Method and device for controlling cracks of laser cladding coating, chip and terminal

Abstract

The embodiment of the invention discloses a laser cladding coating crack control method and device, a chip and a terminal, and the method comprises the steps that coating crack information is collected based on a to-be-detected base material, and the coating crack information comprises a reflection signal and a surface macroscopic crack picture; processing the coating crack information to obtain fusion information; according to the fusion information, if the to-be-detected base material comprises internal cracks or simultaneously comprises internal cracks and surface cracks, regulating and controlling laser cladding parameters according to a first regulation mode, processing the to-be-detected base material through the regulated and controlled laser cladding parameters, and re-executing the first step until the to-be-detected base material only comprises the surface cracks according to the fusion information; and if the to-be-detected base material only comprises the surface cracks, regulating and controlling the laser cladding parameters according to a second regulation mode, activating the to-be-detected base material through the regulated and controlled laser cladding parameters, and executing the first step again until the to-be-detected base material has no cracks according to the fusion information. According to the invention, the generation of coating cracks can be controlled to the maximum extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser additive manufacturing, in particular to a laser cladding coating crack control method and device, a chip and a terminal. BACKGROUND

[0002] As an advanced manufacturing process, laser cladding technology can form a high-strength and high-hardness coating layer on the surface of a substrate, and is widely used in the fields of material repair, coating and manufacturing. However, during the laser cladding process, the coating layer formed is very prone to cracks, which can cause the structure of the manufactured part to be unstable, the performance to be reduced, and even serious functional failures in use. Therefore, the existence of cracks has always been an important factor restricting its application range.

[0003] Currently, for the cracks generated during the laser cladding process, the method of "information collection-comparison with a preset model-error feedback" is usually used to detect cracks. However, laser cladding is a multi-physical field coupling process, and the preset model obtained by simulation and other methods often deviates from the actual situation. The preset model itself is not accurate, for example, it is difficult to accurately judge the cracks caused by material differences, temperature gradients and other factors during the cladding process. Therefore, it is difficult to achieve good expected results in overcoming crack generation by improving the laser cladding process based on the current crack detection method. SUMMARY

[0004] Therefore, the present application provides a laser cladding coating crack control method and device, a chip and a terminal, which can comprehensively monitor cracks and adjust laser cladding parameters using different adjustment methods for cracks at different positions to maximize the control of coating crack generation.

[0005] In a first aspect, a laser cladding coating crack control method is provided, comprising:

[0006] S1: acquiring a surface macroscopic crack picture based on a to-be-detected substrate, and acquiring a reflection signal based on the to-be-detected substrate after excitation to obtain coating crack information; the to-be-detected substrate is a target substrate that has undergone laser cladding;

[0007] S2: processing the coating crack information to obtain fusion information;

[0008] S3: according to the fusion information, if the to-be-detected substrate includes internal cracks or both internal cracks and surface cracks, adjusting the laser cladding parameters according to a first adjustment method, processing the to-be-detected substrate by using the adjusted laser cladding parameters and re-executing S1 until the to-be-detected substrate only includes surface cracks according to the fusion information, and outputting first cladding processing parameters;

[0009] According to the fusion information, if the substrate to be detected only includes surface cracks, the laser cladding parameters are adjusted according to a second adjustment mode, and the substrate to be detected is activated by the adjusted laser cladding parameters and S1 is re-executed until the substrate to be detected is crack-free according to the fusion information, and a second cladding processing parameter is output;

[0010] S4: continue laser cladding on the target substrate using the second cladding processing parameter.

[0011] Optionally, the first adjustment mode comprises:

[0012] When the internal cracks are detected for the first time, the initial internal crack scanning speed is reduced to obtain a first internal crack scanning speed, and it is checked whether the first internal crack scanning speed is lower than a first limit value, if lower, the first limit value is used as the first internal crack scanning speed, and if not lower, the first internal crack scanning speed is used;

[0013] When the internal cracks are detected for the second time, the initial laser power is increased to obtain a first laser power, and it is checked whether the first laser power exceeds a second limit value, if exceeds, the second limit value is used as the first laser power, and if does not exceed, the first laser power is used;

[0014] When the internal cracks are detected for the third time, the first internal crack scanning speed is reduced to obtain a second internal crack scanning speed, and it is checked whether the second internal crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the second internal crack scanning speed, and if not lower, the second internal crack scanning speed is used;

[0015] When the internal cracks are detected for the fourth time, the first laser power is increased to obtain a second laser power, and it is checked whether the second laser power exceeds the second limit value, if exceeds, the second limit value is used as the second laser power, and if does not exceed, the second laser power is used;

[0016] When the internal cracks are detected for the 2n+1 time, the n internal crack scanning speed is reduced to obtain an n+1 internal crack scanning speed, and it is checked whether the n+1 internal crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the n+1 internal crack scanning speed, and if not lower, the n+1 internal crack scanning speed is used;

[0017] When the internal cracks are detected for the 2n+2 time, the n laser power is increased to obtain an n+1 laser power, and it is checked whether the n+1 laser power exceeds the second limit value, if exceeds, the second limit value is used as the n+1 laser power, and if does not exceed, the n+1 laser power is used;

[0018] Wherein, n is a positive integer greater than or equal to 2, when the substrate to be detected includes internal cracks or both internal cracks and surface cracks, the internal cracks are detected.

[0019] Optionally, the second adjustment mode comprises:

[0020] When the surface cracks are detected for the first time, the internal crack scanning speed at the last time is reduced to obtain a first surface crack scanning speed, and it is checked whether the first surface crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the first surface crack scanning speed, if not lower, the first surface crack scanning speed is used.

[0021] When the surface cracks are detected for the second time, the initial overlap rate is increased to obtain a first overlap rate, and it is checked whether the first overlap rate exceeds the second limit value, if exceeds, the second limit value is used as the first overlap rate, if does not exceed, the first overlap rate is used.

[0022] When the surface cracks are detected for the third time, the first surface crack scanning speed is reduced to obtain a second surface crack scanning speed, and it is checked whether the second surface crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the second surface crack scanning speed, if not lower, the second surface crack scanning speed is used.

[0023] When the surface cracks are detected for the fourth time, the first overlap rate is increased to obtain a second overlap rate, and it is checked whether the second overlap rate exceeds the second limit value, if exceeds, the second limit value is used as the second overlap rate, if does not exceed, the second overlap rate is used.

[0024] When the surface cracks are detected for the 2k+1 time, the k surface crack scanning speed is reduced to obtain a k+1 surface crack scanning speed, and it is checked whether the k+1 surface crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the k+1 surface crack scanning speed, if not lower, the k+1 surface crack scanning speed is used.

[0025] When the surface cracks are detected for the 2k+2 time, the k overlap rate is increased to obtain a k+1 overlap rate, and it is checked whether the k+1 overlap rate exceeds the second limit value, if exceeds, the second limit value is used as the k+1 overlap rate, if does not exceed, the k+1 overlap rate is used.

[0026] Wherein, k is a positive integer greater than or equal to 2, when the substrate to be detected only includes surface cracks, the surface cracks are detected.

[0027] Optionally, before S1, it comprises:

[0028] The excitation of the substrate to be detected is completed by directly irradiating a laser pulse with preset excitation parameters on the surface of the substrate to be detected.

[0029] Optionally, the preset excitation parameters include:

[0030] The material type of the substrate to be detected is acquired.

[0031] The experimental pulse laser parameters are set according to the material type.

[0032] The substrate to be detected is excited by the experimental pulse laser parameters, and the experimental reflection signal of the excited substrate to be detected is collected.

[0033] The experimental reflection signal is verified, and if it passes, the experimental pulse laser parameters are the excitation parameters.

[0034] Optionally, if the substrate to be detected includes cracks according to the fusion information after M times of re-execution of S1, the excitation parameters are adjusted to re-excite the substrate to be detected, and M is a positive integer.

[0035] The second aspect provides a device for controlling cracks in a laser cladding coating, comprising a signal monitoring and processing module, an intelligent control module and a laser cladding module connected in sequence, and the laser cladding module is also connected with the signal monitoring and processing module; the laser cladding module is used for laser cladding treatment of a substrate to obtain a substrate to be detected.

[0036] The signal monitoring and processing module is used for collecting a surface macro-crack picture based on the substrate to be detected, collecting a reflection signal based on the excited substrate to be detected, and obtaining coating crack information.

[0037] The signal monitoring and processing module is also used for obtaining fusion information after processing the coating crack information.

[0038] The intelligent control module is used for adjusting and controlling the laser cladding parameters of the laser cladding module according to the fusion information, if the substrate to be detected includes internal cracks or both internal cracks and surface cracks, the substrate to be detected is processed by the adjusted laser cladding parameters, and the signal monitoring and processing module is re-executed until the first cladding processing parameters are output when the substrate to be detected only includes surface cracks according to the fusion information.

[0039] According to the fusion information, if the substrate to be detected only includes surface cracks, the laser cladding parameters of the laser cladding module are adjusted and controlled according to the second adjustment mode, and the substrate to be detected is activated by the adjusted laser cladding parameters and the signal monitoring and processing module is re-executed until the second cladding processing parameters are output when the substrate to be detected has no cracks according to the fusion information.

[0040] The intelligent control module is further configured to control the laser cladding module to continue laser cladding on the target base material using the second cladding processing parameter.

[0041] In a third aspect, a chip is provided, comprising a first processor configured to invoke and run a computer program from a first memory, so that a device installed with the chip performs each step of the method for controlling cracks in a laser cladding coating as described above.

[0042] In a fourth aspect, a terminal is provided, comprising a second memory, a second processor, and a computer program stored in the second memory and capable of running on the second processor, and the second processor implements each step of the method for controlling cracks in a laser cladding coating as described above when executing the computer program.

[0043] The method, device, chip and terminal for controlling cracks in a laser cladding coating described above first use the reflected signal and the surface macroscopic crack picture as fusion information, realize common monitoring based on acoustic and optical signals, and make the crack detection of the base material to be detected more comprehensive. Then, the laser cladding parameters are adjusted through the first adjustment mode and the second adjustment mode, real-time crack control is performed in a targeted manner, and the crack control process is divided into two stages according to the characteristics of the cracks, so as to respond to the dynamic changes of crack formation and make the crack control process more systematic. Based on this, the target base material is continuously subjected to laser cladding through the second cladding processing parameter obtained finally, so that the generation of coating cracks is controlled to the maximum, i.e., the continuous generation of coating cracks is overcome. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0045] Figure 1 The basic flowchart of the method for controlling cracks in a laser cladding coating of the embodiments of the present application is shown in the figure.

[0046] Figure 2 The implementation flowchart of the first adjustment mode of the embodiments of the present application is shown in the figure.

[0047] Figure 3 The implementation flowchart of the second adjustment mode of the embodiments of the present application is shown in the figure.

[0048] Figure 4 The basic structure block diagram of the device for controlling cracks in a laser cladding coating of the embodiments of the present application is shown in the figure.

[0049] Figure 5A basic structure block diagram of a terminal provided for an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to enable persons skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0051] In some processes described in the specification and claims of the present application and the above drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that these operations can be executed in the order appearing in the present text or in parallel, and the serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in the present text are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do "first" and "second" represent different types.

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0053] The embodiments of the present application can acquire and process related data based on artificial intelligence technology. Among them, artificial intelligence (AI: Artificial Intelligence) is the use of digital computers or digital computer-controlled machines to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. Theory, method, technology and application system.

[0054] The basic technology of artificial intelligence generally includes technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction system, mechatronics, etc. Artificial intelligence software technology mainly includes computer vision technology, robot technology, biometric technology, speech processing technology, natural language processing technology, and machine learning / deep learning, etc. Several major directions.

[0055] For details, please refer to Figure 1 , Figure 1 A basic flowchart of the crack control method for the laser cladding coating of the present embodiment.

[0056] As Figure 1As shown, a laser cladding coating crack control method comprises:

[0057] S1: based on the surface macroscopic crack picture of the to-be-detected substrate, based on the reflection signal of the to-be-detected substrate after excitation, and obtaining coating crack information.

[0058] Wherein, the to-be-detected substrate is a target substrate that has undergone laser cladding.

[0059] The embodiment of the present application collects reflection signals based on the to-be-detected substrate after excitation. In specific applications, the method of exciting the to-be-detected substrate includes various methods, such as generating ultrasonic waves through an ultrasonic source and propagating the ultrasonic waves to the surface of the to-be-detected substrate; or generating ultrasonic waves through laser pulse excitation and focusing the laser pulse on the surface of the to-be-detected substrate.

[0060] The embodiment of the present application provides a method of exciting the to-be-detected substrate suitable for internal crack detection, which includes directly irradiating the to-be-detected substrate surface with a laser pulse with pre-set excitation parameters before the above-mentioned step S1 to complete the excitation of the to-be-detected substrate.

[0061] Based on the above excitation method, the reflection signal of the to-be-detected substrate after excitation in the above-mentioned step S1 is the reflection spectrum of the to-be-detected substrate surface after the laser pulse is directly irradiated on the surface of the to-be-detected substrate.

[0062] In specific applications, the laser pulse absorption rate, refractive index, scattering characteristics, temperature and pressure effect, and acoustic characteristics of different materials of the substrate are different. After the to-be-detected substrate is excited, the absorption difference of the pulse laser and the formation quality of the pulse wave have a great influence, which further directly affects the detection accuracy of the crack. Therefore, the embodiment of the present application provides a laser excitation and laser spectrum analysis method, which can automatically adjust the pulse laser parameters to adapt to different detection requirements and material characteristics, improve the efficiency of the laser processing or detection process, and more accurately detect the small defects of the laser cladding coating, such as internal cracks.

[0063] The embodiment of the present application also provides an implementation method of pre-setting excitation parameters, which obtains the excitation parameters corresponding to the material type of the to-be-detected substrate from the database that has been trained as experimental pulse laser parameters according to the material type of the to-be-detected substrate, and evaluates whether the experimental parameters are reasonable through the verification experiment reflection signal, which includes the following steps:

[0064] Obtain the material type of the to-be-detected substrate;

[0065] Set the experimental pulse laser parameters according to the material type;

[0066] Excite the to-be-detected substrate through the experimental pulse laser parameters, and collect the experimental reflection signal of the to-be-detected substrate after excitation;

[0067] verify the experimental reflection signal, if passed, the experimental pulse laser parameters are the excitation parameters.

[0068] It is conceivable that if not passed, adjust the experimental pulse laser parameters and excite the substrate to be detected by the adjusted experimental pulse laser parameters, and verify the experimental reflection signal again.

[0069] It should be noted that the above-mentioned excitation parameters are the experimental pulse laser parameters that pass the verification, and exemplary include pulse laser power, wavelength, or pulse width, etc.

[0070] In addition, in the above-mentioned step S1 of collecting coating crack information, the reflection signal and the surface macroscopic crack picture are obtained based on two times of collection of the same substrate to be detected, and the two times of collection are different, such as collecting the surface macroscopic crack picture based on the substrate to be detected, which is realized by a surface image detection system composed of high-speed cameras, infrared thermal imagers, etc. Collecting the reflection signal based on the excited substrate to be detected is realized by ultrasonic sensors, spectrum analyzers, etc.

[0071] Therefore, in the embodiment of the present application, the coating crack information is collected in two different ways through multi-sensor cooperative monitoring, which can more comprehensively monitor defects. In the above-mentioned step, the coating crack information is monitored based on sound and light signals, and the cracks that may exist in the substrate to be detected are detected to the maximum extent.

[0072] Exemplarily, the surface macroscopic crack picture is collected based on the substrate to be detected, and the detailed process is that the surface image detection system real-time records the surface of the cladding layer, so as to obtain the surface macroscopic crack picture of the cladding layer of the substrate to be detected after laser cladding. Exemplarily, the reflection signal is collected based on the excited substrate to be detected, and the detailed process is that the excited substrate to be detected is obtained through the interaction of laser pulses and the substrate to be detected, and then the ultrasonic signal or laser spectrum reflected by the excited substrate to be detected, i.e. the reflection signal, is collected.

[0073] S2: After processing the coating crack information, fusion information is obtained.

[0074] In the above-mentioned step S2, the reflection signal and the surface macroscopic crack picture are processed respectively, and the processed reflection signal and the processed surface macroscopic crack picture are obtained; wherein the processed reflection signal and the processed surface macroscopic crack picture constitute the fusion information.

[0075] In one embodiment, the reflection signal is processed, including:

[0076] The reflection signal is filtered and processed;

[0077] The filtered signal is decomposed into intrinsic mode function (IMF) sub-signals using VMD (Variational Modal Decomposition).

[0078] In one embodiment, the surface macroscopic crack picture is processed, including:

[0079] The surface macroscopic crack picture is image pre-processed, including but not limited to filtering, denoising, histogram equalization.

[0080] The feature information of the crack is extracted based on the image pre-processed picture.

[0081] S3: According to the fusion information, if the to-be-detected substrate includes internal cracks or both internal cracks and surface cracks, the laser cladding parameters are adjusted according to a first adjustment mode, the to-be-detected substrate is processed by the adjusted laser cladding parameters, and S1 is re-executed until the to-be-detected substrate only includes surface cracks according to the fusion information, and a first cladding processing parameter is output.

[0082] According to the fusion information, if the to-be-detected substrate only includes surface cracks, the laser cladding parameters are adjusted according to a second adjustment mode, and the to-be-detected substrate is activated by the adjusted laser cladding parameters and S1 is re-executed until the to-be-detected substrate has no cracks according to the fusion information, and a second cladding processing parameter is output.

[0083] According to the above step S2, the fusion information is the processed reflection signal, the processed surface macroscopic crack picture, and the two processing modes shown in the examples, the step S3 judges the crack condition of the to-be-detected substrate according to the fusion information, including:

[0084] For the processed reflection signal, by comparative analysis, whether the to-be-detected substrate has internal cracks is obtained;

[0085] For the processed surface macroscopic crack picture, by machine learning, whether the to-be-detected substrate has surface cracks is obtained.

[0086] Among them, before the comparative analysis of the processed reflection signal, the target echo is selected from the IMF sub-signals as the target for comparative analysis. Before machine learning of the processed surface macroscopic crack picture, a certain number of surface macroscopic crack pictures are cyclically trained to obtain the corresponding learning model.

[0087] In a specific application, since the internal cause of the surface crack is most likely the expansion of the internal small crack, the step S3 is designed according to the characteristics of the crack, and the repair process is divided into two stages of internal crack repair and surface crack repair, and responds to the dynamic changes of crack formation.

[0088] In actual application, when the to-be-detected substrate includes both internal cracks and surface cracks, the step S3 first uses the first adjustment mode to control the laser cladding parameters for repairing the internal cracks, until the to-be-detected substrate only includes surface cracks. Through the first adjustment mode, the internal cracks can be effectively filled and connected, and the performance of the to-be-detected substrate can be improved. Then, when only including surface cracks, the second adjustment mode is used to control the laser cladding parameters for repairing the surface cracks, until the to-be-detected substrate has no cracks. Through the second adjustment mode, the flatness and performance of the surface of the to-be-detected substrate can be ensured.

[0089] S4: continue laser cladding on the target substrate using the second cladding processing parameters.

[0090] The first cladding processing parameters are the adjusted laser cladding parameters obtained by adjusting the laser cladding parameters according to the fusion information when the to-be-detected substrate only includes surface cracks. The second cladding processing parameters are the adjusted laser cladding parameters obtained by adjusting the laser cladding parameters according to the fusion information when the to-be-detected substrate has no cracks.

[0091] According to the real-time repair method provided by the step S3, the step S4 has the following advantages when using the second cladding processing parameters to continue laser cladding on the target substrate: 1. Strong pertinence: the present application adopts different adjustment modes for cracks in different positions, so that the adjusted processing parameters, such as the first cladding processing parameters and the second cladding processing parameters, have pertinence to the generation of coating cracks. 2. Real-time: after detecting the crack, the parameters of the subsequent cladding layer are optimized immediately, which controls the risk of subsequent crack generation, crack expansion and extension, and improves the service life of the substrate. 3. Systematization: the present application is divided into two stages of internal crack regulation and surface crack regulation, which makes the crack control process more systematic, improves the maturity and reliability of the laser cladding coating crack control method. 4. High efficiency: through real-time control of crack re-occurrence, the repair of the substrate can be completed in a short time, and the production efficiency is improved.

[0092] The laser cladding coating crack control method provided by the embodiment of the present application first takes the reflection signal and the surface macroscopic crack picture as fusion information, realizes the joint monitoring based on the sound and light signals, and makes the crack detection of the to-be-detected substrate more comprehensive. Then, the laser cladding parameters are adjusted through the first adjustment mode and the second adjustment mode, the real-time crack control is carried out in a targeted manner, and the crack control process is divided into two stages according to the characteristics of the cracks, so that the dynamic changes of the crack formation are responded, and the crack control process is more systematic. Based on this, the laser cladding of the target substrate is continued through the finally obtained second cladding processing parameters, so that the generation of the coating cracks of the target substrate can be controlled to the maximum extent, and the continuous generation of the coating cracks is overcome.

[0093] In one embodiment, if the to-be-detected substrate cannot be obtained without cracks according to the above steps S1 to S4, it indicates that the adjustment of the laser cladding parameters cannot achieve the expected control effect, at this time, the parameters such as pulse laser power, wavelength or pulse width are adjusted to optimize the excitation effect of the to-be-detected substrate, and better detection effect is obtained. Therefore, the laser cladding coating crack control method provided by the embodiment of the present application also includes:

[0094] If the to-be-detected substrate includes cracks according to the fusion information after M times of re-execution of S1, the excitation parameters are adjusted to re-excite the to-be-detected substrate.

[0095] In the embodiment of the present application, the first adjustment mode is to regulate the laser cladding parameters for internal cracks, and the priority of regulating the laser cladding parameters is: scanning speed > laser power > overlap rate.

[0096] Among them, the internal crack regulation adopts the alternative regulation of the scanning speed and the laser power. Based on this, as shown in Figure 2 The first adjustment mode includes:

[0097] S311, when the internal crack is detected for the first time, the initial internal crack scanning speed is reduced to obtain the first internal crack scanning speed, and whether the first internal crack scanning speed is lower than the first limit value is checked, if lower, the first limit value is used as the first internal crack scanning speed, if not lower, the first internal crack scanning speed is used;

[0098] S312, when the internal crack is detected for the second time, the initial laser power is increased to obtain the first laser power, and whether the first laser power exceeds the second limit value is checked, if exceeds, the second limit value is used as the first laser power, if does not exceed, the first laser power is used;

[0099] S313, when the internal crack is detected for the third time, the first internal crack scanning speed is reduced to obtain a second internal crack scanning speed, and it is checked whether the second internal crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the second internal crack scanning speed, if not lower, the second internal crack scanning speed is used;

[0100] S314, when the internal crack is detected for the fourth time, the first laser power is increased to obtain a second laser power, and it is checked whether the second laser power exceeds the second limit value, if exceeds, the second limit value is used as the second laser power, if not exceeds, the second laser power is used;

[0101] S315, when the internal crack is detected for the 2n+1 time, the n internal crack scanning speed is reduced to obtain an n+1 internal crack scanning speed, and it is checked whether the n+1 internal crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the n+1 internal crack scanning speed, if not lower, the n+1 internal crack scanning speed is used;

[0102] When the internal crack is detected for the 2n+2 time, the n laser power is increased to obtain an n+1 laser power, and it is checked whether the n+1 laser power exceeds the second limit value, if exceeds, the second limit value is used as the n+1 laser power, if not exceeds, the n+1 laser power is used;

[0103] Wherein, n is a positive integer greater than or equal to 2, and the internal crack is detected when the substrate to be detected includes the internal crack or includes the internal crack and the surface crack at the same time.

[0104] In a preferred embodiment, in the steps S311 to S315, each parameter adjustment of increasing the laser power and reducing the internal crack scanning speed does not exceed 10% of the current value. For example, when the internal crack is detected for the first time, the initial internal crack scanning speed is reduced to obtain a first internal crack scanning speed, which is expressed by the formula as follows:

[0105] V1=(1-10%)V0;

[0106] Wherein, V0 is the initial internal crack scanning speed, and V1 is the first internal crack scanning speed. Meanwhile, the limit value of the scanning speed, i.e. the first limit value, is set as V 极限 It is checked whether V1 is lower than V 极限 If lower, V1 takes the value of V 极限 If not lower, V1 takes its own value.

[0107] For example, when the internal crack is detected for the second time, the initial laser power is increased to obtain a first laser power, which is expressed by the formula as follows:

[0108] P1 = (1 + 10%) P0;

[0109] wherein P0 is the initial laser power, P1 is the first laser power, and a limit value of the laser power is set, i.e., a second limit value is P 极限 , it is checked whether P1 exceeds P 极限 , if it exceeds, P1 takes the value of P 极限 , if it does not exceed, P1 takes its own value.

[0110] In addition, the adjustment of the same parameters in steps S313 to S315 will not be repeated.

[0111] wherein the surface crack regulation is performed by alternately regulating the scanning speed and the lap rate. Based on this, as shown in FIG. 6, the second adjustment mode includes: Figure 3

[0112] S321, when the surface crack is detected for the first time, the internal crack scanning speed at the last time when the internal crack is detected is reduced to obtain a first surface crack scanning speed, and it is checked whether the first surface crack scanning speed is lower than a first limit value, if it is lower, the first limit value is used as the first surface crack scanning speed, if it is not lower, the first surface crack scanning speed is used;

[0113] S322, when the surface crack is detected for the second time, the initial lap rate is increased to obtain a first lap rate, and it is checked whether the first lap rate exceeds a second limit value, if it exceeds, the second limit value is used as the first lap rate, if it does not exceed, the first lap rate is used;

[0114] S323, when the surface crack is detected for the third time, the first surface crack scanning speed is reduced to obtain a second surface crack scanning speed, and it is checked whether the second surface crack scanning speed is lower than the first limit value, if it is lower, the first limit value is used as the second surface crack scanning speed, if it is not lower, the second surface crack scanning speed is used;

[0115] S324, when the surface crack is detected for the fourth time, the first lap rate is increased to obtain a second lap rate, and it is checked whether the second lap rate exceeds the second limit value, if it exceeds, the second limit value is used as the second lap rate, if it does not exceed, the second lap rate is used;

[0116] S325, when the surface crack is detected for the 2k+1 time, the kth surface crack scanning speed is reduced to obtain a k+1th surface crack scanning speed, and it is checked whether the k+1th surface crack scanning speed is lower than the first limit value, if it is lower, the first limit value is used as the k+1th surface crack scanning speed, if it is not lower, the k+1th surface crack scanning speed is used;

[0117] ​When the surface crack is detected for the k+1th time, the kth overlap ratio is increased to obtain a k+1th overlap ratio, and whether the k+1th overlap ratio exceeds the second limit value is checked, if exceeding, the second limit value is used as the k+1th overlap ratio, if not exceeding, the k+1th overlap ratio is used.

[0118] wherein k is a positive integer greater than or equal to 2, and the substrate to be detected only includes surface cracks.

[0119] In a preferred embodiment, in the steps S321 to S325, each parameter adjustment of the surface crack scanning speed is not more than 10% of the current value, and each parameter adjustment of the overlap ratio is not more than 30% of the current value. For example, when the surface crack is detected for the first time, the internal crack scanning speed when the internal crack is detected for the last time is reduced to obtain a first surface crack scanning speed, which is expressed by the formula as follows:

[0120] V' (1) = (1-10%) V (n+1) ;

[0121] wherein V (n+1) is the internal crack scanning speed when the internal crack is detected for the last time, V' (1) is the first surface crack scanning speed, and the same limit value of the scanning speed is used, i.e. the first limit value is V 极限 , whether V' (1) is lower than V 极限 is checked, if lower, V' (1) is V 极限 , if not lower, V' (1) is itself.

[0122] For example, when the surface crack is detected for the second time, the initial overlap ratio is increased to obtain a first overlap ratio, which is expressed by the formula as follows:

[0123] O1= (1+30%) O0;

[0124] wherein O0is the initial overlap ratio, and O1is the first overlap ratio, and the limit value of the overlap ratio is set, i.e. the second limit value is O 极限 , whether O1exceeds O 极限 is checked, if exceeding, O1is O 极限 , if not exceeding, O1is itself.

[0125] In addition, the same parameter adjustment in the steps S323 to S325 is not repeated.

[0126] The embodiment of the present application provides the first adjustment mode and the second adjustment mode for internal cracks and surface cracks, sorts several process parameters which have the greatest impact on the cracks, establishes the control priority, and constitutes a perfect crack control scheme for the laser cladding coating.

[0127] To solve the above technical problems, the embodiment of the present application further provides a control device for laser cladding coating cracks. Figure 4 , Figure 4 The basic structure block diagram of the control device 40 for the laser cladding coating cracks in the embodiment includes a signal monitoring and processing module 41, an intelligent control module 42 and a laser cladding module 43 which are connected in sequence, and the laser cladding module 43 is further connected with the signal monitoring and processing module 41; the laser cladding module 43 is used for laser cladding treatment on a base material to obtain a to-be-detected base material.

[0128] The signal monitoring and processing module 41 is used for collecting a surface macroscopic crack picture based on the to-be-detected base material, collecting a reflection signal based on the to-be-detected base material after excitation, and obtaining coating crack information; the to-be-detected base material is a target base material which has been subjected to laser cladding;

[0129] The signal monitoring and processing module 41 is further used for obtaining fusion information after processing the coating crack information;

[0130] The intelligent control module 42 is used for adjusting the laser cladding parameters of the laser cladding module 43 according to the fusion information, if the to-be-detected base material includes internal cracks or includes both internal cracks and surface cracks, processing the to-be-detected base material through the adjusted laser cladding parameters and re-executing the signal monitoring and processing module 41, until a first cladding processing parameter is output when the to-be-detected base material only includes surface cracks according to the fusion information;

[0131] According to the fusion information, if the to-be-detected base material only includes surface cracks, the laser cladding parameters of the laser cladding module 43 are adjusted according to the second adjustment mode, and the to-be-detected base material is activated through the adjusted laser cladding parameters and the signal monitoring and processing module 41 is re-executed, until a second cladding processing parameter is output when the to-be-detected base material has no cracks according to the fusion information;

[0132] The intelligent control module 42 is further used for controlling the laser cladding module 43 to continue laser cladding on the target base material using the second cladding processing parameter.

[0133] In one embodiment, the signal monitoring and processing module 41 includes a surface image detection system composed of high-speed cameras, infrared thermal imagers and the like image acquisition devices, and a laser ultrasonic detection system composed of ultrasonic sensors, spectral analyzers and the like light signal acquisition devices, for realizing the collection of coating crack information.

[0134] In one embodiment, the signal monitoring and processing module 41 discriminates the fusion information, including for the processed reflected signal, obtaining whether the internal crack of the substrate to be detected appears through comparative analysis; for the processed surface macroscopic crack picture, obtaining whether the surface crack of the substrate to be detected appears through machine learning. And the discrimination result is sent to the intelligent control module 42.

[0135] In one embodiment, the laser cladding module 43 is composed of a laser, a mechanical arm, a powder feeder, a cooling device and a protective gas device. The laser controls the laser cladding related parameters and emits stable parameter laser outward. The mechanical arm drives the laser to work along a specific path. The powder feeder delivers powder to the substrate to form a cladding layer with the substrate under the high temperature of the laser. The cooling device and the protective gas device respectively protect the laser from overheating and protect the cladding layer from oxidation.

[0136] In one embodiment, the laser cladding coating crack control device further includes a user data system for storing the laser cladding parameters when the substrate to be detected has no cracks.

[0137] The working principle of the laser cladding coating crack control device is as follows:

[0138] Firstly, the surface image detection system obtains a surface macroscopic crack picture based on the substrate to be detected, and the laser ultrasonic detection system obtains a reflection signal based on the substrate to be detected after excitation. The signal monitoring and processing module 41 processes the surface macroscopic crack picture and the reflection signal to reduce the influence of the cladding laser. Among them, for the reflection signal, the processed signal is also decomposed into a series of IMF sub-signals with specific center frequency and limited bandwidth by VMD. The signal monitoring and processing module 41 also discriminates the fusion information, including: for the reflection signal, the target echo is selected from the IMF sub-signals for comparative analysis to determine whether internal cracks occur. For the surface macroscopic crack picture, it is input into the learning model obtained after machine learning, and whether the surface crack occurs is judged according to the model output. The signal monitoring and processing module 41 sends the discrimination result to the intelligent control module 42, and the intelligent control module 42 identifies the discrimination result. The process of identifying the discrimination result is that the substrate to be detected includes internal cracks or both internal cracks and surface cracks according to the fusion information, and the substrate to be detected only includes surface cracks according to the fusion information. Since internal cracks are the main cause of surface cracks, the internal cracks are the first priority in the control program of the intelligent control module 42, and only the internal cracks are regulated in the case of the presence of both cracks. And set, the regulated laser cladding parameters are fed back to the laser cladding module 43, and the laser cladding module 43 changes the parameters and processes the substrate to be detected again. If no cracks are generated after parameter changing, the set of parameters is automatically saved to the user data system and matched with the material name, and the next time the same material is input, the user system automatically prompts the signal monitoring and processing module 41 to select directly.

[0139] To solve the above technical problems, the embodiment of the present application also provides a chip, which can be a general-purpose processor or a special-purpose processor. The chip includes a processor configured to support a terminal to perform the above-mentioned related steps, such as calling and running a computer program from a memory, so that a device installed with the chip performs to realize the control method of laser cladding coating cracks in each of the above-mentioned embodiments.

[0140] Optionally, in some examples, the chip further includes a transceiver configured to be controlled by the processor and support the terminal to perform the above-mentioned related steps to realize the control method of laser cladding coating cracks in each of the above-mentioned embodiments.

[0141] Optionally, the chip can further include a storage medium.

[0142] It should be noted that the chip can be implemented using one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gated logic, discrete hardware components, any other suitable circuitry, or any combination thereof capable of performing the various functions described throughout this application.

[0143] The application further provides a terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the laser cladding coating crack control method according to the above various embodiments when executing the computer program.

[0144] Specifically, refer to Figure 5 , Figure 5 A basic structure block diagram of a terminal is shown, which comprises a processor, a non-volatile storage medium, a memory and a network interface connected through a system bus. The non-volatile storage medium of the terminal stores an operating system, a database and computer readable instructions, the control information sequence can be stored in the database, and the computer readable instructions can enable the processor to implement a laser cladding coating crack control method when executed by the processor. The processor of the terminal is used to provide computing and control capabilities to support the operation of the entire terminal. The memory of the terminal can store computer readable instructions, which can enable the processor to execute a laser cladding coating crack control method when executed by the processor. The network interface of the terminal is used to communicate with the terminal. Those skilled in the art can understand that the structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific terminal can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0145] Those skilled in the art of the technology will appreciate that, as used herein, the term "terminal" or "terminal device" includes both devices that are solely wireless signal receivers, devices that are solely wireless signal receivers without transmit capability, and devices that have both receive and transmit hardware, capable of performing two-way communication over a two-way communication link. Such electronic devices can include cellular or other communication devices with or without a single-line or multiple-line display, Personal Communications System (PCS) devices that can combine a voice, data processing, facsimile, and / or data communications capabilities, PDA's that can include a radio frequency receiver, a pager, Internet / Intranet access, a Web browser, a calendar, a to-do list, and / or a GPS (Global Positioning System) receiver, conventional laptop and / or palmtop computers or other devices that have or include a radio frequency receiver. As used herein, the term "terminal" or "terminal device" can be portable, transportable, mounted in a vehicle (aeronautical, maritime, and / or land-based), or adapted and / or configured for local and / or distributed operation on Earth and / or in any other location in space. As used herein, the term "terminal" or "terminal device" can also be a communication terminal, an Internet terminal, a music / video playing terminal, such as a PDA, a MID (Mobile Internet Device), and / or a mobile phone with music / video playing function, a smart television, a set-top box, and the like.

[0146] The present application also provides a storage medium storing computer readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of the method for controlling cracks in laser cladding coating according to any of the above embodiments.

[0147] The present application also provides a computer program that can be distributed on a computer readable medium and executed by a computing device to implement at least one step of the method for controlling cracks in laser cladding coating according to any of the above embodiments; and in some cases, at least one step shown or described can be performed in an order different from that described in the above embodiments.

[0148] The present application also provides a computer program product comprising a computer readable device having stored thereon the computer program as described above. The computer readable device in the present application can comprise a computer readable storage medium as described above.

[0149] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a non-volatile storage medium such as a magnetic disc, an optical disc, a read-only memory (ROM), or a random access memory (RAM).

[0150] It should be understood that although each step in the flowchart of the accompanying drawings is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be alternately executed with other steps or at least part of the sub-steps or stages of other steps.

[0151] The technical features of the above-mentioned embodiments can be combined in any way. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0152] The above-mentioned embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A method of controlling cracks in a laser cladding coating, characterized by, The method comprises the following steps: S1: acquiring a surface crack picture of a to-be-detected base material, acquiring a reflection signal of the to-be-detected base material after excitation, and obtaining coating crack information; The to-be-detected base material is a target base material that has undergone laser cladding; S2: obtaining fusion information after processing the coating crack information; S3: according to the fusion information, if the to-be-detected base material includes internal cracks or both internal cracks and surface cracks, adjusting the laser cladding parameters in a first adjustment mode, processing the to-be-detected base material by using the adjusted laser cladding parameters, and re-executing S1 until the to-be-detected base material only includes surface cracks according to the fusion information, and then outputting first cladding processing parameters; According to the fusion information, if the to-be-detected base material only includes surface cracks, adjusting the laser cladding parameters in a second adjustment mode, and activating the to-be-detected base material by using the adjusted laser cladding parameters, and re-executing S1 until the to-be-detected base material has no cracks according to the fusion information, and then outputting second cladding processing parameters; S4: continuing to perform laser cladding on the target base material by using the second cladding processing parameters.

2. The method of claim 1, wherein the laser cladding coating crack control method is characterized by, The first adjustment mode comprises: When internal cracks are detected for the first time, a first internal crack scanning speed is obtained by reducing an initial internal crack scanning speed, and it is checked whether the first internal crack scanning speed is lower than a first limit value; if yes, the first limit value is used as the first internal crack scanning speed; if no, the first internal crack scanning speed is used; When internal cracks are detected for the second time, a first laser power is obtained by increasing an initial laser power, and it is checked whether the first laser power exceeds a second limit value; if yes, the second limit value is used as the first laser power; if no, the first laser power is used; When internal cracks are detected for the third time, a second internal crack scanning speed is obtained by reducing the first internal crack scanning speed, and it is checked whether the second internal crack scanning speed is lower than the first limit value; if yes, the first limit value is used as the second internal crack scanning speed; if no, the second internal crack scanning speed is used; When internal cracks are detected for the fourth time, a second laser power is obtained by increasing the first laser power, and it is checked whether the second laser power exceeds the second limit value; if yes, the second limit value is used as the second laser power; if no, the second laser power is used; When internal cracks are detected for the 2n+1th time, an n+1th internal crack scanning speed is obtained by reducing an nth internal crack scanning speed, and it is checked whether the n+1th internal crack scanning speed is lower than the first limit value; if yes, the first limit value is used as the n+1th internal crack scanning speed; if no, the n+1th internal crack scanning speed is used; When internal cracks are detected for the 2n+2th time, an n+1th laser power is obtained by increasing an nth laser power, and it is checked whether the n+1th laser power exceeds the second limit value; if yes, the second limit value is used as the n+1th laser power; if no, the n+1th laser power is used; Wherein, n is a positive integer greater than or equal to 2, when the substrate to be detected includes internal cracks or both internal cracks and surface cracks, the internal cracks are detected.

3. The method of crack control for laser cladding coating according to claim 1 or 2, characterized in that, The second adjustment mode comprises: When the surface cracks are detected for the first time, the internal crack scanning speed at the last time is reduced to obtain a first surface crack scanning speed, and it is checked whether the first surface crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the first surface crack scanning speed, if not lower, the first surface crack scanning speed is used; When the surface cracks are detected for the second time, the initial overlap rate is increased to obtain a first overlap rate, and it is checked whether the first overlap rate exceeds the second limit value, if exceeds, the second limit value is used as the first overlap rate, if does not exceed, the first overlap rate is used; When the surface cracks are detected for the third time, the first surface crack scanning speed is reduced to obtain a second surface crack scanning speed, and it is checked whether the second surface crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the second surface crack scanning speed, if not lower, the second surface crack scanning speed is used; When the surface cracks are detected for the fourth time, the first overlap rate is increased to obtain a second overlap rate, and it is checked whether the second overlap rate exceeds the second limit value, if exceeds, the second limit value is used as the second overlap rate, if does not exceed, the second overlap rate is used; When the surface cracks are detected for the 2k+1 time, the k surface crack scanning speed is reduced to obtain a k+1 surface crack scanning speed, and it is checked whether the k+1 surface crack scanning speed is lower than the first limit value, if lower, the first limit value is used as the k+1 surface crack scanning speed, if not lower, the k+1 surface crack scanning speed is used; When the surface cracks are detected for the 2k+2 time, the k overlap rate is increased to obtain a k+1 overlap rate, and it is checked whether the k+1 overlap rate exceeds the second limit value, if exceeds, the second limit value is used as the k+1 overlap rate, if does not exceed, the k+1 overlap rate is used; Wherein, k is a positive integer greater than or equal to 2, when the substrate to be detected only includes surface cracks, the surface cracks are detected.

4. The method of claim 1, wherein the laser cladding coating crack control method is characterized by, Before S1, it comprises: The laser pulse with the pre-set excitation parameter is directly irradiated on the surface of the substrate to be detected to complete the excitation of the substrate to be detected.

5. The method of claim 4, wherein the laser cladding coating crack control method is characterized by, The pre-set excitation parameter comprises: Obtaining the material type of the substrate to be detected; Setting the experimental pulse laser parameter according to the material type; Exciting the substrate to be detected through the experimental pulse laser parameter, and collecting the experimental reflection signal of the excited substrate to be detected; Verifying the experimental reflection signal, if passed, the experimental pulse laser parameter is the excitation parameter.

6. The method of claim 5, wherein the laser cladding coating crack control method is characterized by, If the substrate to be detected includes cracks according to the fusion information after M times of re-executing S1, the excitation parameter is adjusted to re-excite the substrate to be detected, and M is a positive integer.

7. The method of claim 1, wherein the laser cladding coating crack control method is characterized by, S3 further comprises judging the crack condition of the substrate to be detected according to the fusion information; The judgment of the crack condition of the substrate to be detected according to the fusion information comprises: For the processed reflection signal, through comparative analysis, whether the internal crack of the substrate to be detected appears is obtained; For the processed surface macroscopic crack picture, through machine learning, whether the surface crack of the substrate to be detected appears is obtained.

8. A device for controlling cracks in laser cladding, characterized by, The laser cladding module is connected with the signal monitoring and processing module; the laser cladding module is used for laser cladding treatment of the substrate to obtain the substrate to be detected; The signal monitoring and processing module is used for collecting the surface macroscopic crack picture based on the substrate to be detected, collecting the reflection signal based on the excited substrate to be detected, and obtaining the coating crack information; The signal monitoring and processing module is further used for obtaining fusion information after processing the coating crack information; The intelligent control module is used for adjusting the laser cladding parameters of the laser cladding module according to the fusion information, if the substrate to be detected includes internal cracks or both internal cracks and surface cracks, processing the substrate to be detected through the adjusted laser cladding parameters, and re-executing the signal monitoring and processing module until the substrate to be detected only includes surface cracks according to the fusion information, and outputting the first cladding processing parameters; According to the fusion information, if the substrate to be detected only includes surface cracks, the second adjustment mode is used to adjust the laser cladding parameters of the laser cladding module, and the substrate to be detected is activated through the adjusted laser cladding parameters, and the signal monitoring and processing module is re-executed until the substrate to be detected has no cracks according to the fusion information, and the second cladding processing parameters are outputted; The intelligent control module is further used for controlling the laser cladding module to continue laser cladding of the target substrate using the second cladding processing parameters.

9. A chip, characterized by It comprises: The first processor is used for calling and running a computer program from the first memory, so that the device installed with the chip executes each step of the control method of the laser cladding coating crack according to any one of claims 1 to 7.

10. A terminal, characterized by comprising: It comprises a second memory, a second processor, and a computer program stored in the second memory and executable on the second processor, characterized in that the second processor executes the computer program to realize the steps of the control method of the laser cladding coating crack according to any one of claims 1 to 7.

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