A galvanometer intelligent correction method and system based on deflection error compensation

Abstract

The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method and system based on deflection error compensation, and relates to the technical field of mirror intelligent correction. The application discloses a mirror intelligent correction method

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mirror intelligent correction, in particular to a mirror intelligent correction method and system based on deflection error compensation. BACKGROUND

[0002] The mirror intelligent correction method and system aims to improve the precision of mirror trajectory control and the quality of weld formation in welding operation. In the context of growing demand for high-precision welding and increasing requirement for production efficiency, traditional manual adjustment or fixed compensation methods cannot meet the requirements of real-time correction and high-precision welding. By analyzing and compensating the calibration data of the mirror scanning area, the weld position and the deflection error, accurate correction of each deflection angle section can be achieved, reducing weld offset and improving welding trajectory precision, and providing a reliable correction scheme for high-precision welding operation. The application of this method helps to improve welding quality and efficiency, and has important significance for stable operation of precision manufacturing and industrial production.

[0003] However, the compensation effect of the existing mirror system is inconsistent at different deflection angle sections, and traditional manual adjustment or fixed compensation methods cannot effectively cope with dynamic deflection errors in the welding process, which may result in insufficient correction or overcompensation in some sections, leading to incomplete elimination of weld trajectory errors, uneven weld formation, and unguaranteed welding precision and efficiency. Therefore, a mirror intelligent correction method and system based on deflection error compensation are needed to solve the above problems and achieve high-precision correction of each deflection angle section, improving the precision and efficiency of weld formation. SUMMARY

[0004] To solve the above technical problems, a mirror intelligent correction method and system based on deflection error compensation are provided, which solves the problem of inconsistent compensation effect of the existing mirror system at different deflection angle sections, and the problem that traditional manual adjustment or fixed compensation methods cannot effectively cope with dynamic deflection errors in the welding process, which may result in insufficient correction or overcompensation in some sections, leading to incomplete elimination of weld trajectory errors, uneven weld formation, and unguaranteed welding precision and efficiency.

[0005] To achieve the above purposes, the technical solution adopted by the present application is as follows:

[0006] A mirror intelligent correction method based on deflection error compensation, comprising:

[0007] Obtaining calibration data of a mirror scanning area, dividing the mirror scanning area to obtain a mirror area library containing different deflection angle sections, the calibration data including straight line calibration patterns, circular arc calibration patterns and curve calibration patterns;

[0008] According to the calibration data, initial deflection errors of the galvanometer in each deflection angle section are extracted, and a deflection error parameter group containing a static offset term, a dynamic response term and a curvature distortion term is obtained;

[0009] Weld position data formed in an actual welding process is acquired, and a weld forming offset and an offset direction are extracted from the weld position data to obtain a weld offset information set, and then combined with the deflection error parameter group to obtain a comprehensive correction amount of each deflection angle section;

[0010] A welding trajectory of a welding process to be executed is acquired, and a deflection compensation is performed on the welding trajectory based on the comprehensive correction amount to generate an initial welding trajectory instruction;

[0011] A residual deviation is obtained based on the initial welding trajectory instruction, and the residual deviation is evaluated, and then the comprehensive correction amount is adaptively updated according to the evaluation result to generate a final correction instruction for controlling the galvanometer to execute the welding work.

[0012] In an optional embodiment, the calibration data of the galvanometer scanning area is acquired, and the galvanometer scanning area is divided to obtain a galvanometer area library containing different deflection angle sections, specifically including:

[0013] A preset scanning path is executed by the galvanometer to obtain a scanning result;

[0014] The calibration data is obtained according to the scanning result, and the calibration data includes a straight line calibration pattern, a circular arc calibration pattern and a curve calibration pattern;

[0015] Based on the calibration data, the deflection angles of each scanning point are extracted to form a deflection angle feature set of the galvanometer scanning area;

[0016] The deflection angles in the deflection angle feature set are sorted to obtain angle difference values between adjacent deflection angles;

[0017] According to the deflection angle feature set, the minimum deflection angle value and the maximum deflection angle value of the galvanometer scanning area are acquired to determine the deflection angle coverage range of the galvanometer scanning area;

[0018] Within the deflection angle coverage range, the angle difference values between adjacent deflection angles are acquired, and the adjacent angle difference values are compared according to a preset angle difference threshold, and the scanning area is divided into a sub-region with an angle difference value lower than the preset angle difference threshold and a sub-region with an angle difference value higher than the preset angle difference threshold;

[0019] Based on the angle difference values between adjacent deflection angles in the divided sub-regions, the scanning area is divided into a plurality of continuous secondary deflection intervals from the minimum deflection angle;

[0020] The mirror scanning area is divided into a plurality of secondary divided mirror areas by using the secondary deflection interval, and a unique identifier is generated for each secondary divided mirror area to establish a secondary divided mirror area library;

[0021] According to the angle difference between adjacent deflection angles in each secondary divided mirror area in the secondary divided mirror area library, the secondary divided mirror areas with continuous angle difference between adjacent deflection angles and stable change amplitude are merged to obtain the merged mirror area;

[0022] Based on the merged mirror area, the secondary divided mirror areas with sudden changes in the angle difference between adjacent deflection angles are subdivided to obtain the subdivided mirror area;

[0023] Based on the subdivided mirror area, a plurality of deflection angle sections are formed, each section corresponding to a range of mirror deflection angles, and a mirror area library is established.

[0024] In an optional embodiment, the initial deflection error of the mirror at each deflection angle section is extracted according to the calibration data to obtain a deflection error parameter group containing a static offset term, a dynamic response term and a curvature distortion term, specifically including:

[0025] The straight line calibration pattern in the calibration data is fitted to obtain the spatial offset between the theoretical trajectory and the actual scanning trajectory of the straight line calibration pattern, and the spatial offset is counted in the corresponding deflection angle section to form the initial deflection error of the straight line calibration pattern as the static offset term of the corresponding deflection angle section;

[0026] The arc calibration pattern in the calibration data is analyzed to extract the trajectory response deviation of the mirror under different scanning speeds and accelerations, and the correlation between the trajectory response deviation and the deflection angle is established in the corresponding deflection angle section to form the initial deflection error of the arc calibration pattern as the dynamic response term of the corresponding deflection angle section;

[0027] The curvature of the curve calibration pattern in the calibration data is analyzed to obtain the curvature difference between the actual scanning curve and the theoretical curve, and the curvature difference is mapped to the corresponding deflection angle section to form the initial deflection error of the curve calibration pattern as the curvature distortion term of the corresponding deflection angle section;

[0028] The initial deflection errors of the straight line calibration pattern, the arc calibration pattern and the curve calibration pattern are combined according to the deflection angle section to obtain the deflection error parameter group containing the static offset term, the dynamic response term and the curvature distortion term.

[0029] In an optional embodiment, the acquisition mirror area library forms the weld position data formed in the actual welding process, and extracts the weld forming offset and the offset direction from the weld position data to obtain the weld offset information set, and then combines the deflection error parameter group to obtain the comprehensive correction amount of each deflection angle section, which specifically includes:

[0030] The mirror corresponding to the mirror area library forms the weld position data formed in the actual welding process, and the weld position data includes the actual weld forming trajectory and the corresponding expected welding trajectory;

[0031] Based on the weld position data, the actual weld forming trajectory and the expected welding trajectory are compared in position to obtain the spatial difference value of the two at the corresponding position, forming the forming offset of the weld;

[0032] According to the offset direction of the actual weld forming position relative to the target position of the welding trajectory, the offset direction of each forming offset is determined;

[0033] Based on the deflection angle of the mirror at each scanning point, the forming offset and its offset direction are divided into the deflection angle section determined by the deflection angle;

[0034] The forming offset and its offset direction divided into the same deflection angle section are collected to form the weld offset information set;

[0035] Based on the weld offset information set, a plurality of forming offsets in the same deflection angle section are obtained;

[0036] The forming offsets in the same deflection angle section are statistically processed, and the offset located at the center of the forming offset distribution in the deflection angle section is extracted as the representative offset of the deflection angle section;

[0037] Each forming offset in the same deflection angle section is compared with the representative offset to obtain a set of offset difference values of each forming offset relative to the overall offset trend;

[0038] The representative offset is determined as the steady-state offset component, and each offset difference value in the offset difference value set is determined as the dynamic offset component;

[0039] Based on the steady-state offset component of each deflection angle section, the steady-state offset component is assigned to the static offset item of the corresponding deflection angle section to obtain the corrected static offset item;

[0040] Based on the dynamic offset component of each deflection angle section, the dynamic offset component is assigned to the dynamic response item of the corresponding deflection angle section to obtain the corrected dynamic response item;

[0041] Based on the actual forming trajectory of the weld, the actual spatial curve of the weld at each scanning point is extracted, and the curvature at each scanning point is calculated to obtain a weld trajectory curvature sequence covering the entire weld trajectory;

[0042] The weld trajectory curvature sequence is divided into each deflection angle section according to the deflection angle corresponding to the scanning point. For the curvature sequence in each deflection angle section, the local least square method is applied to fit the curvature variation trend to obtain the curvature distortion correction amount of each deflection angle section.

[0043] Based on the curvature distortion correction amount, the curvature distortion term of the corresponding deflection angle section is numerically superimposed or subtracted to update to obtain the corrected curvature distortion term.

[0044] The corrected static offset term, dynamic response term and curvature distortion term are integrated and standardized to obtain the comprehensive correction amount corresponding to each deflection angle section.

[0045] The calculation formula of the comprehensive correction amount is:

[0046] In the formula, is the comprehensive correction amount corresponding to the th deflection angle section, is the deflection error component index, respectively represent the static offset term, the dynamic response term and the curvature distortion term, is the th deflection angle section, is the normalized value of the

[0047] In an optional embodiment, the welding trajectory of the welding process to be executed is obtained, and the welding trajectory is compensated based on the comprehensive correction amount to generate initial welding trajectory instructions, specifically including:

[0048] The welding trajectory of the welding process to be executed is obtained, and the original target position of each trajectory point in the welding trajectory is obtained.

[0049] According to the target position coordinates of each scanning point in the welding trajectory, the corresponding deflection angle section is determined, and the comprehensive correction amount corresponding to the deflection angle section is called.

[0050] Based on the comprehensive correction amount corresponding to the deflection angle section, the target position coordinates of the scanning point are offset corrected to obtain the deflection compensated trajectory point coordinates of the scanning point.

[0051] The deflection compensated trajectory point coordinates are arranged in sequence according to the welding sequence to form a complete compensated welding trajectory.

[0052] Smooth and interpolate the compensated welding track to generate initial welding track instructions for the galvanometer to execute.

[0053] In an optional embodiment, the initial welding track instructions are used to obtain residual deviations, which are evaluated, and the comprehensive correction amount is adaptively updated according to the evaluation result to generate final correction instructions for the galvanometer to execute the welding operation, specifically including:

[0054] Based on the initial welding track instructions, actual welding track data collected during the welding operation of the galvanometer is obtained to obtain an actual welding track;

[0055] The actual welding track and the compensated welding track are compared in position to obtain spatial deviations corresponding to each scanning point;

[0056] The spatial deviations of each scanning point are taken as residual deviations to obtain a residual deviation set;

[0057] The residual deviation set is classified according to the deflection angle section to obtain a residual deviation sub-set corresponding to each deflection angle section;

[0058] The residual deviation sub-set of each deflection angle section is statistically processed to obtain an average residual deviation, a maximum residual deviation, and a deviation distribution, forming a residual deviation feature of each deflection angle section;

[0059] Based on the residual deviation features of each deflection angle section, the compensation effect of the section is evaluated to obtain a compensation evaluation result of each deflection angle section;

[0060] Based on the compensation evaluation result, the comprehensive correction amount item to be updated is determined to obtain a to-be-updated correction amount identifier;

[0061] Based on the to-be-updated correction amount identifier, an updated comprehensive correction amount is generated;

[0062] Based on the updated comprehensive correction amount, a final correction instruction for the galvanometer is generated.

[0063] Further, a galvanometer intelligent correction system based on deflection error compensation is proposed to implement the galvanometer intelligent correction method of any of the above, characterized in that it comprises:

[0064] A data acquisition module, the data acquisition module is used for collecting actual deflection angle and actual welding track data of the galvanometer;

[0065] A calibration data management module, the calibration data management module is used for storing calibration data of the galvanometer scanning area, including straight line calibration graphics, circular arc calibration graphics and curve calibration graphics, and providing required calibration data to the correction calculation module;

[0066] a correction calculation module configured to extract deflection error parameters according to calibration data, generate comprehensive correction amounts of each deflection angle section in combination with weld offset information, and adaptively update sub-correction amounts based on residual deviations;

[0067] a residual deviation evaluation module configured to evaluate residual deviations of each deflection angle section based on compensated welding trajectory instructions and actual weld trajectory data, and generate a compensation evaluation result;

[0068] a trajectory generation module configured to compensate a to-be-executed welding trajectory based on the comprehensive correction amounts, and generate compensated welding trajectory instructions.

[0069] In an optional embodiment, the data acquisition module comprises:

[0070] a deflection angle acquisition unit configured to acquire actual deflection angles of the galvanometer in a scanning and welding process;

[0071] a weld trajectory acquisition unit configured to acquire weld trajectory data formed by the galvanometer in an actual welding process, including actual formed positions of the weld and corresponding expected welding trajectories.

[0072] In an optional embodiment, the correction calculation module comprises:

[0073] a deflection error extraction unit configured to extract initial deflection errors of each deflection angle section based on straight line calibration patterns, circular arc calibration patterns and curve calibration patterns, and form a deflection error parameter group;

[0074] a weld offset analysis unit configured to compare the actual weld trajectory data with the expected welding trajectory, extract weld forming offset amounts and offset directions, and form a weld offset information set;

[0075] a comprehensive correction amount generation unit configured to combine the deflection error parameter group and the weld offset information set, calculate comprehensive correction amounts of each deflection angle section, and adaptively update the comprehensive correction amounts.

[0076] In an optional embodiment, the trajectory generation module comprises:

[0077] a deflection compensation trajectory generation unit configured to compensate a to-be-executed welding trajectory based on the comprehensive correction amounts, and generate welding trajectory points after deflection compensation;

[0078] A welding track smoothing and interpolation unit is configured to smooth and interpolate the deflection-compensated welding track points to generate complete welding track instructions for execution by the galvanometer.

[0079] Compared with the prior art, the present application has the following advantages:

[0080] The present application provides a galvanometer intelligent correction method and system based on deflection error compensation, which obtains calibration data of a galvanometer scanning area, extracts initial deflection errors of each deflection angle section, and generates comprehensive correction amounts of each deflection angle section in combination with actual welding track offset information to realize real-time deflection compensation of a welding track to be executed. BRIEF DESCRIPTION OF DRAWINGS

[0081] Figure 1 A flowchart of the galvanometer intelligent correction method based on deflection error compensation provided by the present application is shown in the figure.

[0082] Figure 2 A flowchart of deflection error extraction and correction amount calculation in the present application is shown in the figure.

[0083] Figure 3 A flowchart of track deflection compensation and residual update in the present application is shown in the figure.

[0084] Figure 4 A system framework diagram of the galvanometer intelligent correction system based on deflection error compensation provided by the present application is shown in the figure. DETAILED DESCRIPTION

[0085] The following description is provided to enable any person skilled in the art to practice the present application. The preferred embodiments in the following description are only examples of the present application and other obvious modifications are possible to those skilled in the art.

[0086] REFERENCE Figure 1 - Figure 4 As shown in the figure, the galvanometer intelligent correction method based on deflection error compensation in the embodiment of the present application includes:

[0087] Obtain calibration data of a galvanometer scanning area, divide the galvanometer scanning area to obtain a galvanometer area library containing different deflection angle sections, and the calibration data includes straight line calibration patterns, circular arc calibration patterns and curve calibration patterns.

[0088] According to the calibration data, the initial deflection error of the galvanometer in each deflection angle section is extracted, and a deflection error parameter group containing a static offset term, a dynamic response term and a curvature distortion term is obtained;

[0089] The weld position data formed by the galvanometer area library in the actual welding process is obtained, and the weld forming offset and offset direction are extracted from the weld position data to obtain a weld offset information set. Then, combined with the deflection error parameter group, the comprehensive correction amount of each deflection angle section is obtained.

[0090] The welding trajectory of the welding process to be executed is obtained, and the welding trajectory is compensated based on the comprehensive correction amount to generate an initial welding trajectory instruction;

[0091] Based on the initial welding trajectory instruction, the residual deviation is obtained, and the residual deviation is evaluated. Then, according to the evaluation result, the comprehensive correction amount is adaptively updated to generate a final correction instruction for controlling the galvanometer to execute the welding work.

[0092] Specifically, in the scanning and welding process, the deflection angle of the galvanometer is collected by the angle sensor built-in the galvanometer in real time. The collected deflection angle is recorded synchronously with the corresponding scanning point position to form the deflection angle data of each scanning point. In the calibration process, the galvanometer scans the straight line calibration pattern, the circular arc calibration pattern and the curve calibration pattern in turn according to the preset calibration path. The visual detection system or the laser position detection system configured at the welding head is used to collect the actual scanning trajectory, and the collected actual scanning trajectory is recorded with the corresponding theoretical calibration trajectory to obtain the calibration data for deflection error extraction. In the actual welding process, the actual forming trajectory of the weld is obtained by the visual tracking system or the laser tracking system of the welding area in real time, and is corresponded with the welding trajectory obtained by the welding process planning, which is used to extract the weld forming offset and its offset direction. The welding trajectory is generated by the welding process parameters and stored in the form of a sequence of trajectory points. Each trajectory point corresponds to a target space position and a corresponding galvanometer deflection angle, which provides basic data for subsequent deflection compensation, residual deviation evaluation and adaptive update of the comprehensive correction amount.

[0093] Further, the calibration data of the galvanometer scanning area is obtained, and the galvanometer scanning area is divided to obtain a galvanometer area library containing different deflection angle sections, specifically including:

[0094] The preset scanning path is executed by the galvanometer to obtain a scanning result;

[0095] The calibration data is obtained according to the scanning result, and the calibration data includes a straight line calibration pattern, a circular arc calibration pattern and a curve calibration pattern;

[0096] Specifically, by controlling the galvanometer to execute a preset scanning path, different types of calibration patterns are sequentially collected, including straight line calibration patterns, circular arc calibration patterns, and curve calibration patterns. The straight line calibration patterns are used to obtain the linear scanning accuracy of the galvanometer at each deflection angle, and the actual scanning trajectory is obtained by scanning multiple straight lines with known lengths and directions; the circular arc calibration patterns are used to extract the dynamic response characteristics of the galvanometer at different speeds and accelerations, and the deviation between the actual scanning trajectory and the theoretical trajectory is obtained by scanning circular arc trajectories with different radii; the curve calibration patterns are used to analyze the curvature distortion of the galvanometer, and the curvature information of the actual scanning trajectory is obtained by scanning a free curve with continuously changing curvature.

[0097] Based on the calibration data, the deflection angles of each scanning point are extracted to form a deflection angle feature set of the galvanometer scanning area;

[0098] The deflection angles in the deflection angle feature set are sorted to obtain the angle difference values between adjacent deflection angles;

[0099] Specifically, the deflection angles of each scanning point in the galvanometer scanning area are sorted in ascending order, and the deflection angles of all scanning points are first arranged from small to large to form an ordered sequence. In this sequence, the deflection angles of adjacent scanning points form an adjacent relationship in turn, which is used for subsequent calculation of the angle difference values between each pair of adjacent deflection angles. For example, assuming that the deflection angles in a certain scanning area are 5°, 2°, 8°, and 3°, the ordered sequence obtained after sorting is 2°, 3°, 5°, 8°, and the adjacent angle difference values are 1°, 2°, and 3° in turn, which will be used for subsequent division of the scanning area into different deflection sections.

[0100] According to the deflection angle feature set, the minimum deflection angle value and the maximum deflection angle value of the galvanometer scanning area are obtained to determine the deflection angle coverage range of the galvanometer scanning area;

[0101] Within the deflection angle coverage range, the angle difference values between adjacent deflection angles are obtained, and the adjacent angle difference values are compared according to a preset angle difference threshold to divide the scanning area into a sub-region with an angle difference value lower than the preset angle difference threshold and a sub-region with an angle difference value higher than the preset angle difference threshold;

[0102] Based on the angle difference values between adjacent deflection angles in the sub-region obtained by the division, the scanning area is divided into multiple continuous secondary deflection intervals from the minimum deflection angle;

[0103] Using the secondary deflection intervals, the galvanometer scanning area is divided into multiple secondary division galvanometer regions, and a unique identifier is generated for each secondary division galvanometer region to establish a secondary division galvanometer region library;

[0104] It can be understood that, within the deflection angle coverage range, the deflection angle difference of adjacent scanning points is calculated, which is compared with the preset angle difference threshold. When the angle difference is less than the preset angle difference threshold, it is considered that the change of the galvanometer deflection in the region is smooth, and the continuous scanning points are divided into the same sub-region; when the angle difference is greater than the preset angle difference threshold, it is considered that the change of the deflection in the region is abrupt, and the corresponding scanning points are divided into a new sub-region. The deflection angle difference in each sub-region is continuously divided from the minimum deflection angle, and the scanning region is further divided into a plurality of secondary deflection intervals, each of which ensures that the deflection angle change in the interval is uniform and continuous. Through the secondary deflection interval, the scanning region is divided into a plurality of secondary galvanometer regions, each of which contains a plurality of continuous scanning points, and each region is assigned a unique number as an identifier. Record these numbers and the corresponding deflection angle range in the secondary division galvanometer region library, which facilitates quick searching and matching of the deflection angle section to which each scanning point belongs.

[0105] According to the angle difference between adjacent deflection angles in each secondary division galvanometer region in the secondary division galvanometer region library, the secondary division galvanometer regions with continuous and stable change amplitude of the angle difference between adjacent deflection angles are merged to obtain a merged galvanometer region.

[0106] Based on the merged galvanometer region, the secondary division galvanometer regions with abrupt change of the angle difference between adjacent deflection angles are subdivided to obtain a subdivided galvanometer region.

[0107] Based on the subdivided galvanometer region, a plurality of deflection angle sections are formed, each section corresponding to a range of galvanometer deflection angles, and a galvanometer region library is established.

[0108] Specifically, adjacent secondary galvanometer regions are compared in sequence. If the direction of the angle difference between adjacent deflection angles is consistent, the deflection angle difference of continuous scanning points is positive or negative, it is considered that the trend is continuous, and the absolute change of the adjacent angle difference in the continuous trend is not more than one-tenth of the angle difference of the previous scanning point, it is considered that the change amplitude is stable, then these secondary regions are merged into a new galvanometer region, and the starting and ending deflection angles of the region are updated, and the unique identifier is retained for subsequent reference. For the merged galvanometer region, if the absolute change of the angle difference between adjacent deflection angles of a certain scanning point is significantly increased compared with the average change of the adjacent points, which is more than twice the continuous trend change, it is considered that the change is abrupt, and the abnormal scanning point is separately divided into a new galvanometer region, so that the deflection angle direction in each region is consistent and the change is smooth. After merging and subdividing, all galvanometer regions are arranged in order of deflection angle, each region records its starting and ending deflection angles and unique identifier, and finally a complete galvanometer region library is formed, which provides basic data for subsequent deflection error extraction and comprehensive correction amount calculation.

[0109] Further, according to the calibration data, initial deflection errors of the galvanometer in each deflection angle section are extracted to obtain a deflection error parameter group containing a static offset term, a dynamic response term and a curvature distortion term, specifically including:

[0110] The straight line calibration patterns in the calibration data are fitted to obtain a spatial offset between a theoretical trajectory and an actual scanning trajectory of the straight line calibration patterns, and the spatial offset is counted in the corresponding deflection angle section to form an initial deflection error of the straight line calibration patterns as a static offset term of the corresponding deflection angle section.

[0111] The arc calibration patterns in the calibration data are analyzed to extract trajectory response deviations of the galvanometer under different scanning speeds and accelerations, and a correlation between the trajectory response deviations and the deflection angles is established in the corresponding deflection angle section to form an initial deflection error of the arc calibration patterns as a dynamic response term of the corresponding deflection angle section.

[0112] The curvature of the curve calibration patterns in the calibration data is analyzed to obtain a curvature difference between an actual scanning curve and a theoretical curve, and the curvature difference is mapped to the corresponding deflection angle section to form an initial deflection error of the curve calibration patterns as a curvature distortion term of the corresponding deflection angle section.

[0113] The initial deflection errors corresponding to the straight line calibration patterns, the arc calibration patterns and the curve calibration patterns are combined according to the deflection angle sections to obtain the deflection error parameter group containing the static offset term, the dynamic response term and the curvature distortion term.

[0114] Specifically, in the embodiment, the straight line calibration patterns, the arc calibration patterns and the curve calibration patterns in the calibration data are processed respectively to extract initial deflection errors of each deflection angle section. For the straight line calibration patterns, by fitting a plurality of straight lines with known lengths and directions, the theoretical trajectory is compared with the actual scanning trajectory of the galvanometer, and the spatial offset of each scanning point is calculated. For example, when scanning a horizontal straight line of 50 mm in length, if the actual scanning trajectory has a 0.1 mm offset relative to the theoretical trajectory in the X direction, the offset is recorded in the corresponding deflection angle section, and the offsets of all scanning points in the section are counted to obtain the initial deflection error of the straight line calibration patterns as the static offset term of the deflection angle section.

[0115] For the circle arc calibration pattern, the corresponding relationship between the deflection angle and the trajectory deviation is established by analyzing the trajectory response deviation of the galvanometer under different scanning speeds and acceleration conditions. For example, when the scanning radius of the circle arc is 30 mm, if the actual scanning point of the circle arc deviates 0.05 mm towards the center of the circle under the condition of increasing angular velocity, and deviates 0.08 mm under the condition of deceleration, then these trajectory response deviations are mapped to the corresponding deflection angle section to form the initial deflection error of the circle arc calibration pattern as the dynamic response term.

[0116] For the curve calibration pattern, the curvature difference is calculated by analyzing the curvature of the actual scanning curve and the theoretical curve. For example, when scanning an S-shaped curve with continuously changing curvature, the actual curvature at a certain deflection angle is 0.02 mm -1 , and the theoretical curvature is 0.018 mm -1 , then the curvature difference is 0.002 mm -1 . The curvature difference is mapped to the corresponding deflection angle section to obtain the initial deflection error of the curve calibration pattern as the curvature distortion term. Through the processing of the above three types of calibration patterns, the deflection error parameter group containing the static offset term, the dynamic response term and the curvature distortion term is formed, which provides basic data for subsequent weld offset analysis and comprehensive correction quantity generation.

[0117] Further, the weld position data formed by the galvanometer area library in the actual welding process is obtained, and the weld forming offset and the offset direction are extracted from the weld position data to obtain the weld offset information set, and then combined with the deflection error parameter group to obtain the comprehensive correction quantity of each deflection angle section, which specifically includes:

[0118] Obtain the weld position data formed by the corresponding galvanometer of the galvanometer area library in the actual welding process, which includes the actual forming trajectory of the weld and the corresponding expected welding trajectory;

[0119] Based on the weld position data, the actual forming trajectory of the weld and the expected welding trajectory are compared in position to obtain the spatial difference at the corresponding positions, forming the forming offset of the weld;

[0120] According to the offset direction of the actual forming position of the weld relative to the target position of the welding trajectory, the offset direction of each forming offset is determined;

[0121] Based on the deflection angle of the galvanometer at each scanning point, the forming offset and its offset direction are classified into the deflection angle section determined by the deflection angle;

[0122] The forming offset and its offset direction classified into the same deflection angle section are collected to form the weld offset information set;

[0123] Specifically, the welding seam position data formed by the galvanometer in the actual welding process is acquired, and the welding seam position data includes both the actual forming track of the welding seam and the expected welding track corresponding to the actual forming track. The actual forming track and the expected welding track at the corresponding positions in the same welding track are aligned and compared point by point, and the difference in the spatial positions of the two is obtained, so as to determine the forming offset of the welding seam at each scanning point, which is used to reflect the position deviation of the actual forming position of the welding seam relative to the target track. After obtaining the forming offset, the direction of each forming offset is determined according to the offset direction of the actual forming position of the welding seam relative to the expected welding track, so as to distinguish the cases of offsetting to one side of the track or offsetting to the other side. The forming offset and the offset direction are classified into the deflection angle section determined by the deflection angle of the corresponding scanning point. The multiple forming offsets and the offset directions classified into the same deflection angle section are centrally arranged to form a welding seam offset information set corresponding to the deflection angle section, which is used to reflect the overall distribution characteristics of the forming offset of the welding seam in the deflection angle section.

[0124] Based on the welding seam offset information set, multiple forming offsets in the same deflection angle section are acquired;

[0125] The forming offsets in the same deflection angle section are statistically processed, and the offset located at the center of the forming offset distribution in the deflection angle section is extracted as the representative offset of the deflection angle section;

[0126] Each forming offset in the same deflection angle section is compared with the representative offset to obtain a set of offset difference values of each forming offset relative to the overall offset trend;

[0127] The representative offset is determined as a steady-state offset component, and each offset difference value in the set of offset difference values is determined as a dynamic offset component;

[0128] Based on the steady-state offset components of each deflection angle section, the steady-state offset components are assigned to the static offset items of the corresponding deflection angle sections to obtain the corrected static offset items;

[0129] Based on the dynamic offset components of each deflection angle section, the dynamic offset components are assigned to the dynamic response items of the corresponding deflection angle sections to obtain the corrected dynamic response items;

[0130] Based on the actual forming track of the welding seam, the actual spatial curve of the welding seam at each scanning point is extracted, and the curvature at each scanning point is calculated to obtain a welding seam track curvature sequence covering the entire welding seam track;

[0131] The weld seam track curvature sequence is divided into each deflection angle section according to the deflection angle corresponding to the scanning point, for the curvature sequence in each deflection angle section, the local least square method is applied to fit the curvature variation trend, and the curvature distortion correction quantity of each deflection angle section is obtained;

[0132] The curvature distortion item of the corresponding deflection angle section is updated by numerical superposition or subtraction based on the curvature distortion correction quantity, and the corrected curvature distortion item is obtained;

[0133] Specifically, for the multiple forming offsets collected in the same deflection angle section, first, the forming offsets are statistically concentrated to determine the distribution of the forming offsets in the deflection angle section. By selecting the offset value at the center position of the forming offset distribution as the representative offset of the deflection angle section, the overall level of the weld forming offset in the section is reflected. Then, each forming offset in the deflection angle section is compared with the representative offset one by one to obtain the difference value of each forming offset relative to the overall offset level, wherein the representative offset reflects the overall offset trend that stably exists, and each difference value reflects the local fluctuation around the overall trend.

[0134] In the correction process of the static offset item, the above-mentioned representative offset is directly superimposed into the original static offset item of the deflection angle section, so that the corrected static offset item can overall compensate for the stable offset of the weld seam in the deflection angle section. In this way, the static offset item further introduces the offset correction quantity obtained based on the actual welding result on the basis of maintaining the original correction characteristics, thereby improving the accuracy of static compensation. For example, in a certain deflection angle section, after the forming offsets obtained by multiple weldings are statistically analyzed, it is found that the offsets of the weld seam in the scanning direction in the section are mainly concentrated between 0.18 mm and 0.22 mm, and the overall presents a stable one-way offset characteristic. Based on the distribution of the forming offsets, 0.20 mm located at the center position of the distribution is selected as the representative offset of the deflection angle section, and the representative offset is superimposed into the original static offset item of the section, so that the overall scanning position of the galvanometer in the deflection angle section is translated by about 0.20 mm in the corresponding direction, thereby overall compensating for the stable offset of the weld seam.

[0135] In the correction process of the dynamic response term, the difference value of each forming offset relative to the representative offset is taken as the dynamic change part, the dynamic change part is distributed to the corresponding scanning point position according to the distribution of the scanning point in the deflection angle section, and is superimposed into the original dynamic response term, so that the corrected dynamic response term can reflect the offset fluctuation caused by the change of the scanning position in the welding process. In this way, the dynamic response term not only considers the dynamic characteristics of the galvanometer itself, but also combines the dynamic offset characteristics reflected in the actual welding process. For example, in the above deflection angle section, although the overall offset of the weld is about 0.20 mm, the forming offset at different scanning points along the welding trajectory direction still fluctuates obviously, and the offset of some scanning points reaches 0.26 mm, while the offset of some scanning points is only 0.15 mm. For this situation, the difference value of the forming offset at each scanning point relative to the representative offset of 0.20 mm is taken as the dynamic change part, for example, the difference value of the offset increment of +0.06 mm or-0.05 mm is distributed to the corresponding scanning point according to the position of the scanning point in the deflection angle section, and is superimposed into the original dynamic response term, so that the corrected dynamic response term can reflect the offset fluctuation caused by the change of the scanning position in the welding process.

[0136] In the correction process of the curvature distortion term, the spatial curve of the weld at each scanning point is extracted based on the actual forming trajectory of the weld, and the bending degree of the curve at each scanning point is calculated to form a curvature change sequence that changes with the scanning point; after the curvature change sequence is divided into each deflection angle section according to the deflection angle corresponding to the scanning point, in each deflection angle section, a plurality of adjacent and continuous scanning points are selected to form a local fitting range according to the sequence of the scanning points in the weld trajectory, and the curvature values corresponding to each scanning point in the local fitting range are fitted to minimize the overall deviation between the fitted curvature change result and the actual curvature value in the local range, and the plurality of local fitting results are continuously updated along the scanning direction, thereby obtaining the overall trend of the curvature change in the deflection angle section; based on the difference between the overall trend and the original curvature change sequence, the curvature distortion correction amount of the deflection angle section is determined, and the curvature distortion correction amount is superimposed or offset to the original curvature distortion term of the deflection angle section, to obtain the corrected curvature distortion term. For example, in a certain deflection angle section, it is found that the actual weld curvature is about 1.35 mm -1 , and the corresponding theoretical trajectory curvature is about 1.20 mm -1There are significant differences between the two. To address this, multiple adjacent and consecutive scanning points within the deflection angle range are selected to form a local analysis range. The curvature values ​​corresponding to each scanning point within this local range are fitted to minimize the overall deviation between the fitted curvature change result and the actual curvature value within this local range. Subsequently, this local analysis range is gradually moved along the welding trajectory direction, and multiple local fitting results are continuously updated to obtain the overall trend of curvature change within the deflection angle range. Based on this overall trend, the difference between the original curvature change and the actual curvature change is approximately 0.15 mm. -1 The deviation is used to determine the curvature distortion correction amount for the deflection angle segment, and the original curvature distortion term is updated accordingly.

[0137] The static offset term, dynamic response term, and curvature distortion term are combined and standardized to obtain the comprehensive correction amount corresponding to each deflection angle segment.

[0138] The formula for calculating the comprehensive correction amount is as follows:

[0139] In the formula, For the first The comprehensive correction amount corresponding to each deflection angle segment Index of deflection error components, These are represented as static offset, dynamic response, and curvature distortion terms, respectively. For the first Within the deflection angle segment, the first The standardized values ​​of the deflection error components.

[0140] It can be understood that after the static offset term, the dynamic response term and the curvature distortion term are respectively corrected, due to the differences in physical meaning, dimension scale and numerical distribution range of the three types of deflection error components, if linear superposition is directly performed, it is easy to cause a certain type of deflection error to occupy too high weight in the comprehensive correction quantity, thereby weakening the contribution of other deflection error components to the overall correction effect. Therefore, the static offset term, the dynamic response term and the curvature distortion term in each deflection angle section are first standardized, so that different types of deflection error components are fused under a unified numerical scale, which is beneficial to improve the stability and consistency of the comprehensive correction quantity. On this basis, an exponential function is introduced to map each type of deflection error component after standardization, and the influence degree of larger deflection error components in the comprehensive correction quantity is enhanced in the form of an exponential, while the continuous contribution of smaller deflection error components to the comprehensive correction quantity is maintained, thereby avoiding excessive interference of single error component mutation on the correction result. Further, the square sum of the exponential mapping results of each deflection error component is taken and the square root is taken, so that the comprehensive correction quantity can reflect the overall intensity level of the static offset, the dynamic response and the curvature distortion of the three types of deflection errors in the deflection angle section. This calculation method not only ensures the independent contribution of each deflection error component to the comprehensive correction quantity, but also characterizes the comprehensive deflection error degree of the deflection angle section in the form of overall amplitude, so that the obtained comprehensive correction quantity is more suitable for subsequent deflection compensation and adaptive updating process of the welding trajectory.

[0141] Further, the welding trajectory of the welding process to be executed is obtained, and the welding trajectory is deflected compensated based on the comprehensive correction quantity to generate the initial welding trajectory instruction, specifically including:

[0142] The welding trajectory of the welding process to be executed is obtained, and the welding trajectory of the welding process to be executed is obtained, and the welding trajectory is deflected compensated based on the comprehensive correction quantity to generate the initial welding trajectory instruction, specifically including:

[0143] According to the target position coordinates of each scanning point in the welding trajectory, the corresponding deflection angle section is determined, and the comprehensive correction quantity corresponding to the deflection angle section is called;

[0144] Based on the comprehensive correction quantity corresponding to the deflection angle section, the position offset correction is performed on the target position coordinates of the scanning point to obtain the deflection compensated trajectory point coordinates of the scanning point;

[0145] The deflection compensated trajectory point coordinates are arranged in sequence according to the welding sequence to form a complete compensated welding trajectory;

[0146] The compensated welding trajectory is smoothed and interpolated to generate the initial welding trajectory instruction which can be used for the galvanometer execution.

[0147] Specifically, before actually performing the welding operation, a welding trajectory corresponding to the welding process to be performed is obtained, the welding trajectory being composed of a plurality of trajectory points arranged in a welding sequence, each trajectory point corresponding to an expected scanning target position. For each trajectory point in the welding trajectory, based on the spatial positional relationship of the target position of the trajectory point in the mirror scanning plane, a mirror deflection angle corresponding to the trajectory point is determined, and it is further judged that the deflection angle falls into a deflection angle section, so as to retrieve a comprehensive correction corresponding to the deflection angle section. Since the comprehensive correction has fused various deflection error characteristics such as static offset, dynamic response and curvature distortion, it can represent the overall deflection error level of the mirror in the deflection angle section. After obtaining the corresponding comprehensive correction, the original target position of the current trajectory point is offset and corrected according to the comprehensive correction, so that the coordinates of the corrected trajectory point pre-compensate the deflection error that the mirror may generate in the deflection angle section in space, thereby obtaining the deflection-compensated position of the trajectory point. By sequentially performing the above deflection compensation processing on all trajectory points in the welding trajectory and arranging them in the original welding sequence, a complete compensated welding trajectory is formed. Further, in order to avoid position mutations or discontinuities between trajectory points due to compensation processing, the compensated welding trajectory is smoothed and interpolated to maintain the continuity and smoothness of the compensated welding trajectory in space, and finally an initial welding trajectory instruction directly used for the mirror to perform the welding operation is generated.

[0148] Further, residual deviations are obtained based on the initial welding trajectory instruction, and the residual deviations are evaluated, and then the comprehensive correction is adaptively updated according to the evaluation result to generate a final correction instruction for controlling the mirror to perform the welding operation, specifically including:

[0149] Based on the initial welding trajectory instruction, actual weld trajectory data collected during the welding operation of the mirror is obtained to obtain an actual weld trajectory;

[0150] The actual weld trajectory and the compensated welding trajectory are compared in position to obtain spatial deviations corresponding to each scanning point;

[0151] The spatial deviations of each scanning point are taken as residual deviations to obtain a residual deviation set;

[0152] The residual deviation set is classified according to the deflection angle section to obtain a residual deviation sub-set corresponding to each deflection angle section;

[0153] The residual deviation sub-set of each deflection angle section is statistically processed to obtain an average residual deviation, a maximum residual deviation and a deviation distribution, forming residual deviation characteristics of each deflection angle section;

[0154] Specifically, during the welding operation of the galvanometer, the actual forming trajectory data of the weld is synchronously acquired by the weld trajectory acquisition device, and the actual weld trajectory corresponding to the compensated weld trajectory is obtained. By comparing the actual weld trajectory with the compensated weld trajectory at the same scanning point position point by point, the spatial difference between the two is obtained, and the spatial difference is taken as the residual deviation of the corresponding scanning point, thereby forming a residual deviation set covering the entire welding process. For example, for a scanning point, the target position of the compensated trajectory is X = 50.00 mm, Y = 25.00 mm, and Z = 1.00 mm, and the actual weld position is X = 50.05 mm, Y = 24.97 mm, and Z = 0.98 mm. The spatial deviation of the point is ΔX = 0.05 mm, ΔY = -0.03 mm, and ΔZ = -0.02 mm, and the spatial deviation module length is about 0.061 mm. According to the corresponding galvanometer deflection angle of each scanning point, the residual deviation set is divided into different deflection angle sections, so that each deflection angle section corresponds to a group of residual deviation data reflecting the compensation effect of the section. For example, if a deflection angle section covers a deflection angle range of 10°~15°, the residual deviations of all scanning points whose deflection angles fall within the range are included in the residual deviation sub-set of the section. For the residual deviation sub-set in each deflection angle section, statistical analysis is performed to obtain the average level, extreme value condition and overall distribution characteristics of the residual deviation in the section. For example, the residual deviation module lengths collected in the section are 0.05 mm, 0.06 mm, 0.04 mm, 0.07 mm, and 0.05 mm, the average residual deviation is 0.054 mm, the maximum residual deviation is 0.07 mm, and a deviation distribution histogram can be drawn to observe the residual deviation concentration interval, thereby forming a residual deviation feature for characterizing the compensation effect of the deflection angle section. In this way, the error level and variation of different deflection angle sections in the compensated welding process can be intuitively reflected, providing a basis for subsequent judgment of whether the comprehensive correction quantity needs to be further adjusted.

[0155] Based on the residual deviation features of each deflection angle section, the compensation effect of the section is evaluated, and the compensation evaluation results of each deflection angle section are obtained.

[0156] Based on the compensation evaluation results, the comprehensive correction quantity items that need to be updated are determined, and the correction quantity identifiers to be updated are obtained.

[0157] Based on the correction quantity identifiers to be updated, the updated comprehensive correction quantity is generated.

[0158] Based on the updated comprehensive correction quantity, the final correction instruction of the galvanometer is generated.

[0159] It can be understood that the compensation effect of each section is evaluated according to the residual deviation characteristics of each deflection angle section, and the evaluation method includes comprehensive analysis of the average value, maximum value and distribution of the residual deviation to judge the accuracy of the compensation trajectory in the deflection angle section. For example, if the average residual deviation of a certain deflection angle section is less than the preset threshold 0.05 mm and the maximum residual deviation is less than 0.08 mm, it is considered that the compensation effect of this section is good; if the average residual deviation or the maximum residual deviation exceeds the threshold, it is considered that the compensation of this section is insufficient and needs to be further adjusted. According to the evaluation result, the comprehensive correction quantity item to be updated is determined, and the static offset item, the dynamic response item and the curvature distortion item corresponding to the section with the evaluation result of “not up to standard” are marked as items to be updated, thereby generating an identification of the correction quantity to be updated. For example, in a certain deflection angle section, the residual deviation of the static offset item reaches 0.06 mm, and the residual deviation fluctuation of the dynamic response item exceeds ±0.05 mm, so the static offset item and the dynamic response item of this section are marked as to be updated. On this basis, the to-be-updated correction quantity item is adjusted, the insufficient static offset is superimposed or corrected, the dynamic response item is adjusted, and the curvature distortion item is adjusted, so as to better match the actual welding trajectory. For example, the original value of the static offset item is adjusted from 0.20 mm to 0.25 mm, and the dynamic response item is adjusted by ±0.03 mm according to the scanning point deviation distribution, thereby generating an updated comprehensive correction quantity. Based on the updated comprehensive correction quantity, the updated comprehensive correction quantity corresponding to each scanning point is applied to the original welding trajectory coordinates, and the final compensation position is calculated, and a complete welding trajectory instruction is formed according to the welding sequence, which can guide the galvanometer to scan according to the optimized compensation trajectory in real time when performing welding operation, thereby minimizing the residual deviation and achieving high-precision welding.

[0160] Further, a galvanometer intelligent correction system based on deflection error compensation is proposed, which is used to implement the galvanometer intelligent correction method of any one of the above, and is characterized in that it comprises:

[0161] A data acquisition module is configured to acquire actual deflection angles and actual welding seam trajectory data of the galvanometer.

[0162] A calibration data management module is configured to store calibration data of a scanning area of the galvanometer, including straight line calibration graphics, circular arc calibration graphics and curve calibration graphics, and provide required calibration data to the correction calculation module.

[0163] A correction calculation module is configured to extract deflection error parameters according to the calibration data, generate comprehensive correction quantities of each deflection angle section in combination with welding seam offset information, and adaptively update the sub-correction quantities based on residual deviations.

[0164] a residual deviation evaluation module, configured to evaluate residual deviations of each deflection angle section based on the compensated welding trajectory instruction and the actual weld seam trajectory data, and generate a compensation evaluation result;

[0165] a trajectory generation module, configured to perform deflection compensation on the to-be-executed welding trajectory based on the comprehensive correction amount, and generate a compensated welding trajectory instruction.

[0166] Further, the data acquisition module comprises:

[0167] a deflection angle acquisition unit, configured to acquire actual deflection angles of the galvanometer in the scanning and welding process;

[0168] a weld seam trajectory acquisition unit, configured to acquire weld seam trajectory data formed by the galvanometer in the actual welding process, including actual forming positions of the weld seam and corresponding expected welding trajectories.

[0169] Further, the correction calculation module comprises:

[0170] a deflection error extraction unit, configured to extract initial deflection errors of each deflection angle section based on the straight line calibration pattern, the circular arc calibration pattern and the curve calibration pattern, and form a deflection error parameter group;

[0171] a weld seam offset analysis unit, configured to compare the actual weld seam trajectory data with the expected welding trajectory, extract weld seam forming offset amounts and offset directions, and form a weld seam offset information set;

[0172] a comprehensive correction amount generation unit, configured to combine the deflection error parameter group and the weld seam offset information set, calculate comprehensive correction amounts of each deflection angle section, and adaptively update the comprehensive correction amounts.

[0173] Further, the trajectory generation module comprises:

[0174] a deflection compensation trajectory generation unit, configured to perform deflection compensation on the to-be-executed welding trajectory based on the comprehensive correction amount, and generate welding trajectory points after deflection compensation;

[0175] a welding trajectory smoothing and interpolation unit, configured to perform smoothing and interpolation processing on the welding trajectory points after deflection compensation, and generate complete welding trajectory instructions that can be executed by the galvanometer.

[0176] In summary, the present application has the advantages that: by acquiring the calibration data of the galvanometer scanning area, extracting the initial deflection error of each deflection angle section, and combining the actual weld seam trajectory offset information to generate a comprehensive correction amount, real-time deflection compensation of the welding trajectory is realized; based on the compensated welding trajectory, residual deviation is evaluated and adaptive updating is performed, so that the welding trajectory accuracy of each deflection angle section is significantly improved; meanwhile, the weld forming accuracy and welding efficiency are improved, the welding error is reduced, the stability and reliability of the welding process are ensured, and an effective technical means is provided for high-precision welding operation.

[0177] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection required by the present application is defined by the appended claims and their equivalents.

Claims

1. A galvanometer intelligent correction method based on deflection error compensation, characterized in that, include: The calibration data of the galvanometer scanning area is obtained, and the galvanometer scanning area is divided to obtain a galvanometer area library containing different deflection angle segments. The calibration data includes straight line calibration graphics, circular arc calibration graphics and curve calibration graphics. The initial deflection error of the galvanometer in each deflection angle segment is extracted based on the calibration data, and a deflection error parameter set including static offset term, dynamic response term and curvature distortion term is obtained. The weld position data formed by the galvanometer region library during the actual welding process is obtained, and the weld forming offset and offset direction are extracted from the weld position data to obtain the weld offset information set. Then, combined with the deflection error parameter set, the comprehensive correction amount of each deflection angle segment is obtained. The welding trajectory of the welding process to be executed is obtained, and the deflection compensation of the welding trajectory is performed based on the comprehensive correction amount to generate the initial welding trajectory command; The residual deviation is obtained based on the initial welding trajectory command, and the residual deviation is evaluated. Then, the comprehensive correction amount is adaptively updated according to the evaluation result to generate the final correction command for controlling the galvanometer to perform the welding operation. The initial deflection error of the galvanometer in each deflection angle segment is extracted based on the calibration data, resulting in a deflection error parameter set including static offset, dynamic response, and curvature distortion terms, specifically including: Fit the straight line calibration graph in the calibration data to obtain the spatial offset between the theoretical trajectory and the actual scanning trajectory of the straight line calibration graph. Statistically calculate the spatial offset within the corresponding deflection angle segment to form the initial deflection error of the straight line calibration graph, which serves as the static offset term for the corresponding deflection angle segment. The circular arc calibration pattern in the calibration data is analyzed, the trajectory response deviation of the galvanometer under different scanning speed and acceleration conditions is extracted, and the correlation between the trajectory response deviation and the deflection angle is established in the corresponding deflection angle segment to form the initial deflection error of the circular arc calibration pattern, which serves as the dynamic response term of the corresponding deflection angle segment. Curvature analysis is performed on the curve calibration graph in the calibration data to obtain the curvature difference between the actual scan curve and the theoretical curve. The curvature difference is then mapped to the corresponding deflection angle segment to form the initial deflection error of the curve calibration graph, which serves as the curvature distortion term for the corresponding deflection angle segment. The initial deflection errors corresponding to the straight line calibration pattern, circular arc calibration pattern, and curve calibration pattern are combined according to the deflection angle segment to obtain a deflection error parameter set including static offset term, dynamic response term, and curvature distortion term.

2. The intelligent galvanometer correction method based on deflection error compensation according to claim 1, characterized in that, The process of acquiring calibration data for the galvanometer scanning area, dividing the galvanometer scanning area, and obtaining a galvanometer region library containing segments with different deflection angles specifically includes: The scanning results are obtained by executing a preset scanning path using a galvanometer; The calibration data is obtained based on the scanning results, and the calibration data includes straight line calibration patterns, circular arc calibration patterns, and curve calibration patterns; Based on the calibration data, the deflection angle of each scanning point is extracted to form a set of deflection angle features of the galvanometer scanning area; The deflection angles in the deflection angle feature set are sorted to obtain the angle difference between adjacent deflection angles; Based on the deflection angle feature set, the minimum and maximum deflection angle values ​​of the galvanometer scanning area are obtained, and the deflection angle coverage range of the galvanometer scanning area is determined. Within the deflection angle coverage area, the angle difference between adjacent deflection angles is obtained. The adjacent angle differences are compared according to a preset angle difference threshold, and the scanning area is divided into sub-regions with angle differences lower than the preset angle difference threshold and sub-regions with angle differences higher than the preset angle difference threshold. Based on the angle difference between adjacent deflection angles within the divided sub-regions, the scanning region is divided into multiple consecutive secondary deflection intervals starting from the minimum deflection angle. Using the secondary deflection interval, the galvanometer scanning area is divided into multiple secondary galvanometer regions, and a unique identifier is generated for each secondary galvanometer region to establish a secondary galvanometer region library. Based on the angle difference between adjacent deflection angles in each secondary division galvanometer region in the secondary division galvanometer region library, the secondary division galvanometer regions with continuous angle differences between adjacent deflection angles and stable variation amplitudes are merged to obtain the merged galvanometer region. Based on the merged galvanometer region, the secondary galvanometer region where the angle difference between adjacent deflection angles changes abruptly is further subdivided to obtain the subdivided galvanometer region. Based on the subdivided galvanometer regions, multiple deflection angle segments are formed, and each segment corresponds to a range of galvanometer deflection angles, thus establishing a galvanometer region library.

3. The intelligent galvanometer correction method based on deflection error compensation according to claim 1, characterized in that, The process involves acquiring weld position data from the galvanometer region library during actual welding, extracting weld formation offset and offset direction from the weld position data to obtain a weld offset information set, and then combining this with the deflection error parameter set to obtain the comprehensive correction amount for each deflection angle segment. Specifically, this includes: Acquire weld position data formed by the galvanometer corresponding to the galvanometer region library during the actual welding process. The weld position data includes the actual weld formation trajectory and the corresponding expected welding trajectory. Based on the weld position data, the actual weld formation trajectory and the expected welding trajectory are compared to obtain the spatial difference between the two at the corresponding positions, which forms the weld formation offset. The offset direction of each forming offset is determined based on the offset direction of the actual weld formation position relative to the target position of the welding trajectory; Based on the deflection angle of the galvanometer at each scanning point, the forming offset and its offset direction are classified into the deflection angle segment determined by the deflection angle. The forming offset and its offset direction that fall into the same deflection angle segment are collected to form a weld offset information set. Based on the weld offset information set, multiple forming offsets within the same deflection angle segment are obtained; The forming offset within the same deflection angle segment is statistically processed, and the offset located at the center of the forming offset distribution in that deflection angle segment is extracted as the representative offset of that deflection angle segment. By comparing each forming offset within the same deflection angle segment with a representative offset, a set of offset differences of each forming offset relative to the overall offset trend is obtained. The representative offset is determined as the steady-state offset component, and each offset difference in the offset difference set is determined as the dynamic offset component; Based on the steady-state offset components of each deflection angle segment, the steady-state offset components are assigned to the static offset terms of the corresponding deflection angle segments to obtain the corrected static offset terms. Based on the dynamic offset components of each deflection angle segment, the dynamic offset components are assigned to the dynamic response terms of the corresponding deflection angle segments to obtain the corrected dynamic response terms. Based on the actual forming trajectory of the weld, the actual spatial curve of the weld at each scanning point is extracted, and the curvature at each scanning point is calculated to obtain a weld trajectory curvature sequence covering the entire weld trajectory. The weld trajectory curvature sequence is divided into deflection angle segments according to the deflection angle corresponding to the scanning point. For the curvature sequence in each deflection angle segment, the local least squares method is applied to fit the curvature change trend to obtain the curvature distortion correction amount for each deflection angle segment. The curvature distortion term for the corresponding deflection angle segment is numerically superimposed or subtracted based on the curvature distortion correction amount to obtain the corrected curvature distortion term. The static offset term, dynamic response term, and curvature distortion term are combined and standardized to obtain the comprehensive correction amount corresponding to each deflection angle segment. The formula for calculating the comprehensive correction amount is as follows: In the formula, For the first The comprehensive correction amount corresponding to each deflection angle segment Index of deflection error components, These are represented as static offset, dynamic response, and curvature distortion terms, respectively. For the first Within the deflection angle segment, the first The standardized values ​​of the deflection error components.

4. The intelligent galvanometer correction method based on deflection error compensation according to claim 1, characterized in that, The process of acquiring the welding trajectory of the welding process to be executed, and performing deflection compensation on the welding trajectory based on the comprehensive correction amount to generate an initial welding trajectory command, specifically includes: Obtain the welding trajectory of the welding process to be executed, and extract the original target position coordinates for each trajectory point in the welding trajectory; Based on the target position coordinates of each scanning point in the welding trajectory, determine the corresponding deflection angle segment and retrieve the comprehensive correction amount corresponding to the deflection angle segment. Based on the comprehensive correction amount corresponding to the deflection angle segment, the target position coordinates of the scanning point are corrected for position offset to obtain the deflection compensation trajectory point coordinates of the scanning point. The coordinates of the trajectory points after deflection compensation are arranged sequentially according to the welding order to form a complete compensated welding trajectory. The compensated welding trajectory is smoothed and interpolated to generate an initial welding trajectory command that can be executed by the galvanometer.

5. The intelligent galvanometer correction method based on deflection error compensation according to claim 1, characterized in that, The process involves obtaining residual deviations based on initial welding trajectory commands, evaluating these residual deviations, and then adaptively updating the comprehensive correction amount based on the evaluation results to generate the final correction command for controlling the galvanometer to perform the welding operation. Specifically, this includes: Based on the initial welding trajectory command, the actual weld trajectory data collected during the welding operation performed by the galvanometer is obtained to obtain the actual weld trajectory; The actual weld trajectory is compared with the compensated weld trajectory to obtain the spatial deviation corresponding to each scanning point. The spatial deviation of each scanning point is used as the residual deviation to obtain the residual deviation set; The residual deviation set is classified according to the deflection angle segment to obtain the residual deviation subset corresponding to each deflection angle segment; Statistical processing is performed on the residual deviation subset of each deflection angle segment to obtain the average residual deviation, maximum residual deviation, and deviation distribution, thus forming the residual deviation characteristics of each deflection angle segment. Based on the residual deviation characteristics of each deflection angle segment, the compensation effect of the segment is evaluated, and the compensation evaluation results of each deflection angle segment are obtained. Based on the compensation assessment results, the comprehensive correction items that need to be updated are determined, and the correction item identifier to be updated is obtained; Based on the calibration value identifier to be updated, an updated comprehensive calibration value is generated; Based on the updated integrated correction values, the final correction command for the galvanometer is generated.

6. A galvanometer intelligent correction system based on deflection error compensation, used to implement the galvanometer intelligent correction method as described in any one of claims 1-5, characterized in that, include: The data acquisition module is used to acquire the actual deflection angle of the galvanometer and the actual weld trajectory data. The calibration data management module is used to store calibration data of the galvanometer scanning area, including straight line calibration graphics, circular arc calibration graphics and curve calibration graphics, and to provide the required calibration data to the calibration calculation module; The correction calculation module is used to extract deflection error parameters based on calibration data, generate comprehensive correction amounts for each deflection angle segment by combining weld offset information, and adaptively update the sub-correction amounts based on residual deviation. The residual deviation assessment module is used to assess the residual deviation of each deflection angle segment based on the compensation welding trajectory command and the actual weld trajectory data, and generate the compensation assessment result. The trajectory generation module is used to perform deflection compensation on the welding trajectory to be executed based on the comprehensive correction amount, and generate the compensated welding trajectory command.

7. The intelligent galvanometer correction system based on deflection error compensation according to claim 6, characterized in that, The data acquisition module includes: A deflection angle acquisition unit is used to acquire the actual deflection angle of the galvanometer during the scanning and welding process; A weld trajectory acquisition unit is used to acquire weld trajectory data formed by the galvanometer during the actual welding process, including the actual weld formation position and the corresponding expected welding trajectory.

8. The intelligent galvanometer correction system based on deflection error compensation according to claim 6, characterized in that, The correction calculation module includes: A deflection error extraction unit is used to extract the initial deflection error of each deflection angle segment based on the straight line calibration pattern, the circular arc calibration pattern and the curve calibration pattern, and to form a deflection error parameter set. A weld offset analysis unit is used to compare the actual weld trajectory data with the expected welding trajectory, extract the weld forming offset amount and offset direction, and form a weld offset information set. The comprehensive correction quantity generation unit is used to combine the deflection error parameter set and the weld offset information set to calculate the comprehensive correction quantity for each deflection angle segment, and to adaptively update the comprehensive correction quantity.

9. A galvanometer intelligent correction system based on deflection error compensation according to claim 6, characterized in that, The trajectory generation module includes: A deflection compensation trajectory generation unit is used to perform deflection compensation on the welding trajectory to be executed based on a comprehensive correction amount, and generate welding trajectory points after deflection compensation. The welding trajectory smoothing and interpolation unit is used to smooth and interpolate the welding trajectory points after deflection compensation to generate a complete welding trajectory command that can be executed by the galvanometer.

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