A steel structure adaptive intelligent welding method and system based on multi-modal perception

Abstract

The application discloses a steel structure self-adaptive intelligent welding method and system based on multi-modal perception, and the method comprises the following steps: in step 101, a plurality of sensors are arranged to perform multi-modal perception on a welding area of a bridge steel structure, and multi-modal welding data of each point of the welding area is acquired; in step 102, the welding area is divided into a plurality of welding sub-areas according to the multi-modal welding data, wherein each welding sub-area corresponds to a welding mode; and in step 103, a welding sub-area where a current welding head is located is identified, and welding is performed by using a welding mode corresponding to the welding sub-area.

Description

Technical Field

[0001] This invention belongs to the field of bridge steel structure welding technology, and more specifically, relates to an adaptive intelligent welding method and system for steel structures based on multimodal perception. Background Technology

[0002] Bridge steel structure welding refers to the crucial process of firmly connecting different steel components into a single unit through fusion joining technology during bridge manufacturing and construction. This process requires welds to possess high strength, good ductility, and fatigue resistance to ensure the structural safety and stability of the bridge under long-term loads and complex environments. Commonly used welding methods include submerged arc welding, gas shielded welding, and manual arc welding. During construction, welding parameters, heat-affected zone, and welding sequence must be strictly controlled to prevent stress concentration, deformation, and cracking.

[0003] Currently, manual welding is generally used, which has a low degree of automation. Even if there are automated welding methods, the welding accuracy cannot meet the requirements, and the degree of automation is not high. Summary of the Invention

[0004] To address the above technical problems, this invention proposes an adaptive intelligent welding method for steel structures based on multimodal perception, comprising:

[0005] Step 101: Set up multiple sensors to perform multimodal sensing of the welding area of ​​the bridge steel structure and acquire multimodal welding data of each point in the welding area;

[0006] Step 102: Based on the multimodal welding data, the welding area is divided into multiple welding sub-regions, wherein each welding sub-region corresponds to a welding method;

[0007] Dividing the welding area into multiple welding sub-areas includes: dividing the welding area into a first welding sub-area, a second welding sub-area, a third welding sub-area, and a fourth welding sub-area;

[0008] The welding method for the first welding sub-region is high-energy slow welding, the welding method for the second welding sub-region is multi-pass fine welding, the welding method for the third welding sub-region is fluctuating stable welding, and the welding method for the fourth welding sub-region is avoidance welding or skip welding.

[0009] Step 103: Identify the welding sub-region where the current welding head is located, and perform welding using the corresponding welding method.

[0010] Furthermore, the multimodal welding data includes: thermal state, attitude gradient, molten state, cumulative energy density, and geometric stability at each point.

[0011] Furthermore, step 101 also includes preprocessing the multimodal welding data to generate preprocessed multimodal welding data. The preprocessing operation includes aligning the multimodal welding data according to a unified timestamp, deleting missing values ​​in the multimodal welding data, and finally performing normalization processing to generate normalized multimodal welding data.

[0012] Furthermore, step 102 also includes: if the thermal state of the current point is less than the thermal state lower threshold, mark the thermal state of the current point as low; if the thermal state of the current point is greater than the thermal state upper threshold, mark the thermal state of the current point as high; if the thermal state of the current point is less than the thermal state upper threshold and greater than the thermal state lower threshold, mark the thermal state of the current point as medium.

[0013] If the melting state of the current point is less than the upper limit threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper limit threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper limit threshold of the melting state but greater than the lower limit threshold of the melting state, the melting state of the current point is marked as medium.

[0014] If the attitude gradient at the current point is less than the lower bound threshold, mark the attitude gradient at the current point as low; if the attitude gradient at the current point is greater than the upper bound threshold, mark the attitude gradient at the current point as high; if the attitude gradient at the current point is less than the upper bound threshold and greater than the lower bound threshold, mark the attitude gradient at the current point as medium.

[0015] If the cumulative energy density at the current point is greater than the cumulative energy density threshold, mark the cumulative energy density at the current point as high; otherwise, mark it as low.

[0016] If the geometric stability of the current point is less than the geometric stability threshold, mark the geometric stability of the current point as stable; otherwise, mark it as unstable.

[0017] Furthermore, dividing the welding area into multiple welding sub-regions also includes:

[0018] If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, then the current point is assigned to the first welding sub-region.

[0019] If the thermal state of the current point is marked as low and the molten state of the current point is marked as low, then the current point is assigned to the second welding sub-region;

[0020] If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, then the current point is assigned to the third welding sub-region;

[0021] If the geometric stability of the current point is marked as stable, then the current point is assigned to the fourth welding sub-region.

[0022] Furthermore, the number of points within a certain area of ​​the welding region that are assigned to each welding sub-region is counted, and the welding sub-region containing the most points is taken as the final welding sub-region of that area.

[0023] Furthermore, firstly, it is determined whether the current point can be assigned to the first welding sub-region. If not, it is determined whether the current point can be assigned to the second welding sub-region, and so on, until the current point is assigned to one of the first to the fourth welding sub-regions.

[0024] Furthermore, it is determined in turn whether the current point can be assigned to the first welding sub-region, the second welding sub-region, the third welding sub-region, or the fourth welding sub-region. If the current point can be assigned to multiple sub-regions from the first welding sub-region to the fourth welding sub-region, then the current point is assigned to the sub-region with the highest priority according to the priority of the first welding sub-region to the fourth welding sub-region.

[0025] This invention also proposes an adaptive intelligent welding system for steel structures based on multimodal perception, comprising:

[0026] The data acquisition module is used to set up multiple sensors to perform multimodal sensing of the welding area of ​​the bridge steel structure and acquire multimodal welding data of each point in the welding area;

[0027] The sub-region division module is used to divide the welding area into multiple welding sub-regions based on the multimodal welding data, wherein each welding sub-region corresponds to a welding method;

[0028] The welding module is used to identify the welding sub-region where the current welding head is located and to perform welding using the corresponding welding method.

[0029] Furthermore, the multimodal welding data includes: thermal state, attitude gradient, molten state, cumulative energy density, and geometric stability at each point.

[0030] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:

[0031] Through the above technical solutions, this invention enables precise welding of bridge steel structures by defining specific welding areas based on multimodal perception. Attached Figure Description

[0032] Figure 1 This is a flowchart of the method in Embodiment 1 of the present invention;

[0033] Figure 2 This is a system structure diagram of Embodiment 2 of the present invention. Detailed Implementation

[0034] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0035] The method provided by this invention can be implemented in a terminal environment that may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0036] A processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the terminal, and performs various functions and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and by calling data stored in the storage medium.

[0037] Storage media can include random access memory (RAM) or read-only memory (ROM). Storage media can be used to store instructions, programs, code, code sets, or instructions.

[0038] The display screen is used to show the user interface of each application.

[0039] In addition, those skilled in the art will understand that the structure of the terminal described above does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include radio frequency circuits, input units, sensors, audio circuits, power supplies, and other components, which will not be described in detail here.

[0040] Example 1

[0041] like Figure 1 This embodiment proposes an adaptive intelligent welding method for steel structures based on multimodal perception, including:

[0042] Step 101: Set up multiple sensors to perform multimodal sensing of the welding area of ​​the bridge steel structure and acquire multimodal welding data for each point in the welding area. The multimodal welding data includes: thermal state, attitude gradient, molten state, cumulative energy density and geometric stability of each point.

[0043] To illustrate the multimodal welding data, the following example is provided in this embodiment:

[0044]

[0045] To illustrate geometric stability, the following example is provided in this embodiment:

[0046] 1. Examples of regions with small geometrical changes (geometrically stable): These regions have almost no abrupt geometric changes and are ideal for continuous welding:

[0047] Large flat plate areas: such as the middle part of a whole web plate or the bottom plate of a steel box girder, the welding path can travel a long distance in a straight line;

[0048] Long straight edge weld areas: such as the middle of long right angle welds, lap welds, and splice welds, these areas have small curvature, consistent bevels, and are not prone to misalignment;

[0049] Regions of long beams with uniform cross-sections: such as the middle section of H-beams, box girders, channel steel, etc., where the cross-sectional changes are minimal and the welding burden is low.

[0050] 2. Examples of regions with large geometrical changes (geometric instability): These regions exhibit significant geometrical abrupt changes, making welding prone to errors or stress accumulation.

[0051] Component intersections: such as the intersection of longitudinal beams and transverse beams, the intersection of reinforcing bars, and corner joints. These places have intersecting polygons, many weld corners, and rapid changes in direction.

[0052] Weld termination zone or start zone (end zone): The molten pool is difficult to control and is prone to porosity or shrinkage cracks;

[0053] Irregular bevel joint areas: such as irregular bevels and steel with gradually changing cross-sections, the trajectory in these areas needs to be continuously adjusted, which can easily lead to mis-welding.

[0054] Surface corners, steps, and flange transition areas: such as abrupt changes in surface height / normal, which make robot trajectory control difficult and are commonly seen in the rounded corner areas of cantilever plates and web plates.

[0055] Spiral or curved surface welds: such as cross welding of round pipes, welding of irregularly shaped parts in space, where the curvature of the local space is large and the posture of the welding torch changes drastically.

[0056] Specifically, step 101 further includes preprocessing the multimodal welding data to generate preprocessed multimodal welding data. The preprocessing operation includes aligning the multimodal welding data according to a unified timestamp, deleting missing values ​​in the multimodal welding data, and finally performing normalization processing to generate normalized multimodal welding data.

[0057] Step 102: Based on the multimodal welding data, the welding area is divided into multiple welding sub-regions, wherein each welding sub-region corresponds to a welding method;

[0058] Specifically, step 102 further includes: if the thermal state of the current point is less than the thermal state lower threshold, mark the thermal state of the current point as low; if the thermal state of the current point is greater than the thermal state upper threshold, mark the thermal state of the current point as high; if the thermal state of the current point is less than the thermal state upper threshold and greater than the thermal state lower threshold, mark the thermal state of the current point as medium.

[0059] If the melting state of the current point is less than the upper limit threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper limit threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper limit threshold of the melting state but greater than the lower limit threshold of the melting state, the melting state of the current point is marked as medium.

[0060] If the attitude gradient at the current point is less than the lower bound threshold, mark the attitude gradient at the current point as low; if the attitude gradient at the current point is greater than the upper bound threshold, mark the attitude gradient at the current point as high; if the attitude gradient at the current point is less than the upper bound threshold and greater than the lower bound threshold, mark the attitude gradient at the current point as medium.

[0061] If the cumulative energy density at the current point is greater than the cumulative energy density threshold, mark the cumulative energy density at the current point as high; otherwise, mark it as low.

[0062] If the geometric stability of the current point is less than the geometric stability threshold, mark the geometric stability of the current point as stable; otherwise, mark it as unstable.

[0063] Specifically, dividing the welding area into multiple welding sub-areas includes: dividing the welding area into a first welding sub-area, a second welding sub-area, a third welding sub-area, and a fourth welding sub-area;

[0064] The welding method for the first welding sub-region is high-energy slow welding, the welding method for the second welding sub-region is multi-pass fine welding, the welding method for the third welding sub-region is fluctuating stable welding, and the welding method for the fourth welding sub-region is avoidance welding or skip welding.

[0065] If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, then the current point is assigned to the first welding sub-region.

[0066] If the thermal state of the current point is marked as low and the molten state of the current point is marked as low, then the current point is assigned to the second welding sub-region;

[0067] If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, then the current point is assigned to the third welding sub-region;

[0068] If the geometric stability of the current point is marked as stable, then the current point is assigned to the fourth welding sub-region.

[0069] Specifically, the number of points in a certain area within the welding region that are assigned to each welding sub-region is counted, and the welding sub-region containing the most points is taken as the final welding sub-region of that area.

[0070] Specifically, first, it is determined whether the current point can be assigned to the first welding sub-region. If not, it is determined whether the current point can be assigned to the second welding sub-region, and so on, until the current point is assigned to one of the first to the fourth welding sub-regions.

[0071] Specifically, it is determined in turn whether the current point can be assigned to the first welding sub-region, the second welding sub-region, the third welding sub-region, or the fourth welding sub-region. If the current point can be assigned to multiple sub-regions from the first welding sub-region to the fourth welding sub-region, then the current point is assigned to the sub-region with the highest priority according to the priority of the first welding sub-region to the fourth welding sub-region.

[0072] Step 103: Identify the welding sub-region where the current welding head is located, and perform welding using the corresponding welding method.

[0073] Example 2

[0074] like Figure 2 As shown, this embodiment proposes an adaptive intelligent welding system for steel structures based on multimodal perception, including:

[0075] The data acquisition module is used to set up multiple sensors to perform multimodal sensing of the welding area of ​​the bridge steel structure and acquire multimodal welding data of each point in the welding area. The multimodal welding data includes: thermal state, attitude gradient, molten state, cumulative energy density and geometric stability of each point.

[0076] Specifically, the data acquisition module also includes preprocessing the multimodal welding data to generate preprocessed multimodal welding data. The preprocessing operation includes aligning the multimodal welding data according to a unified timestamp, deleting missing values ​​in the multimodal welding data, and finally performing normalization processing to generate normalized multimodal welding data.

[0077] The sub-region division module is used to divide the welding area into multiple welding sub-regions based on the multimodal welding data, wherein each welding sub-region corresponds to a welding method;

[0078] Specifically, the sub-region division module also includes: if the thermal state of the current point is less than the upper limit threshold of the thermal state, the thermal state of the current point is marked as low; if the thermal state of the current point is greater than the upper limit threshold of the thermal state, the thermal state of the current point is marked as high; if the thermal state of the current point is less than the upper limit threshold of the thermal state but greater than the lower limit threshold of the thermal state, the thermal state of the current point is marked as medium.

[0079] If the melting state of the current point is less than the upper limit threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper limit threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper limit threshold of the melting state but greater than the lower limit threshold of the melting state, the melting state of the current point is marked as medium.

[0080] If the attitude gradient at the current point is less than the lower bound threshold, mark the attitude gradient at the current point as low; if the attitude gradient at the current point is greater than the upper bound threshold, mark the attitude gradient at the current point as high; if the attitude gradient at the current point is less than the upper bound threshold and greater than the lower bound threshold, mark the attitude gradient at the current point as medium.

[0081] If the cumulative energy density at the current point is greater than the cumulative energy density threshold, mark the cumulative energy density at the current point as high; otherwise, mark it as low.

[0082] If the geometric stability of the current point is less than the geometric stability threshold, mark the geometric stability of the current point as stable; otherwise, mark it as unstable.

[0083] Specifically, dividing the welding area into multiple welding sub-areas includes: dividing the welding area into a first welding sub-area, a second welding sub-area, a third welding sub-area, and a fourth welding sub-area;

[0084] The welding method for the first welding sub-region is high-energy slow welding, the welding method for the second welding sub-region is multi-pass fine welding, the welding method for the third welding sub-region is fluctuating stable welding, and the welding method for the fourth welding sub-region is avoidance welding or skip welding.

[0085] If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, then the current point is assigned to the first welding sub-region.

[0086] If the thermal state of the current point is marked as low and the molten state of the current point is marked as low, then the current point is assigned to the second welding sub-region;

[0087] If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, then the current point is assigned to the third welding sub-region;

[0088] If the geometric stability of the current point is marked as stable, then the current point is assigned to the fourth welding sub-region.

[0089] Specifically, the number of points in a certain area within the welding region that are assigned to each welding sub-region is counted, and the welding sub-region containing the most points is taken as the final welding sub-region of that area.

[0090] Specifically, first, it is determined whether the current point can be assigned to the first welding sub-region. If not, it is determined whether the current point can be assigned to the second welding sub-region, and so on, until the current point is assigned to one of the first to the fourth welding sub-regions.

[0091] Specifically, it is determined in turn whether the current point can be assigned to the first welding sub-region, the second welding sub-region, the third welding sub-region, or the fourth welding sub-region. If the current point can be assigned to multiple sub-regions from the first welding sub-region to the fourth welding sub-region, then the current point is assigned to the sub-region with the highest priority according to the priority of the first welding sub-region to the fourth welding sub-region.

[0092] The welding module is used to identify the welding sub-region where the current welding head is located and to perform welding using the corresponding welding method.

[0093] Example 3

[0094] This invention also proposes a storage medium storing multiple instructions for implementing the aforementioned adaptive intelligent welding method for steel structures based on multimodal perception.

[0095] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0096] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, setting up multiple sensors to perform multimodal sensing of the welding area of ​​the bridge steel structure, and acquiring multimodal welding data of each point in the welding area, wherein the multimodal welding data includes: thermal state, attitude gradient, molten state, cumulative energy density and geometric stability of each point;

[0097] Specifically, step 101 further includes preprocessing the multimodal welding data to generate preprocessed multimodal welding data. The preprocessing operation includes aligning the multimodal welding data according to a unified timestamp, deleting missing values ​​in the multimodal welding data, and finally performing normalization processing to generate normalized multimodal welding data.

[0098] Step 102: Based on the multimodal welding data, the welding area is divided into multiple welding sub-regions, wherein each welding sub-region corresponds to a welding method;

[0099] Specifically, step 102 further includes: if the thermal state of the current point is less than the thermal state lower threshold, mark the thermal state of the current point as low; if the thermal state of the current point is greater than the thermal state upper threshold, mark the thermal state of the current point as high; if the thermal state of the current point is less than the thermal state upper threshold and greater than the thermal state lower threshold, mark the thermal state of the current point as medium.

[0100] If the melting state of the current point is less than the upper limit threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper limit threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper limit threshold of the melting state but greater than the lower limit threshold of the melting state, the melting state of the current point is marked as medium.

[0101] If the attitude gradient at the current point is less than the lower bound threshold, mark the attitude gradient at the current point as low; if the attitude gradient at the current point is greater than the upper bound threshold, mark the attitude gradient at the current point as high; if the attitude gradient at the current point is less than the upper bound threshold and greater than the lower bound threshold, mark the attitude gradient at the current point as medium.

[0102] If the cumulative energy density at the current point is greater than the cumulative energy density threshold, mark the cumulative energy density at the current point as high; otherwise, mark it as low.

[0103] If the geometric stability of the current point is less than the geometric stability threshold, mark the geometric stability of the current point as stable; otherwise, mark it as unstable.

[0104] Specifically, dividing the welding area into multiple welding sub-areas includes: dividing the welding area into a first welding sub-area, a second welding sub-area, a third welding sub-area, and a fourth welding sub-area;

[0105] The welding method for the first welding sub-region is high-energy slow welding, the welding method for the second welding sub-region is multi-pass fine welding, the welding method for the third welding sub-region is fluctuating stable welding, and the welding method for the fourth welding sub-region is avoidance welding or skip welding.

[0106] If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, then the current point is assigned to the first welding sub-region.

[0107] If the thermal state of the current point is marked as low and the molten state of the current point is marked as low, then the current point is assigned to the second welding sub-region;

[0108] If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, then the current point is assigned to the third welding sub-region;

[0109] If the geometric stability of the current point is marked as stable, then the current point is assigned to the fourth welding sub-region.

[0110] Specifically, the number of points in a certain area within the welding region that are assigned to each welding sub-region is counted, and the welding sub-region containing the most points is taken as the final welding sub-region of that area.

[0111] Specifically, first, it is determined whether the current point can be assigned to the first welding sub-region. If not, it is determined whether the current point can be assigned to the second welding sub-region, and so on, until the current point is assigned to one of the first to the fourth welding sub-regions.

[0112] Specifically, it is determined in turn whether the current point can be assigned to the first welding sub-region, the second welding sub-region, the third welding sub-region, or the fourth welding sub-region. If the current point can be assigned to multiple sub-regions from the first welding sub-region to the fourth welding sub-region, then the current point is assigned to the sub-region with the highest priority according to the priority of the first welding sub-region to the fourth welding sub-region.

[0113] Step 103: Identify the welding sub-region where the current welding head is located, and perform welding using the corresponding welding method.

[0114] Example 4

[0115] This invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, which can be loaded and executed by the processor to enable the processor to execute the aforementioned adaptive intelligent welding method for steel structures based on multimodal perception.

[0116] Specifically, the electronic device in this embodiment can be a computer terminal, which may include one or more processors and a storage medium.

[0117] The storage medium can be used to store software programs and modules, such as the program instructions / modules of a multimodal perception-based adaptive intelligent welding method for steel structures in this embodiment of the invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, thus realizing the aforementioned multimodal perception-based adaptive intelligent welding method for steel structures. The storage medium may include high-speed random access storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely configured relative to the processor, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0118] The processor can call the information and application stored in the storage medium through the transmission system to execute the following steps: Step 101, set up multiple sensors to perform multimodal sensing of the welding area of ​​the bridge steel structure, and obtain multimodal welding data of each point in the welding area, wherein the multimodal welding data includes: thermal state, attitude gradient, melting state, cumulative energy density and geometric stability of each point;

[0119] Specifically, step 101 further includes preprocessing the multimodal welding data to generate preprocessed multimodal welding data. The preprocessing operation includes aligning the multimodal welding data according to a unified timestamp, deleting missing values ​​in the multimodal welding data, and finally performing normalization processing to generate normalized multimodal welding data.

[0120] Step 102: Based on the multimodal welding data, the welding area is divided into multiple welding sub-regions, wherein each welding sub-region corresponds to a welding method;

[0121] Specifically, step 102 further includes: if the thermal state of the current point is less than the thermal state lower threshold, mark the thermal state of the current point as low; if the thermal state of the current point is greater than the thermal state upper threshold, mark the thermal state of the current point as high; if the thermal state of the current point is less than the thermal state upper threshold and greater than the thermal state lower threshold, mark the thermal state of the current point as medium.

[0122] If the melting state of the current point is less than the upper limit threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper limit threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper limit threshold of the melting state but greater than the lower limit threshold of the melting state, the melting state of the current point is marked as medium.

[0123] If the attitude gradient at the current point is less than the lower bound threshold, mark the attitude gradient at the current point as low; if the attitude gradient at the current point is greater than the upper bound threshold, mark the attitude gradient at the current point as high; if the attitude gradient at the current point is less than the upper bound threshold and greater than the lower bound threshold, mark the attitude gradient at the current point as medium.

[0124] If the cumulative energy density at the current point is greater than the cumulative energy density threshold, mark the cumulative energy density at the current point as high; otherwise, mark it as low.

[0125] If the geometric stability of the current point is less than the geometric stability threshold, mark the geometric stability of the current point as stable; otherwise, mark it as unstable.

[0126] Specifically, dividing the welding area into multiple welding sub-areas includes: dividing the welding area into a first welding sub-area, a second welding sub-area, a third welding sub-area, and a fourth welding sub-area;

[0127] The welding method for the first welding sub-region is high-energy slow welding, the welding method for the second welding sub-region is multi-pass fine welding, the welding method for the third welding sub-region is fluctuating stable welding, and the welding method for the fourth welding sub-region is avoidance welding or skip welding.

[0128] If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, then the current point is assigned to the first welding sub-region.

[0129] If the thermal state of the current point is marked as low and the molten state of the current point is marked as low, then the current point is assigned to the second welding sub-region;

[0130] If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, then the current point is assigned to the third welding sub-region;

[0131] If the geometric stability of the current point is marked as stable, then the current point is assigned to the fourth welding sub-region.

[0132] Specifically, the number of points in a certain area within the welding region that are assigned to each welding sub-region is counted, and the welding sub-region containing the most points is taken as the final welding sub-region of that area.

[0133] Specifically, first, it is determined whether the current point can be assigned to the first welding sub-region. If not, it is determined whether the current point can be assigned to the second welding sub-region, and so on, until the current point is assigned to one of the first to the fourth welding sub-regions.

[0134] Specifically, it is determined in turn whether the current point can be assigned to the first welding sub-region, the second welding sub-region, the third welding sub-region, or the fourth welding sub-region. If the current point can be assigned to multiple sub-regions from the first welding sub-region to the fourth welding sub-region, then the current point is assigned to the sub-region with the highest priority according to the priority of the first welding sub-region to the fourth welding sub-region.

[0135] Step 103: Identify the welding sub-region where the current welding head is located, and perform welding using the corresponding welding method.

[0136] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0137] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0138] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0139] The units described as separate components may or may not be physically separate. The 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0140] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0141] 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 storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, optical disks, and other media capable of storing program code.

[0142] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A multi-modal perception based adaptive intelligent welding method for steel structures, characterized in that, The method comprises: Step 101, setting multiple sensors to perform multi-modal sensing on the welding area of the bridge steel structure, and obtaining multi-modal welding data of each point of the welding area; The multi-modal welding data comprises: the thermal state, the attitude gradient, the melting state, the cumulative energy density and the geometric stability of each point; Step 102, according to the multi-modal welding data, the welding area is divided into multiple welding sub-areas, wherein each welding sub-area corresponds to a welding mode; The welding area is divided into multiple welding sub-areas, which comprises: the welding area is divided into a first welding sub-area, a second welding sub-area, a third welding sub-area and a fourth welding sub-area; The welding mode of the first welding sub-area is high-energy slow welding, the welding mode of the second welding sub-area is multi-pass fine welding, the welding mode of the third welding sub-area is fluctuation stable welding, and the welding mode of the fourth welding sub-area is avoidance welding; Step 102 further comprises: if the thermal state of the current point is less than the lower limit threshold of the thermal state, the thermal state of the current point is marked as low; if the thermal state of the current point is greater than the upper limit threshold of the thermal state, the thermal state of the current point is marked as high; if the thermal state of the current point is less than the upper limit threshold and greater than the lower limit threshold, the thermal state of the current point is marked as medium; If the melting state of the current point is less than the lower limit threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper limit threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper limit threshold and greater than the lower limit threshold, the melting state of the current point is marked as medium; If the attitude gradient of the current point is less than the lower limit threshold of the attitude gradient, the attitude gradient of the current point is marked as low; if the attitude gradient of the current point is greater than the upper limit threshold of the attitude gradient, the attitude gradient of the current point is marked as high; if the attitude gradient of the current point is less than the upper limit threshold and greater than the lower limit threshold, the attitude gradient of the current point is marked as medium; If the cumulative energy density of the current point is greater than the cumulative energy density threshold, the cumulative energy density of the current point is marked as high, otherwise it is marked as low; If the geometric stability of the current point is less than the geometric stability threshold, the geometric stability of the current point is marked as stable, otherwise it is marked as unstable; The welding area is divided into multiple welding sub-areas, which further comprises: If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, the current point is divided into the first welding sub-area; If the thermal state of the current point is marked as low and the melting state of the current point is marked as low, the current point is divided into the second welding sub-area; If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, the current point is divided into the third welding sub-area; If the geometric stability of the current point is marked as stable, the current point is divided into the fourth welding sub-area; Counting the number of points in a certain region of the welding region that are divided into each welding sub-region, and taking the welding sub-region containing the most points as the final welding sub-region of the certain region; Step 103, identifying the welding sub-region where the current welding head is located, and using the welding method corresponding thereto to perform welding.

2. The multi-modal perception based adaptive intelligent welding method for steel structures as claimed in claim 1, wherein, Step 101 further includes a preprocessing operation on the multi-modal welding data to generate preprocessed multi-modal welding data, wherein the preprocessing operation includes aligning the multi-modal welding data according to a unified timestamp, deleting missing values in the multi-modal welding data, and finally performing normalization processing to generate normalized multi-modal welding data.

3. The multi-modal perception based adaptive intelligent welding method for steel structures as claimed in claim 1, wherein, First, it is judged whether the current point can be divided into the first welding sub-region, if not, it is judged whether the current point can be divided into the second welding sub-region, and so on, until the current point is divided into one of the first welding sub-region to the fourth welding sub-region.

4. The multi-modal perception based adaptive intelligent welding method for steel structures of claim 1, wherein, In turn, it is judged whether the current point can be divided into the first welding sub-region, the second welding sub-region, the third welding sub-region, or the fourth welding sub-region, if the current point can be divided into multiple sub-regions of the first welding sub-region to the fourth welding sub-region, the current point is preferentially divided into the sub-region with the highest priority according to the priority of the first welding sub-region to the fourth welding sub-region.

5. A multi-modal perception based adaptive intelligent welding system for steel structures, characterized in that, It comprises: A data acquisition module for setting multiple sensors to perform multi-modal perception on the welding region of the bridge steel structure, and acquiring multi-modal welding data of each point in the welding region; A sub-region division module for dividing the welding region into multiple welding sub-regions according to the multi-modal welding data, wherein each welding sub-region corresponds to a welding method; The welding region is divided into multiple welding sub-regions, including: dividing the welding region into a first welding sub-region, a second welding sub-region, a third welding sub-region, and a fourth welding sub-region; The welding method of the first welding sub-region is high-energy slow welding, the welding method of the second welding sub-region is multi-pass fine welding, the welding method of the third welding sub-region is wave stable welding, and the welding method of the fourth welding sub-region is avoidance welding; The sub-region division module further includes: if the thermal state of the current point is less than the lower threshold of the thermal state, the thermal state of the current point is marked as low; if the thermal state of the current point is greater than the upper threshold of the thermal state, the thermal state of the current point is marked as high; if the thermal state of the current point is less than the upper threshold of the thermal state and greater than the lower threshold of the thermal state, the thermal state of the current point is marked as medium; If the melting state of the current point is less than the lower threshold of the melting state, the melting state of the current point is marked as low; if the melting state of the current point is greater than the upper threshold of the melting state, the melting state of the current point is marked as high; if the melting state of the current point is less than the upper threshold of the melting state and greater than the lower threshold of the melting state, the melting state of the current point is marked as medium; If the attitude gradient at the current point is less than the lower bound threshold, mark the attitude gradient at the current point as low; if the attitude gradient at the current point is greater than the upper bound threshold, mark the attitude gradient at the current point as high; if the attitude gradient at the current point is less than the upper bound threshold and greater than the lower bound threshold, mark the attitude gradient at the current point as medium. If the cumulative energy density at the current point is greater than the cumulative energy density threshold, mark the cumulative energy density at the current point as high; otherwise, mark it as low. If the geometric stability of the current point is less than the geometric stability threshold, the geometric stability of the current point is marked as stable; otherwise, it is marked as unstable. Dividing the welding area into multiple welding sub-areas also includes: If the thermal state of the current point is marked as high and the attitude gradient of the current point is marked as high, then the current point is assigned to the first welding sub-region. If the thermal state of the current point is marked as low and the molten state of the current point is marked as low, then the current point is assigned to the second welding sub-region; If the attitude gradient of the current point is marked as high and the cumulative energy density of the current point is marked as high, then the current point is assigned to the third welding sub-region; If the geometric stability of the current point is marked as stable, then the current point is assigned to the fourth welding sub-region; Count the number of points in a certain area of ​​the welding area that are assigned to each welding sub-area, and take the welding sub-area containing the most points as the final welding sub-area of ​​the certain area. The welding module is used to identify the welding sub-region where the current welding head is located and to perform welding using the corresponding welding method.

6. A multi-modal perception based adaptive intelligent welding system for steel structures as claimed in claim 5 wherein, The multimodal welding data includes: thermal state, attitude gradient, molten state, cumulative energy density, and geometric stability at each point.

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