of the preset distribution reference curvature index is provided. The preparation execution record that increases and adjusts the scanning execution frequency parameter is recorded as the execution analysis record. The minimum value of the distribution reference curvature index in the execution analysis record that meets the user's requirements for the effectiveness of the welding positioning results of the welding preparation process of the target welding component is recorded as the preset distribution reference curvature index.

[0073] If the distribution reference curvature index is greater than the preset distribution reference curvature index, it indicates that the overall curvature of the area where the mapping difference points are concentrated is large. Since the surface changes more drastically when performing weld seam positioning and identification in this case, insufficient laser scanning frequency will lead to sparse sampling points, which cannot accurately reflect the surface details. This results in differences between the information obtained by different devices. Therefore, by increasing the scanning execution frequency parameter, more surface features can be captured, and the information acquisition quality of the weld seam identification and positioning process can be improved. The scanning execution frequency parameter is the laser emission frequency of the laser emitter, and the increase in the scanning execution frequency parameter is positively correlated with the mapping difference distribution parameter.

[0074] If the distribution reference curvature index is less than or equal to the preset distribution reference curvature index, it indicates that the overall curvature of the area where the mapping difference points are concentrated is small. In this case, the surface change for weld seam positioning and identification is relatively gentle. At this time, there are differences in the information obtained by different devices. The main factor is improper light source design during the acquisition of positioning analysis images. Adjustments should be made to the rationality of the light source settings during image acquisition to ensure the overall quality of the positioning analysis images acquired by different devices, thereby ensuring the subsequent weld seam positioning and identification results. The positioning acquisition light source parameters refer to the number of different light source angles present during the acquisition of positioning analysis images. The light source angle is the angle formed by the light emitted by the light source and the horizontal plane. How to set the specific value of the light source angle according to the actual situation is a problem that urgently needs to be solved by those skilled in the art. The increase in the positioning acquisition light source parameters is positively correlated with the distribution reference curvature index.

[0075] Specifically, if the mapping difference distribution parameter is less than or equal to the preset mapping difference distribution parameter, a distribution interferometry analysis is performed on the mapping difference points, where...

[0076] The filtering execution parameters for the positioning acquisition process are increased and adjusted based on the acquisition mapping difference index;

[0077] The increase in the filtering execution parameter is positively correlated with the acquisition mapping difference index.

[0078] When the mapping difference distribution parameter is less than or equal to the preset mapping difference distribution parameter, it indicates that the distribution of mapping difference points in the current difference assessment period is relatively scattered. At this time, the main factor affecting the acquired positioning analysis image is the interference caused by the external environment on the image acquisition quality. The filtering execution parameter is increased and adjusted according to the acquired mapping difference index to improve the quality of the acquired positioning analysis image. The filtering execution parameter is the size of the filtering window used when filtering the positioning analysis image. It is worth noting that the adjustment range of the filtering execution parameter should not exceed the preset filtering execution parameter range. That is, the filtering execution parameter should be greater than the minimum value of the preset filtering execution parameter range and less than or equal to the maximum value of the preset filtering execution parameter range. Users can determine the preset filtering execution parameter range according to the actual working scenario. This is easy for those skilled in the art to understand and will not be elaborated here. A preset filtering execution parameter range is provided, which is 3×3 to 9×9, with pixels as the basic unit.

[0079] Specifically, if a welding execution area is in a Class II positioning execution state, a reference execution analysis method is used to optimize the positioning execution of that welding execution area.

[0080] Specifically, if the reference difference distribution parameter is less than or equal to the preset reference difference distribution parameter, the device activation ratio index will be reduced according to the reference difference distribution parameter.

[0081] The reference difference distribution index is determined based on the mapping difference distribution parameters of each reference welding area, and the decrease in the device activation ratio index is negatively correlated with the reference difference distribution index.

[0082] Specifically, for a single welding execution area, if the welding execution area is in the second-class positioning execution state, it indicates that the curvature change of the surface within the corresponding range and the overall curvature are both small, which in turn indicates that the direction change of the weld line in the corresponding welding execution area is relatively simple. Therefore, the reference execution analysis method is used to optimize the positioning execution of the welding execution area, which ensures the effectiveness of the positioning and identification results while avoiding the waste of computing resources.

[0083] For a single welding execution area in a Class II positioning execution state, the reference difference distribution index is the average value of the mapping difference distribution parameters of each reference welding area. The reference welding area is the welding execution area in which the evaluation difference index is less than the preset evaluation difference index among the welding execution areas where the welding execution surface has completed welding positioning analysis. For any two welding execution areas, the evaluation difference index = max{x1, x2}, where x1 = the absolute value of the difference between the regional curvature difference indices of the two welding execution areas / the average value of the regional curvature difference indices of the two welding execution areas, and x2 = the absolute value of the difference between the regional reference curvature indices of the two welding execution areas / the average value of the regional reference curvature indices of the two welding execution areas. The average value of the curvature index, and the value of the preset evaluation difference index, can be determined by the user according to the actual working scenario. For example, the user can set it according to the preparation execution record. The higher the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component, the smaller the value of the preset evaluation difference index. A method for determining the value of the preset evaluation difference index is provided, which is the average value of the evaluation difference index of the reference welding area in the enabled optimization record that meets the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component. The device activation ratio index = the number of positioning acquisition devices performing the positioning analysis image acquisition task / the number of positioning acquisition devices set.

[0084] The value of the preset reference difference distribution index can be determined by the user according to the actual working scenario. For example, the user can set it according to the preparation execution record. The higher the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component, the smaller the value of the preset reference difference distribution index. A method for determining the value of the preset reference difference distribution index is provided, in which the preparation execution record that reduces the device activation ratio index according to the reference difference distribution parameter is recorded as the activation optimization record, and the average value of the reference difference distribution parameter in the activation optimization record that meets the user's requirement for the effectiveness of the welding positioning result of the welding preparation process of the target welded component is recorded as the preset reference difference distribution parameter.

[0085] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A laser welding positioning method for hyperboloidal duct surfaces in ships, characterized in that, include: Determine whether to optimize the execution parameters for the welding positioning process based on the reference curvature evaluation index of the target welded component; When optimizing the execution parameters, the positioning execution status of each welding execution area is determined based on the regional curvature difference index and the regional reference curvature index. Based on the positioning execution status, it is determined whether to use dynamic acquisition and analysis or reference execution analysis to optimize the positioning execution of each welding execution area. During dynamic acquisition and analysis, the acquisition mapping difference index determines whether to adjust the positioning acquisition parameters for each welding execution area in a first-class positioning execution state, and the acquisition mapping difference index determines whether to perform distribution feature analysis or distribution interference analysis for the mapping difference points. During the execution analysis, the mapping difference distribution parameters of each reference welding area are used to determine whether to perform execution optimization processing on each welding execution area in the second-class positioning execution state; The positioning and acquisition parameters include scanning execution frequency parameters, positioning and acquisition light source parameters, and filtering execution parameters.

2. The laser welding positioning method for hyperboloidal ducts in ships according to claim 1, characterized in that, If the reference curvature evaluation index of the target welded component is greater than the preset reference curvature evaluation index, then the execution parameters for the welding positioning process will be optimized. The reference curvature evaluation index is determined based on the curvature parameters of each evaluation point.

3. The laser welding positioning method for hyperboloidal ducts in ships according to claim 2, characterized in that, The positioning execution state includes a first-class positioning execution state and a second-class positioning execution state; The welding execution area in the first type of positioning execution state is a welding execution area where the regional curvature difference index is greater than the preset regional curvature difference index or the regional reference curvature index is greater than the preset regional reference curvature index. The welding execution area in the second type of positioning execution state is a welding execution area where the regional curvature difference index is less than or equal to the preset regional curvature difference index and the regional reference curvature index is less than or equal to the preset regional reference curvature index.

4. The laser welding positioning method for hyperboloidal ducts in ships according to claim 3, characterized in that, If a welding execution area is in a type of positioning execution state, a dynamic acquisition and analysis method is used to optimize the positioning execution of that welding execution area.

5. The laser welding positioning method for hyperboloidal ducts in ships according to claim 4, characterized in that, If the acquisition mapping difference index is greater than the preset acquisition mapping difference index, the positioning acquisition parameters will be dynamically adjusted. The acquisition mapping difference index is determined based on the positioning analysis data obtained under each positioning acquisition parameter.

6. The laser welding positioning method for hyperboloidal ducts in ships according to claim 5, characterized in that, When the mapping difference distribution parameter is greater than the preset mapping difference distribution parameter, the distribution characteristics of the mapping difference points are analyzed to determine the distribution reference curvature index. The distribution reference curvature index determines whether to adjust the scanning execution frequency parameters or the positioning acquisition light source parameters.

7. The laser welding positioning method for hyperboloidal ducts in ships according to claim 6, characterized in that, If the distribution reference curvature index is greater than the preset distribution reference curvature index, the scanning execution frequency parameter will be increased according to the mapping difference distribution parameter. If the distribution reference curvature index is less than or equal to the preset distribution reference curvature index, the positioning and acquisition light source parameters will be increased and adjusted according to the distribution reference curvature index.

8. The laser welding positioning method for hyperboloidal ducts in ships according to claim 5, characterized in that, If the mapping difference distribution parameter is less than or equal to the preset mapping difference distribution parameter, a distribution interferometry analysis is performed on the mapping difference points. The filtering execution parameters for the positioning acquisition process are increased and adjusted based on the acquisition mapping difference index; The increase in the filtering execution parameter is positively correlated with the acquisition mapping difference index.

9. The laser welding positioning method for hyperboloidal ducts in ships according to claim 3, characterized in that, If a welding execution area is in a Class II positioning execution state, the positioning execution optimization for that welding execution area is performed using a reference execution analysis method.

10. The laser welding positioning method for hyperboloidal ducts in ships according to claim 1, characterized in that, If the reference difference distribution parameter is less than or equal to the preset reference difference distribution parameter, the device activation ratio index will be reduced according to the reference difference distribution parameter. The reference difference distribution index is determined based on the mapping difference distribution parameters of each reference welding area, and the decrease in the device activation ratio index is negatively correlated with the reference difference distribution index.

Images