Three-dimensional scanning-based superconducting cavity welding allowance precision determination method and system

Abstract

The application discloses a three-dimensional scanning-based superconducting cavity welding allowance precision judgment method and system, and the method comprises the following steps: obtaining actual surface point cloud data of a target welding area of a superconducting cavity to be welded based on three-dimensional scanning; the actual surface point cloud data comprises a plurality of measurement points; the actual surface point cloud data is matched with a preset theoretical model imported to obtain a matching result; the preset theoretical model comprises a plurality of corresponding points; based on the obtained matching result, the deviation value between the measurement points and the matched corresponding points is calculated, and a deviation value dataset is obtained; a visual deviation cloud map is generated according to the deviation value dataset; the deviation value dataset and the visual deviation cloud map are output; and qualified judgment is performed based on the deviation value dataset and / or the visual deviation cloud map. The application realizes automatic and digital detection, converts traditional contact measurement depending on manual experience into non-contact precision evaluation based on data driving, and improves detection efficiency and consistency of results.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to a superconducting cavity welding allowance accurate determination method and system based on three-dimensional scanning. BACKGROUND

[0002] In the core manufacturing process of high-value precision components such as superconducting cavities, the accurate determination of the machining allowance of the welding site before welding is crucial, as it directly determines the quality of the final weld, the integrity of the structure, and the overall performance. The welding allowance refers to the amount of material reserved in addition to the theoretical design size of the component, and its core function is to compensate for the dimensional changes caused by factors such as thermal deformation, material shrinkage, and stress release during the welding process. The size and uniformity of this allowance are the prerequisites for ensuring that the product after welding meets the design size and achieves the desired assembly and performance, and it plays a decisive role in the successful implementation of subsequent welding processes.

[0003] However, the commonly used technical means for determining the welding allowance mainly rely on contact measurement or manual comparison. Typical methods include using a three-coordinate measuring machine for contact detection, or using a general three-dimensional scanning device to obtain the three-dimensional data of the workpiece surface, and then manually analyzing the data and the computer-aided design model by the technician. However, these methods have significant limitations: contact measurement is inefficient and risks scratching the surface of precision workpieces, especially for components such as superconducting cavities that are sensitive to surface conditions; or the manual analysis method is highly dependent on the experience and judgment of the operator, the process is tedious and repetitive, and it is difficult to form an objective and unified standard, and it cannot meet the needs of rapid and accurate determination in batch production. In addition, traditional manual measurement methods such as calipers have limited accuracy and few measurement points, resulting in larger errors and an inability to fully reflect the allowance distribution of complex surfaces. Therefore, there is an urgent need to design a superconducting cavity welding allowance accurate determination method and system based on three-dimensional scanning. SUMMARY

[0004] The purpose of the present application is to provide a superconducting cavity welding allowance accurate determination method and system based on three-dimensional scanning, which solves the problems of relying on manual operation, low efficiency, damage risk, and difficulty in achieving objective, rapid, and accurate batch determination in the prior art.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] A superconducting cavity welding allowance accurate determination method based on three-dimensional scanning, comprising the following steps:

[0007] Obtaining actual surface point cloud data of the target welding area of the superconducting cavity to be welded based on three-dimensional scanning; the actual surface point cloud data includes a plurality of measurement points ;

[0008] registering the actual surface point cloud data with the imported preset theoretical model to obtain a registration result; the preset theoretical model includes a plurality of corresponding points ; the registration result includes a one-to-one mapping relationship between the measurement points and the corresponding points ;

[0009] Based on the obtained registration result, the deviation value between the measurement point and the matching corresponding point is calculated , and a deviation value dataset is obtained ;

[0010] According to the deviation value dataset , a visual deviation cloud chart is generated ;

[0011] The deviation value dataset and the visual deviation cloud chart are output ;

[0012] Based on the deviation value dataset and / or the visual deviation cloud chart, a qualification determination is made ;

[0013] Further, the deviation value between the measurement point and the matching corresponding point is calculated , and a deviation value dataset is obtained , including the following steps:

[0014] extracting the actual coordinates of the measurement points ;

[0015] According to the measurement points and the one-to-one mapping relationship between the measurement points and the corresponding points , the matching corresponding points are determined , and the coordinates of the corresponding points are extracted ; the deviation value between the measurement point and the matching corresponding point is calculated ; the deviation value is:

[0016] , wherein is the unit normal vector at the corresponding point in the preset theoretical model, the sign function is used to define the deviation direction, and the Euclidean distance of the vector ;

[0017] All measurement points and matching corresponding points obtaining a deviation value dataset

[0018] Further, according to the deviation value dataset generating a visual deviation cloud map, comprising the following steps:

[0019] determining a qualified deviation interval ];

[0020] determining an overall display interval , wherein , ;

[0021] setting the RGB value of the first color as (R1, G1, B1), the RGB value of the second color as (R2, G2, B2), and the RGB value of the third color as (R3, G3, B3); ;

[0022] when , the RGB value of the measurement point is: ;

[0023] when , calculating a normalization parameter , the RGB value of the measurement point is: ;

[0024] when , the RGB value of the measurement point is:

[0025] ;

[0026] when , calculating a normalization parameter , the RGB value of the measurement point is: ;

[0027] when , the RGB value of the measurement point is: ;

[0028] calculating the RGB value of all measurement points in the actual surface point cloud data, and generating a visual deviation cloud map.

[0029] Further, based on the skin depth , field enhancement coefficient , and safety threshold of the radio frequency field enhancement factor of the superconducting cavity material , a qualified deviation upper limit is determined;​​

[0030] Based on the rated operating pressure of the superconducting cavity Radial pressure-bearing cross-sectional area at the weld of the superconducting cavity Safety factor Minimum sealing specific pressure of the welding material Effective perimeter of the weld of the superconducting cavity Determining the lower limit of the qualified deviation ;

[0031] Based on the upper limit of the qualified deviation And the first proportional coefficient Determining the upper limit of the overall display ;

[0032] Based on the lower limit of the qualified deviation And the second proportional coefficient Determining the lower limit of the overall display .

[0033] Further, based on the skin depth of the superconducting cavity material , the field enhancement coefficient , the safety threshold of the radio frequency field enhancement factor Determining the upper limit of the qualified deviation , including:

[0034] Calculate the skin depth of the superconducting cavity material :

[0035] ;

[0036] Where, The skin depth of the superconducting cavity material is ;

[0037] The resistivity of the superconducting cavity material is ;

[0038] The rated operating frequency of the superconducting cavity is ;

[0039] The magnetic permeability of the superconducting cavity material in the paramagnetic state at room temperature is ;

[0040] Calculate the upper limit of the qualified deviation :

[0041] ;

[0042] Where: A safety factor for the RF field enhancement factor, wherein the cylindrical cavity takes 0.6~1.0, and the ellipsoidal cavity takes 0.8~1.2;

[0043] A safety factor for the RF field enhancement factor, Take 1.1~1.3;

[0044] Based on the rated working pressure of the superconducting cavity The radial pressure-bearing cross-sectional area of the superconducting cavity weld Safety factor Minimum sealing specific pressure of welding material Effective circumference of the superconducting cavity weld Determine the lower limit of the qualified deviation The lower limit of the qualified deviation Is:

[0045] ;

[0046] Wherein, The rated working pressure of the superconducting cavity is ;

[0047] The radial pressure-bearing cross-sectional area of the superconducting cavity weld is ;

[0048] The safety factor is Take 1.0~1.4;

[0049] The minimum sealing specific pressure of the welding material is ;

[0050] The effective circumference of the superconducting cavity weld is ;

[0051] Based on the upper limit of the qualified deviation And the first proportional coefficient Determine the overall display upper limit The overall display upper limit Is: ;

[0052] Wherein, The proportional coefficient is Take 2.0~3.0;

[0053] Based on the lower limit of the qualified deviation And the second proportional coefficient Determine the overall display lower limit The overall display lower limit Is: ;

[0054] wherein, is a proportionality coefficient, is taken as 1.2~1.5.

[0055] Further, based on the deviation value dataset and / or visualizing the deviation cloud map, a qualification is made, including the following steps:

[0056] respectively setting , , , a tolerance proportion threshold , , ,

[0057] respectively calculating the number of measured points , , , , inside the actual surface point cloud data or the area of , , , , corresponding , , , ,

[0058] When , , , , it is determined to be qualified, wherein N= + + + + ;

[0059] otherwise, it is determined to be unqualified.

[0060] Further, it also includes performing the corresponding operation:

[0061] When it is determined to be qualified, then "direct release" is performed;

[0062] When it is determined to be unqualified:

[0063] If , "scrap" is performed;

[0064] If ,​ then perform "special evaluation";

[0065] if , , , then perform "repair welding rework";

[0066] if , , , then perform "subtractive rework";

[0067] if , , , then perform "special evaluation".

[0068] Further, it further comprises calculating and outputting the average deviation value of all measured points in the actual surface point cloud data , the average deviation value is:

[0069] ;

[0070] = 0, = 0.

[0071] Further, the actual surface point cloud data of the superconducting cavity to be welded is collected and obtained by using a high-precision three-dimensional scanner;

[0072] The preset theoretical model is a theoretical design model;

[0073] The actual surface point cloud data is registered with the preset theoretical model using an iterative closest point algorithm;

[0074] The number of iterations of the iterative closest point algorithm is set to 2-4 times.

[0075] Further, it further comprises obtaining the actual surface picture of the target welding area of the superconducting cavity to be welded.

[0076] A superconducting cavity welding allowance precision determination system based on three-dimensional scanning is used to execute the superconducting cavity welding allowance precision determination method based on three-dimensional scanning, comprising:

[0077] The data acquisition module is configured to acquire the actual surface point cloud data of the target welding area of the superconducting cavity to be welded based on three-dimensional scanning;

[0078] The import module is configured to import a preset theoretical model;

[0079] The registration module, which is signal-connected to the data acquisition module and the import module, is configured to register actual surface point cloud data with a preset theoretical model.

[0080] The deviation calculation module, connected to the registration module, is configured to calculate the deviation for each measurement point within the actual surface point cloud data. Corresponding points matched in the pre-set theoretical model Deviation between And obtain the deviation value dataset. ;

[0081] The cloud map module, connected to the deviation calculation module via signals, is configured to calculate based on the deviation value dataset. Generate a visual deviation cloud map;

[0082] The determination module, connected to the deviation calculation module and the cloud map module, is configured to base its decisions on the deviation value dataset. And / or use visual deviation cloud maps to determine compliance;

[0083] The display module, connected to the deviation calculation module, the contour map module, and the judgment module, is configured to output a dataset of deviation values. Visualized deviation cloud map and pass / fail judgment results.

[0084] Compared with the prior art, the present invention has the following beneficial effects:

[0085] The present invention provides a method for accurately determining the welding allowance of superconducting cavities based on three-dimensional scanning. This method first acquires the actual surface point cloud data of the target welding area of ​​the superconducting cavity to be welded using three-dimensional scanning. Then, it registers the actual surface point cloud data with an imported preset theoretical model and calculates the measurement points within the actual surface point cloud data. Corresponding points matched in the pre-set theoretical model Deviation value between To obtain the deviation value dataset The method generates an intuitive, visualized deviation cloud map and automatically judges the welding allowance status based on preset acceptance criteria, outputting corresponding data reports and visualization results. This method achieves full-process automation and digital inspection, transforming traditional contact measurement relying on manual experience into data-driven non-contact precision evaluation. This significantly improves inspection efficiency and result consistency, effectively avoiding subjective errors caused by differences in operator experience, manual operation, and discrepancies between readings and judgments. It is particularly suitable for superconducting cavity welding processes with stringent dimensional consistency requirements, providing accurate allowance information for subsequent welding processes and ensuring the dimensional accuracy and quality reliability of the final product from the source.

[0086] The present application sets the first color, the second color and the third color to represent the three states of insufficient welding allowance, standard and excess respectively, and uses the continuous color gradient to intuitively reflect the gradual change process of the deviation amount, so that the allowance distribution of the entire target welding area becomes clear and easy to understand. At the same time, based on the determination result, the corresponding operation such as "repair welding and rework" or "subtractive rework" is performed, and the visual analysis conclusion is directly converted into executable process guidance, so that the operator can not only see where the problem is, but also see how to operate next, thereby greatly enhancing the readability of the detection result and the guidance of the actual operation. BRIEF DESCRIPTION OF DRAWINGS

[0087] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0088] The structures, proportions, sizes, etc. shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the conditions that the present application can be implemented, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes that the present application can produce, should still fall within the scope of the technical content disclosed by the present application.

[0089] Figure 1 The flow chart of the superconducting cavity welding allowance accurate determination method based on three-dimensional scanning according to the present application;

[0090] Figure 2 The schematic diagram of the superconducting cavity welding allowance accurate determination system based on three-dimensional scanning according to the present application. DETAILED DESCRIPTION

[0091] In order to make the purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the following 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 are within the scope of protection of the present application.

[0092] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there can be a component disposed therebetween.

[0093] The technical solutions of the present application will be further illustrated below in conjunction with the drawings and through specific embodiments.

[0094] A three-dimensional scanning-based superconducting cavity welding allowance precision determination method is provided in the present embodiment to accurately measure and evaluate the allowance before superconducting cavity welding. In combination with the drawings, the three-dimensional scanning-based superconducting cavity welding allowance precision determination method comprises the following steps: Figure 1

[0095] S1, obtaining actual surface point cloud data of a target welding area of a superconducting cavity to be welded based on three-dimensional scanning; the actual surface point cloud data comprises a plurality of measurement points In a specific embodiment, a high-precision three-dimensional scanner is used to non-contact acquisition of actual surface point cloud data of a target welding area of a superconducting cavity to be welded, so as to accurately reflect the real three-dimensional geometric shape and provide basic data for subsequent deviation analysis; this method avoids surface damage or deformation caused by physical contact, and can quickly obtain complete topographic information of a complex surface, improving the efficiency and accuracy of actual surface point cloud data acquisition.

[0096] S2, obtaining actual surface pictures of the target welding area of the superconducting cavity to be welded to record the visual appearance information of the target welding area as auxiliary basis for subsequent intuitive verification and tracing, especially when the deviation value exceeds the preset range to provide image reference to help analyze the abnormal reason. In a specific embodiment, a high-resolution industrial camera is used to obtain actual surface pictures of the target welding area of the superconducting cavity to be welded after or at the same time as obtaining actual surface point cloud data of the target welding area.

[0097] S3, registering the actual surface point cloud data with the imported preset theoretical model to obtain a registration result. The preset theoretical model comprises a plurality of corresponding points ; in a specific embodiment, the preset theoretical model is a theoretical design model, which represents the ideal geometric shape and size of the superconducting cavity, serving as a reference for evaluating whether the welding allowance is qualified; further, the preset theoretical model is a CAD model. The registration result comprises measurement points and corresponding points​ a one-to-one mapping relationship; the registration process eliminates errors introduced by different placement positions or angles of the workpiece, ensuring that the measured points in the actual surface point cloud data are aligned with the corresponding points in the preset theoretical model a one-to-one mapping relationship; the registration process eliminates errors introduced by different placement positions or angles of the workpiece, ensuring that the measured points in the actual surface point cloud data are aligned with the corresponding points in the preset theoretical model a one-to-one mapping relationship; the registration process eliminates errors introduced by different placement positions or angles of the workpiece, ensuring that the measured points in the actual surface point cloud data are aligned with the corresponding points in the preset theoretical model a one-to-one mapping relationship; the registration process eliminates errors introduced by different placement positions or angles of the workpiece, ensuring that the measured points in the actual surface point cloud data are aligned with the corresponding points in the preset theoretical model accurate comparison under the same coordinate system. In specific embodiments, the actual surface point cloud data is registered with the preset theoretical model using an iterative closest point algorithm; further, the number of iterations of the iterative closest point algorithm is set to 2-4 times; the setting of the number of iterations balances the registration accuracy and the calculation efficiency, realizes convergence within a limited number of iterations, avoids waste of calculation resources caused by excessive iterations, and at the same time ensures that the registration result is accurate enough. It should be noted that the iterative closest point algorithm is a point cloud registration method that finds the optimal spatial transformation between two point sets by iterative calculation to minimize the distance between the two point sets. It realizes accurate alignment by continuously calculating corresponding point pairs and optimizing rigid body transformation. This algorithm is a mature general registration technology in the field of three-dimensional data processing, and its basic principles will not be described here.

[0098] S4, calculating the deviation value between each measured point in the actual surface point cloud data and the corresponding point matched in the preset theoretical model S4, calculating the deviation value between each measured point in the actual surface point cloud data and the corresponding point matched in the preset theoretical model ; by traversing each measured point in the actual surface point cloud data and the corresponding point matched in the preset theoretical model , the spatial distance difference between the two is quantified, thereby generating a comprehensive deviation value dataset , providing a quantitative basis for subsequent visualization and judgment.

[0099] S5, according to the deviation value dataset , a visual deviation cloud map is generated by color scale mapping; the numerical deviation value is converted into color information, and the size and distribution range of the deviation value are intuitively represented by different colors or color depths, so that the user can quickly identify the margin condition of the target welding area.

[0100] S6, outputting the deviation value dataset and the visual deviation cloud map; by outputting the structured deviation value dataset and the intuitive visual deviation cloud map, the user is supported to perform multi-angle analysis. Based on the deviation value dataset and / or the visual deviation cloud map, a pass / fail judgment is made; based on the preset standard, it is automatically evaluated whether the welding margin meets the requirements, realizing digital decision-making.

[0101] Adopting the three-dimensional scanning-based superconducting cavity welding allowance precision determination method of the embodiment to determine improves the consistency and reliability of measurement, reduces human intervention through an automated process, reduces subjective error, and improves detection speed, and is suitable for large-scale or high-precision pre-welding allowance control scenarios.

[0102] In specific embodiments, step S4 includes calculating the deviation value between each measurement point of the actual surface point cloud data and the corresponding point matching the preset theoretical model, including the following steps:

[0103] S41, extracting the actual coordinates of the measurement point .

[0104] S42, according to the one-to-one mapping relationship between the measurement point and the corresponding point , determining the matching corresponding point , and extracting the coordinates of the corresponding point ; calculating the deviation value between the measurement point and the matching corresponding point ; the deviation value is: , wherein is the unit normal vector at the corresponding point

[0105] in the preset theoretical model, the sign function is used to define the deviation direction, and the Euclidean distance of the vector . S43, traversing all measurement points and matching corresponding points

[0106] to obtain a deviation value dataset . The traversal process ensures that each measurement point in the actual surface point cloud data is covered, generating a continuous and complete deviation value dataset , providing a basis for subsequent analysis.

[0107] In specific embodiments, step S5 includes generating a visual deviation cloud map based on the deviation value dataset through color mapping, including the following steps:

[0108] S51, determining an eligible deviation interval , wherein is the lower limit of the eligible deviation,​​ upper limit of the eligible deviation, the deviation value within the range is considered eligible. In specific embodiments, an eligible deviation interval is determined, including the following steps:

[0109] S511, based on the skin depth of the superconducting cavity material , the field enhancement factor , the safety threshold of the radio frequency field enhancement factor determining the upper limit of the eligible deviation .

[0110] S512, based on the rated operating pressure of the superconducting cavity radial pressure-bearing cross-sectional area at the weld of the superconducting cavity safety factor minimum sealing specific pressure of the welding material effective circumference of the weld of the superconducting cavity determining the lower limit of the eligible deviation .

[0111] Further, in step S511, based on the skin depth of the superconducting cavity material , the field enhancement factor , the safety threshold of the radio frequency field enhancement factor determining the upper limit of the eligible deviation , including:

[0112] S5111, calculating the skin depth of the superconducting cavity material :

[0113] ;

[0114] wherein, is the skin depth of the superconducting cavity material, with the unit of ;

[0115] is the resistivity of the superconducting cavity material, with the unit of ; It should be noted that the resistivity of the superconducting cavity material can be obtained by consulting a material manual, such as the resistivity of niobium ;

[0116] is the rated operating frequency of the superconducting cavity, with the unit of ; It should be noted that the rated operating frequency of the superconducting cavity is a product design index;

[0117] is the magnetic permeability of the superconducting cavity material in the paramagnetic state at room temperature, with the unit of ; Note that the permeability of superconducting cavity material in the paramagnetic state at room temperature The permeability of niobium in the paramagnetic state at room temperature can be obtained by consulting a material manual .

[0118] S5112, calculate the upper limit of the qualified deviation :

[0119] ;

[0120] Wherein: is the field enhancement coefficient, wherein the cylindrical cavity is 0.6-1.0, and the ellipsoidal cavity is 0.8-1.2; further, according to the working condition of the superconducting cavity, the value of the field enhancement coefficient is selected, when the low-risk working condition, the cylindrical cavity is 0.6-0.7, and the ellipsoidal cavity is 0.8-0.9, such as laboratory test cavity, teaching demonstration cavity, low gradient prototype cavity, etc.; when the medium-risk working condition, the cylindrical cavity is 0.7-0.9, and the ellipsoidal cavity is 0.9-1.1, such as conventional scientific accelerator cavity, industrial low-energy beam line cavity, etc.; when the high-risk working condition, the cylindrical cavity is 0.9-1.0, and the ellipsoidal cavity is 1.1-1.2, such as medical proton therapy cavity, high-energy collider cavity, high-gradient superconducting cavity, etc.

[0121] is the safety threshold of the radio frequency field enhancement factor, 1.1-1.3; further, according to the working condition of the superconducting cavity, the value of the safety threshold of the radio frequency field enhancement factor is selected, when the low-risk working condition, 1.1-1.15, such as laboratory test cavity, teaching demonstration cavity, low gradient prototype cavity, etc., when the medium-risk working condition, 1.15-1.25, such as conventional scientific accelerator cavity, industrial low-energy beam line cavity, etc., when the high-risk working condition, 1.25-1.3, such as medical proton therapy cavity, high-energy collider cavity, high-gradient superconducting cavity, etc.

[0122] Further, in step S512, based on the rated working pressure of the superconducting cavity the radial pressure-bearing cross-sectional area of the weld of the superconducting cavity safety factor minimum sealing specific pressure of the welding material effective circumference of the weld of the superconducting cavity determine the lower limit of the qualified deviation , wherein the lower limit of the qualified deviation is:

[0123] ;

[0124] Wherein, is the rated working pressure of the superconducting cavity, unit is ; it is to be noted that the rated working pressure of the superconducting cavity is the product design index;

[0125] The radial pressure-bearing cross-sectional area at the weld of the superconducting cavity can be obtained by intercepting the cross section at the position and extracting the radial pressure-bearing cross-sectional area at the weld of the superconducting cavity by means of three-dimensional modeling or drawing software , in units of ;

[0126] The safety factor is 1.0-1.4; the value selected according to the working condition of the superconducting cavity is 1.0-1.1 for low-risk working conditions, such as laboratory test cavities, teaching demonstration cavities, and low-gradient prototype cavities, 1.1-1.3 for medium-risk working conditions, such as conventional scientific accelerator cavities and industrial low-energy beam line cavities, and 1.3-1.4 for high-risk working conditions, such as medical proton therapy cavities, high-energy collider cavities, and high-gradient superconducting cavities;

[0127] The minimum sealing specific pressure of the welding material is in units of ; the minimum sealing specific pressure of the welding material can be obtained by directly consulting a material manual, such as when niobium-niobium is welded, ;

[0128] The effective circumference of the weld of the superconducting cavity can be extracted by means of three-dimensional modeling or drawing software , in units of .

[0129] It is to be noted that in other embodiments, the qualified deviation interval can also be directly determined by the accumulated process experience of engineers or mature data of the same type of superconducting cavity welding project.

[0130] S52, determine the overall display interval , wherein is the lower limit of the overall display, is the upper limit of the overall display; and , . The overall display interval is wider than the qualified deviation interval , so as to fully show the overall situation from serious deficiency to serious excess; the overall display interval is set so as to accommodate and clearly show the deviation values that are outside the qualified interval but within the observable range in the generated visual deviation cloud map, so as to avoid the deviation values Extreme situations can lead to the loss or compression of color information in the visualization deviation cloud map, necessitating the ensuring of visual contrast and information integrity in the visualization deviation cloud map. In a specific embodiment, the overall display range is determined […]. The process includes the following steps:

[0131] S521, Based on the upper limit of acceptable deviation and the first proportionality coefficient Determine the overall display limit Furthermore, the overall display limit for: ;

[0132] in, The first proportionality coefficient, Take a value of 2.0 to 3.0; the first proportionality coefficient is selected based on the operating conditions of the superconducting cavity. The values ​​are set as follows: 2.67~3.0 for low-risk conditions, such as laboratory testing cavities, teaching demonstration cavities, and low-gradient prototype cavities; 2.0~2.67 for medium-risk conditions, such as conventional scientific research accelerator cavities and industrial low-energy beamline cavities; and 2.0 for high-risk conditions, such as medical proton therapy cavities, high-energy collider cavities, and high-gradient superconducting cavities.

[0133] S522, Based on the lower limit of acceptable deviation Second proportional coefficient Determine the overall display lower limit Furthermore, the overall display lower limit for: ;

[0134] in, This is the second proportionality coefficient. Take a value of 1.2 to 1.5; the second proportionality coefficient is selected based on the operating conditions of the superconducting cavity. The values ​​are set as follows: 1.2 to 1.3 for low-risk conditions, such as laboratory testing cavities, teaching demonstration cavities, and low-gradient prototype cavities; 1.3 to 1.4 for medium-risk conditions, such as conventional scientific research accelerator cavities and industrial low-energy beamline cavities; and 1.4 to 1.5 for high-risk conditions, such as medical proton therapy cavities, high-energy collider cavities, and high-gradient superconducting cavities.

[0135] This embodiment is based on the skin depth of superconducting cavity materials. Field enhancement coefficient Safety threshold of radio frequency field enhancement factor Determine the upper limit of acceptable deviation And based on the rated working pressure of the superconducting cavity Radial bearing cross-sectional area at the weld of the superconducting cavity Safety factor Minimum sealing pressure of welding materials Effective perimeter of superconducting cavity weld Determine the lower limit of acceptable deviation This determines the acceptable deviation range. Based on the upper limit of acceptable deviation and the first proportionality coefficient Determine the overall display limit Based on the lower limit of acceptable deviation Second proportional coefficient Determine the overall display lower limit This determines the overall display range. In this process, precise and self-consistent judgment criteria are formed based on quantitative parameters such as the operating risk level of the superconducting cavity, the cavity shape, and the performance of welding materials. This ensures both the sealing strength of the welded joint and the stability of the radio frequency field strength, avoiding leakage or field strength exceeding the standard due to dimensional deviations, and differentiates the acceptable deviation range according to low, medium, and high risk levels. Overall display area In high-risk operating conditions, strict dimensional constraints are imposed to avoid safety hazards, while in low-risk operating conditions, thresholds are reasonably relaxed to reduce unnecessary rework, thereby improving overall production efficiency and ensuring a acceptable deviation range. Overall display area The delineation of [ ] has a clear technical basis, enhancing the universality and repeatability among different embodiments.

[0136] S53, Set the RGB value of the first color to ( The RGB value of the second color is ( The RGB value of the third color is ( The specific RGB values ​​of these colors are defined and configured manually based on industry-standard visualization practices and operator visual habits, with the aim of establishing intuitive color semantics. These are the R, G, and B values ​​for the first color, which is used to indicate insufficient welding allowance. These are the R, G, and B values ​​for the second color, which is used to indicate that the welding allowance is acceptable. These are the R, G, and B values ​​for the third color, which is used to indicate excess welding allowance.

[0137] S54. Based on the deviation value Calculate measurement points The corresponding RGB values ​​for the colors:

[0138] when At that time, the measurement point The RGB value is: ;in, are the R, G, B values of the corresponding color of the measurement point are the R, G, B values of the corresponding color of the measurement point

[0139] When , the normalized parameter is calculated, and the RGB value of the measurement point is: ; wherein, are the R, G, B values of the corresponding color of the measurement point are the R, G, B values of the corresponding color of the measurement point

[0140] When , the normalized parameter is calculated, and the RGB value of the measurement point

[0141] ; wherein, are the R, G, B values of the corresponding color of the measurement point are the R, G, B values of the corresponding color of the measurement point

[0142] When , the normalized parameter is calculated, and the RGB value of the measurement point is: ; wherein, are the R, G, B values of the corresponding color of the measurement point are the R, G, B values of the corresponding color of the measurement point

[0143] When , the normalized parameter is calculated, and the RGB value of the measurement point ; wherein, are the R, G, B values of the corresponding color of the measurement point are the R, G, B values of the corresponding color of the measurement point

[0144] S55, the RGB values of all measurement points in the actual surface point cloud data are calculated, and a visual deviation cloud map is generated. The deviation value is converted into a color gradient that is visually easy to distinguish, and the excess distribution and over-standard situation of the target welding area are intuitively displayed to assist users in rapid observation. In specific embodiments, the first color is blue, the RGB value of which is (0, 0, 255), indicating that the welding allowance is insufficient; the second color is green, the RGB value of which is (0, 255, 0), indicating that the welding allowance is qualified and meets the process standard; and the third color is red, the RGB value of which is (255, 0, 0), indicating that the welding allowance is excessive.

[0145] In specific embodiments, the qualified judgment in step S6 based on the deviation value dataset and / or the visual deviation cloud map includes the following steps:

[0146] S61, respectively , , , tolerance ratio thresholds , , , ;

[0147] S62. Calculate the number of measurement points within the actual surface point cloud data in , , , , or the area of the corresponding region in the visualization deviation cloud map ; , , , , ; , , , , ;

[0148] When , , , , it is determined as qualified; otherwise, it is determined as unqualified. Here, N is the total number of measurement points in the actual surface point cloud data or the total area of the visualization deviation cloud map, that is, N = + + + + + . Set , , allowing for abnormal measurement points within a certain range in the actual surface point cloud data , avoiding misjudgment caused by measurement noise and improving the robustness and practicality of the judgment result. Further, = 0, = 0; This ensures that the welding allowance is strictly controlled within an acceptable range, applicable to application scenarios with extremely high precision requirements, and avoiding the influence of excessive or insufficient deviation on welding quality.

[0149] In a specific embodiment, it further includes S7. Perform corresponding operations:

[0150] When it is determined as qualified, then perform "direct release", and at this time, the superconducting cavity workpiece flows to the next process for processing or storage.

[0151] When it is determined as unqualified:

[0152] If If the condition is not met, the superconducting cavity workpiece will be scrapped. In this case, the superconducting cavity workpiece is considered defective and will be removed from the production line for scrapping.

[0153] like , If so, a "special assessment" will be performed. In this case, an engineer will conduct a comprehensive assessment based on the specific equipment capabilities, repair costs, and quality risks to decide whether to attempt repair or scrap the equipment directly.

[0154] like , , , If the superconducting cavity workpiece is transferred to the welding area, the welding material can be supplemented by laser cladding, overlay welding and other methods to make it reach the qualified allowance range.

[0155] like , , , If so, “rework” is performed. At this time, the superconducting cavity workpiece can be transferred to the material reduction area and excess material is removed by CNC grinding, polishing and other methods to make it reach the qualified allowance range.

[0156] like , , , If a "special assessment" is required, the superconducting cavity workpiece will have areas that require both welding repair and material reduction. The situation is complex, and engineers need to assess the optimal rework plan and economics based on the actual situation to determine the final treatment method.

[0157] In practice, the qualification judgment results and corresponding operations can be automatically output and displayed by the system; operators can also manually judge and confirm based on the above rules. It should be noted that special assessment refers to the need for manual comprehensive judgment when the deviation is more complex or exceeds the scope of conventional handling, taking into account specific equipment conditions, process feasibility, and economic factors, to determine whether to handle it by adjusting process parameters, reworking, or scrapping, etc., to ensure a balance between welding quality and cost control.

[0158] In a specific embodiment, the method further includes calculating and outputting all measurement points in the actual surface point cloud data. average deviation The average deviation value for:

[0159] .

[0160] The average deviation value The application is used for evaluating the uniformity and trend of the welding allowance as a whole, assisting special evaluation, and also can be used for judging process stability or equipment state, such as identifying systematic deviation to optimize process parameters or detecting potential equipment failure.

[0161] For the convenience of those skilled in the art to understand, the embodiment is described in detail:

[0162] S1, obtaining actual surface point cloud data of the superconducting cavity to be welded on the target welding area based on three-dimensional scanning; the actual surface point cloud data includes a plurality of measurement points ;

[0163] S2, obtaining an actual surface picture of the superconducting cavity to be welded on the target welding area;

[0164] S3, registering the actual surface point cloud data with the imported preset theoretical model to obtain a registration result; the preset theoretical model includes a plurality of corresponding points ; the registration result includes a one-to-one mapping relationship between the measurement points and the corresponding points ;

[0165] S41, extracting the actual coordinates of the measurement points ;

[0166] S42, determining the matched corresponding points according to the measurement points and the one-to-one mapping relationship between the measurement points and the corresponding points , and extracting the coordinates of the corresponding points ; calculating the deviation value between the measurement points and the matched corresponding points ; the deviation value is: ,

[0167] wherein, is the unit normal vector at the corresponding point in the preset theoretical model, the sign function is used to define the deviation direction, and the Euclidean distance of the vector .

[0168] S43, traversing all the measurement points and the matched corresponding points to obtain a deviation value data set .

[0169] S51, determining a qualified deviation interval .

[0170] S511, skin depth of the superconducting cavity material , field enhancement factor , safety threshold of the radio frequency field enhancement factor determining the upper limit of the qualified deviation .

[0171] S512, rated working pressure of the superconducting cavity radial pressure-bearing cross-sectional area at the weld of the superconducting cavity safety factor minimum sealing specific pressure of the welding material effective circumference of the weld of the superconducting cavity determining the lower limit of the qualified deviation .

[0172] S52, determining the overall display interval .

[0173] S521, determining the upper limit of the overall display based on the upper limit of the qualified deviation and the first proportional coefficient . .

[0174] S522, determining the lower limit of the overall display based on the lower limit of the qualified deviation and the second proportional coefficient . .

[0175] S53, setting the RGB value of the first color as (R1, G1, B1), the RGB value of the second color as (R2, G2, B2), and the RGB value of the third color as (R3, G3, B3). . . .

[0176] S54, calculating the RGB value of the corresponding color of the measurement point according to the deviation value . .

[0177] S55, calculating the RGB value of all measurement points in the actual surface point cloud data and generating a visual deviation cloud map. .

[0178] S61, setting the tolerance proportional threshold of , , , respectively , , , .

[0179] S62, calculating the intrinsic , of the actual surface point cloud data respectively 、 、 measurement points within the actual surface point cloud data corresponding in the total number or visualized deviation cloud map 、 、 、 、 area of the region 、 、 、 、 ;

[0180] When , , , , it is determined to be qualified; otherwise, it is determined to be unqualified; wherein N is the measurement points within the actual surface point cloud data total number or total area of the visualized deviation cloud map, i.e., N= + + + + .

[0181] S7, performing a corresponding operation:

[0182] When it is determined to be qualified, then "direct release" is performed.

[0183] When it is determined to be unqualified:

[0184] If , "scrap" is performed;

[0185] If , , "special evaluation" is performed;

[0186] If , , , , "repair welding and rework" is performed;

[0187] If , , , , "subtractive rework" is performed;

[0188] If , , , , "special evaluation" is performed.

[0189] This embodiment also provides a system for accurately determining the welding allowance of superconducting cavities based on three-dimensional scanning, used to execute the method for accurately determining the welding allowance of superconducting cavities based on three-dimensional scanning. Combined with... Figure 2 As shown, the superconducting cavity welding allowance precision determination system based on three-dimensional scanning includes a data acquisition module, an image acquisition module, an import module, a registration module, a deviation calculation module, a cloud map module, a determination module, and a display module.

[0190] The data acquisition module is configured to acquire actual surface point cloud data of the target welding area of ​​the superconducting cavity to be welded based on three-dimensional scanning; the data acquisition module includes a high-precision three-dimensional scanner.

[0191] The image acquisition module is configured to acquire actual surface images of the target welding area of ​​the superconducting cavity to be welded; further, the image acquisition module includes a high-resolution industrial camera.

[0192] The import module is configured to import a preset theoretical model; the import module is responsible for loading and storing the theoretical design model for subsequent registration and deviation values. The calculations provide a benchmark reference, ensuring that the system can handle superconducting cavities of different design specifications.

[0193] The registration module is signal-connected to the data acquisition module and the import module. The registration module is configured to register the actual surface point cloud data with the preset theoretical model. In a specific embodiment, the iterative nearest point algorithm is used to register the actual surface point cloud data with the preset theoretical model.

[0194] The deviation calculation module is signal-connected to the registration module, and the deviation calculation module is configured to calculate the deviation of each measurement point in the actual surface point cloud data. Corresponding points matched in the pre-set theoretical model Deviation value between And obtain the deviation value dataset. .

[0195] The cloud map module is signal-connected to the deviation calculation module, and the cloud map module is configured to calculate based on the deviation value dataset. A visual deviation cloud map is generated through color level mapping.

[0196] The determination module is signal-connected to the deviation calculation module and the cloud map module. The determination module is configured to base its decision on the deviation value dataset. And / or use a visual deviation cloud map to determine whether the test is acceptable.

[0197] The display module is signal-connected to the deviation calculation module, the cloud map module, and the judgment module, and the display module is configured to output a dataset of deviation values. Visualized deviation cloud map and pass / fail judgment results.

[0198] The three-dimensional scanning based superconducting cavity welding allowance accurate determination method provided by the embodiment determines the welding allowance of a superconducting cavity by first obtaining actual surface point cloud data of a target welding area of the superconducting cavity to be welded based on three-dimensional scanning, then registering the actual surface point cloud data with a preset theoretical model imported, calculating the deviation value between each measurement point in the actual surface point cloud data and the corresponding point in the preset theoretical model, obtaining a deviation value data set, and generating an intuitive visual deviation cloud chart, and finally automatically judging the welding allowance condition according to a preset qualified criterion and outputting a corresponding data report and visual result. The method realizes automatic and digital detection of the whole process, changes the traditional contact measurement relying on manual experience into non-contact precise evaluation based on data driving, significantly improves the detection efficiency and consistency of the result, effectively avoids subjective errors caused by different experiences of different operators, manual operation, reading and judgment differences, and is especially suitable for superconducting cavity welding processes with strict size consistency requirements, provides accurate allowance information guarantee for subsequent welding processes, and ensures the size precision and quality reliability of the final product from the source.

[0199] The embodiment sets the first color, the second color and the third color to respectively represent the three states of insufficient welding allowance, standard compliance and excess, and uses a continuous color gradient to intuitively reflect the gradual change process of the deviation amount, so that the allowance distribution condition of the whole target welding area becomes clear and easy to understand. At the same time, based on the determination result, corresponding operations such as "repair welding and rework" or "subtractive rework" are performed, the visual analysis conclusion is directly converted into executable process guidance, and the operator can not only clearly understand "where is the problem", but also clearly understand "how to operate next", thereby greatly enhancing the readability of the detection result and the guidance of the actual operation.

[0200] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.​​​

Claims

1. A method for accurately determining the welding allowance of a superconducting cavity based on three-dimensional scanning, characterized in that: Comprising the following steps: Actual surface point cloud data of a target welding area of the superconducting cavity to be welded is acquired based on three-dimensional scanning; the actual surface point cloud data includes a plurality of measurement points ; Registering the actual surface point cloud data with the imported preset theoretical model to obtain a registration result; The preset theoretical model includes a plurality of corresponding points The registration result includes a one-to-one mapping relationship between the measured points and the corresponding points ​ Based on the obtained registration result, a deviation value between the measurement point and the matching corresponding point is calculated , and a deviation value dataset is obtained ; According to the bias value dataset generating a visual bias cloud; Output bias value dataset and a visualized bias cloud. Bias value dataset and / or visualize a bias cloud plot for qualification. wherein the bias value dataset is generated generating a visualized bias cloud comprising the steps of: determining a qualified deviation interval ] determining an overall display interval ] wherein , ; Set the RGB value of the first color to ( The RGB value of the second color is ( The RGB value of the third color is ( ); When the RGB value of the measuring point is: ; When the normalization parameter is calculated , the RGB value of the measurement point is: When the RGB value of the measuring point is: ； When the normalization parameter is calculated , the RGB value of the measurement point is: When the RGB value of the measuring point is: ; Calculate all measurement points in the actual surface point cloud data The RGB values ​​are obtained, and a visual deviation cloud map is generated; Skin depth based on superconducting cavity material , field enhancement factor , safety threshold for radio frequency field enhancement factor Determining an upper limit of an acceptable deviation ; Rated operating pressure for superconducting cavities Radial pressure-bearing cross-sectional area at welds of superconducting cavities Safety factor Minimum sealing specific pressure of welding material Effective perimeter of welds of superconducting cavities Determining lower limit of acceptable deviation ; based on the upper limit of the eligible deviation and the first proportionality coefficient determining the overall display upper limit ; based on a qualified deviation lower limit and a second proportional coefficient determining an overall display lower limit ; wherein the skin depth of the superconducting cavity material is based on , a field enhancement factor , a safety threshold for the radio frequency field enhancement factor determining an upper limit of an eligible deviation , comprising: Calculating skin depth of superconducting cavity material : ； wherein is the skin depth of the superconducting cavity material in units of ; resistivity of the superconducting cavity material in units of ; for the rated operating frequency of the superconducting cavity, in units of ; The magnetic permeability of the superconducting cavity material in the paramagnetic state at room temperature is given in units of ; Computing an upper limit of eligible deviation : ； wherein: is a field enhancement factor, wherein the cylindrical cavity takes 0.6~1.0, and the ellipsoidal cavity takes 0.8~1.2; a safety threshold for the radio field enhancement factor, take 1.1-1.3; Based on superconducting cavity rated operating pressure Radial pressure-bearing cross-sectional area at superconducting cavity weld Safety factor Minimum sealing specific pressure of weld material Effective perimeter of superconducting cavity weld Determining a lower limit of an acceptable deviation , the lower limit of the acceptable deviation is: ； wherein Pmax is the rated operating pressure of the superconducting cavity, in units of ; A is the radial pressure-bearing cross-sectional area of the weld of the superconducting cavity, in mm2 ; for a safety factor, take 1.0 to 1.4; For the minimum sealing specific pressure of the welding material, the unit is ; effective perimeter of the superconducting cavity weld, in units of ; wherein the bias value dataset is based on and / or the qualification decision is made based on visualizing the bias cloud, comprising the steps of: respectively set , , , tolerance ratio threshold , , , ; , , , , , , , , , , , ;​​​​​ When , , , , then it is determined to be qualified, wherein N= + + + + ;​​​​ Otherwise, it is determined to be unqualified.

2. The method of claim 1, wherein: computing a deviation value between the measurement point and the matching corresponding point and obtaining a deviation value dataset and obtaining a deviation value dataset comprising the steps of: extracting the actual coordinates of the measuring points ; According to a one-to-one mapping relationship between the measuring points and the corresponding points , the matched corresponding points are determined, and the coordinates of the corresponding points are extracted; the deviation values between the measuring points and the matched corresponding points are calculated; the deviation values are: ,​ wherein, is a unit normal vector at the corresponding point in the pre-set theoretical model, the sign function is used to define the deviation direction, represents the Euclidean distance of the vector . traversing all measurement points and matching corresponding points resulting in a deviation value dataset .

3. The method of claim 1, wherein: Further comprising performing corresponding operations: When it is determined to be qualified, then performing "direct release"; When it is determined to be unqualified: If then perform "retire"; If , , then perform "special evaluation"; If , , , then perform "repair rework"; If , , , then perform "subtractive rework"; If , , , then "special evaluation" is performed.

4. The method of claim 1, wherein: Also included is calculating and outputting a mean deviation value for all measured points in the actual surface point cloud data , the mean deviation value is: ； =0， =0。 5. The method of claim 1, wherein: Using a high-precision three-dimensional scanner to collect actual surface point cloud data of the superconducting cavity to be welded; The preset theoretical model is a theoretical design model; Using an iterative closest point algorithm to register the actual surface point cloud data with the preset theoretical model; The number of iterations of the iterative closest point algorithm is set to 2-4 times.

6. The method of claim 1, wherein: Further comprising obtaining an actual surface picture of the target welding area of the superconducting cavity to be welded.

7. A system for accurate determination of welding allowance of a superconducting cavity based on three-dimensional scanning, characterized in that: For executing the superconducting cavity welding allowance precision determination method based on three-dimensional scanning according to any one of claims 1-6, comprising: A data acquisition module configured to acquire actual surface point cloud data of a target welding area of a superconducting cavity to be welded based on three-dimensional scanning; An import module configured to import a preset theoretical model; A registration module in signal connection with the data acquisition module and the import module, configured to register the actual surface point cloud data with the preset theoretical model; The deviation calculation module is in signal connection with the registration module and is configured to calculate a deviation value between each measurement point in the actual surface point cloud data and a corresponding point matched in the preset theoretical model The deviation value between each measurement point in the actual surface point cloud data and a corresponding point matched in the preset theoretical model The deviation value between each measurement point in the actual surface point cloud data and a corresponding point matched in the preset theoretical model , and obtains a deviation value dataset ; a cloud module, in signal connection with the bias calculation module, configured to generate a visual bias cloud based on the bias value dataset generate a visual bias cloud; The determination module is connected with the deviation calculation module and the cloud map module, and is configured to determine eligibility according to the deviation value data set and / or the visualized deviation cloud map. and / or the visualized deviation cloud map. The display module, connected to the deviation calculation module, the contour map module, and the judgment module, is configured to output a dataset of deviation values. Visualized deviation cloud map and pass / fail judgment results.

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