Slag cleaning method, device, equipment, medium and product

Abstract

The application discloses a welding slag cleaning method, device, equipment, medium and product, relates to the technical field of batteries, and discloses a welding slag cleaning method. The size parameter of the welding slag to be cleaned is acquired, the parameters of laser melting are determined based on the size parameter of the welding slag to be cleaned, laser melting treatment is performed on the welding slag to be cleaned located at a target position based on the parameters of laser melting, direct contact with the high-voltage part of the battery is avoided, and safety hazards are avoided. Moreover, the parameters of laser melting are accurately determined based on the size parameter of the welding slag to be cleaned, the melting depth can be effectively controlled, and battery pack liquid leakage is avoided.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to methods, apparatus, equipment, media, and products for cleaning welding slag. Background Technology

[0002] In the lithium battery manufacturing industry, cells are electrically connected to each other via electrode plates. This process requires welding the electrode plates to the terminals of the cells together. Due to uncontrollable factors in the welding process, weld slag of varying shapes and sizes may appear on the surface of the weld seam on some products. If the weld slag is too high, it may puncture the insulating film or top cover of the battery pack. Therefore, it is necessary to trim the weld slag on the weld seam.

[0003] Currently, welding slag can be trimmed manually, but this is inefficient and can easily lead to over-trimming, causing battery pack leakage. The milling cutter of the welding slag milling device directly contacts the high-voltage part of the battery pack, posing a safety hazard and also easily leading to over-trimming, causing battery pack leakage. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, equipment, medium, and product for cleaning welding slag, which aims to solve safety issues during the cleaning of welding slag and prevent battery pack leakage.

[0005] To achieve the above objectives, this application proposes a method for cleaning welding slag, the method comprising: obtaining the target location of the welding slag to be cleaned on the object to be cleaned, and the size parameters of the welding slag to be cleaned; determining the parameters of laser melting based on the size parameters of the welding slag to be cleaned; and performing laser melting treatment on the welding slag to be cleaned located at the target location based on the parameters of laser melting.

[0006] In one embodiment, the size parameters of the slag to be cleaned include: the volume of the slag to be cleaned; determining the parameters of laser melting based on the size parameters of the slag to be cleaned includes: determining the output power of laser melting based on the volume of the slag to be cleaned, wherein the larger the volume of the slag to be cleaned, the greater the output power of laser melting.

[0007] In this embodiment, after determining the volume of the welding slag to be cleaned, the corresponding laser melting output power can be determined by querying a pre-set first correlation between the volume of the welding slag to be cleaned and the output power of laser melting. Thus, the output power of laser melting can be adaptively adjusted according to the volume of the welding slag to be cleaned, overcoming the contradiction of "small slag is easily damaged, large slag is difficult to remove" in fixed-power laser treatment, and improving the safety and success rate of welding slag cleaning.

[0008] In one embodiment, the dimensional parameters of the slag to be cleaned further include: the height of the slag to be cleaned and the projected area of ​​the slag to be cleaned on the surface of the object to be cleaned; after determining the output power of the laser melting based on the volume of the slag to be cleaned, the method further includes: determining the ratio of the inner ring power and the outer ring power of the laser melting based on the height of the slag to be cleaned and the projected area of ​​the slag to be cleaned on the surface of the object to be cleaned, wherein the sum of the inner ring power and the outer ring power is the output power.

[0009] In this embodiment, by introducing the height of the welding slag to be cleaned and the projected area of ​​the welding slag on the surface of the object to be cleaned, and adjusting the ratio of the inner and outer ring power of the annular laser spot accordingly, adaptive control of the spatial distribution of laser energy is achieved. For the typical welding slag shape of "smaller at the top and larger at the bottom", by adjusting the ratio of the inner and outer ring power, the energy deposition in the height direction of the welding slag can be optimized, making the energy distribution more compatible with the geometric characteristics of the welding slag, thereby improving the melting efficiency.

[0010] In one embodiment, determining the ratio of the inner ring power and the outer ring power of the laser melting based on the height of the weld slag to be cleaned and the projected area of ​​the weld slag to be cleaned on the surface of the object to be cleaned includes: determining the ratio of the projected area of ​​the weld slag to be cleaned on the surface of the object to be cleaned to the height of the weld slag to be cleaned; determining the ratio of the inner ring power of the laser melting according to the ratio, wherein the larger the ratio, the smaller the ratio of the inner ring power; and determining the ratio of the outer ring power of the laser melting according to the ratio of the inner ring power of the laser melting.

[0011] In this embodiment, after determining the ratio M of the welding slag to be cleaned, the proportion of the inner ring power can be adaptively adjusted by querying the second correlation between the pre-set area-to-height ratio and the proportion of the inner ring power. This allows for adjusting the proportion of the inner and outer ring power of the laser for welding slag with different geometric shapes. For example, for sharp welding slag, the proportion of the inner ring power is increased to concentrate energy towards the center; for smooth welding slag, the proportion of the inner and outer ring power is balanced to distribute energy evenly. Thus, efficient and uniform melting effects can be achieved for welding slag with different geometric shapes.

[0012] In one embodiment, determining the proportion of the inner ring power of the laser melting based on the ratio includes: when the ratio is less than or equal to a first preset threshold, determining a first preset proportion as the proportion of the inner ring power of the laser melting; when the ratio is greater than or equal to a second preset threshold, determining a second preset proportion as the proportion of the inner ring power of the laser melting, wherein the first preset threshold is less than the second preset threshold, and the first preset proportion is greater than the second preset proportion; when the ratio is greater than the first preset threshold and less than the second preset threshold, determining the proportion of the inner ring power of the laser melting based on the ratio and a third preset proportion, wherein the third preset proportion is less than the second preset proportion.

[0013] This embodiment provides a scheme for adaptively adjusting the ratio of inner and outer ring power based on the ratio M of the weld slag to be cleaned. For weld slag to be cleaned with a ratio M less than or equal to a first preset threshold, the first preset ratio is determined as the ratio X of the inner ring power of laser melting, to prevent the ratio of inner ring power from being unreasonable or exceeding the normal operating range of the equipment. For weld slag to be cleaned with a ratio M greater than or equal to a second preset threshold, the second preset ratio is determined as the ratio X of the inner ring power of laser melting, to prevent the ratio of inner ring power from being too low, resulting in insufficient central energy or overload of the outer ring. For weld slag to be cleaned with a ratio M between the first and second preset thresholds, the precise adjustment of the ratio of inner and outer ring power is achieved through a preset second linear formula (determined based on the ratio and the third preset ratio), thereby achieving efficient and uniform melting effect for weld slag with different geometric shapes.

[0014] In one embodiment, determining the output power of laser melting based on the volume of the slag to be cleaned includes: determining a first preset output power as the output power of the slag to be cleaned when the volume of the slag to be cleaned is less than or equal to a first preset volume; determining a second preset output power as the output power of the slag to be cleaned when the volume of the slag to be cleaned is greater than or equal to a second preset volume, wherein the first preset volume is less than the second preset volume and the first preset output power is less than the second preset output power; and determining the output power of the slag to be cleaned according to the volume of the slag to be cleaned, a first coefficient, and a third preset output power when the volume of the slag to be cleaned is greater than the first preset volume and less than the second preset volume, wherein the first coefficient is greater than 0 and less than 1, and the third preset output power is less than the first preset output power.

[0015] This embodiment provides a scheme for adaptively adjusting the output power of the slag to be cleaned based on its volume. For slag to be cleaned with a volume less than or equal to a first preset volume, it is determined to be small-volume slag, and the output power P of the slag to be cleaned is directly set to the first preset output power P1 to provide basic melting energy and ensure that even small-volume slag can be effectively processed (preventing excessively low output power). For slag to be cleaned with a volume greater than or equal to a second preset volume, it is determined to be large-volume slag. The output power P of the slag to be cleaned is directly set to the second preset output power P2 to limit the maximum energy input to large-volume slag, preventing the use of excessively high output power beyond the safe range even if the volume is too large, thereby avoiding the risk of cell burn-out. For slag to be cleaned with a volume between the first and second preset volumes, the output power is finely adjusted through a preset first linear formula (determined based on the first coefficient K and the third preset output power P3), so that the output power of the slag to be cleaned is precisely matched with its volume.

[0016] In one embodiment, obtaining the target location of the welding slag to be cleaned on the object to be cleaned and the size parameters of the welding slag to be cleaned includes: obtaining the location of the welding slag on the object to be cleaned and the height of the welding slag; if the height of the welding slag is greater than a preset height, determining the location of the welding slag as the target location of the welding slag to be cleaned, and obtaining the size parameters of the welding slag to be cleaned.

[0017] This embodiment introduces a slag screening mechanism based on a preset height. Instead of treating all welds indiscriminately, it selectively treats slag above the preset height, avoiding unnecessary processing of harmless slag and saving equipment and time costs.

[0018] In one embodiment, after performing laser melting treatment on the slag to be cleaned at the target location based on the laser melting parameters, the method further includes: obtaining the location of the remaining slag on the object to be cleaned and the height of the remaining slag; if the height of the remaining slag is greater than the preset height, determining the location of the remaining slag as the target location of the slag to be cleaned, and obtaining the size parameters of the slag to be cleaned; determining the laser melting parameters based on the size parameters of the slag to be cleaned; and performing laser melting treatment on the slag to be cleaned at the target location based on the laser melting parameters.

[0019] In this embodiment, a single treatment may not completely eliminate the welding slag to be cleaned due to various reasons (such as parameter calculation deviations or material inhomogeneity). The re-inspection and iteration mechanism provides "second chances" or even "multiple chances". By dynamically tracking the changes in the morphology of the remaining welding slag and readjusting the parameters of laser melting, the welding slag on the battery cell can be more accurately processed to the qualified range, significantly reducing the risk of outflow caused by missed detection or incomplete processing.

[0020] Furthermore, to achieve the above objectives, this application also proposes a welding slag cleaning device, which includes an acquisition module, a processing module, and a laser melting module; the acquisition module is used to acquire the target location of the welding slag to be cleaned on the object to be cleaned, and the size parameters of the welding slag to be cleaned; the processing module is used to determine the laser melting parameters based on the size parameters of the welding slag to be cleaned; the laser melting module is used to perform laser melting treatment on the welding slag to be cleaned located at the target location based on the laser melting parameters.

[0021] In addition, to achieve the above objectives, this application also proposes a welding slag cleaning device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the welding slag cleaning method as described above.

[0022] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the welding slag cleaning method described above.

[0023] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the welding slag cleaning method described above.

[0024] One or more technical solutions proposed in this application have at least the following technical effects:

[0025] By obtaining the dimensional parameters of the welding slag to be cleaned, the laser melting parameters are determined based on these parameters. Then, the welding slag located at the target position is laser melted based on these parameters, thus avoiding direct contact with the high-voltage part of the battery pack and preventing safety hazards. Furthermore, the laser melting parameters are accurately determined based on the dimensional parameters of the welding slag to be cleaned, which can effectively control the melting depth and prevent battery pack leakage. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic flowchart of the welding slag cleaning method of this application, provided in Embodiment 1.

[0029] Figure 2 This is a schematic flowchart of Embodiment 2 of the welding slag cleaning method of this application;

[0030] Figure 3 This is a flowchart illustrating Embodiment 3 of the welding slag cleaning method of this application;

[0031] Figure 4 This is a flowchart illustrating Embodiment 4 of the welding slag cleaning method of this application;

[0032] Figure 5 This is a flowchart illustrating Embodiment 5 of the welding slag cleaning method of this application;

[0033] Figure 6 This is a flowchart illustrating Embodiment Six of the welding slag cleaning method of this application;

[0034] Figure 7 This is a flowchart illustrating Embodiment Seven of the welding slag cleaning method of this application;

[0035] Figure 8 This is a flowchart illustrating Embodiment 8 of the welding slag cleaning method of this application;

[0036] Figure 9 This is a schematic diagram of the module structure of the welding slag cleaning device according to an embodiment of this application;

[0037] Figure 10 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the welding slag cleaning method in the embodiments of this application.

[0038] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0041] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0042] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] In the description of the embodiments in this application, the term "and / or" is merely a description of a first association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0044] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0045] In the lithium battery manufacturing industry, cells are electrically connected to each other via electrode plates. This process requires welding the electrode plates to the terminals of the cells together. Due to uncontrollable factors in the welding process, weld slag of varying shapes and sizes may appear on the surface of the weld seam on some products. If the weld slag is too high, it may puncture the insulating film or top cover of the battery pack. Therefore, it is necessary to trim the weld slag on the weld seam.

[0046] Currently, welding slag can be trimmed manually, but this is inefficient and can easily lead to over-trimming, causing battery pack leakage. The milling cutter of the welding slag milling device directly contacts the high-voltage part of the battery pack, posing a safety hazard and also easily leading to over-trimming, causing battery pack leakage.

[0047] To address this issue, this application proposes a method for cleaning welding slag. By obtaining the dimensional parameters of the welding slag to be cleaned, laser melting parameters are determined based on these parameters. The welding slag at the target location is then laser-melted based on these parameters, avoiding direct contact with the high-voltage portion of the battery pack and preventing safety hazards. Furthermore, accurately determining the laser melting parameters based on the dimensional parameters of the welding slag effectively controls the melting depth, preventing battery pack leakage. This application aims to solve the safety problems during welding slag cleaning and prevent battery pack leakage.

[0048] It should be noted that the executing entity in this embodiment can be a welding slag cleaning device, including a laser melting module and a computing service module with data processing, network communication, and program execution functions. The computing service module and the laser melting module can be integrated into one module or they can be two separate modules. The following uses a welding slag cleaning device as an example to describe this embodiment and the following embodiments.

[0049] Based on the above, this application provides a method for cleaning welding slag, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the welding slag cleaning method of this application.

[0050] In this embodiment, the slag cleaning method includes steps S10 to S30:

[0051] Step S10: Obtain the target location of the welding slag to be cleaned on the object to be cleaned, as well as the size parameters of the welding slag to be cleaned.

[0052] The object to be cleaned refers to an object that has been welded and may have weld slag on its surface, such as the foil on a battery cell. The weld slag to be cleaned refers to the molten metal residue of various shapes and sizes generated during the welding process and adhering to the weld surface. The target location refers to the coordinate position of the weld slag to be cleaned on the object (such as the foil). This coordinate position can be a two-dimensional coordinate in a two-dimensional coordinate system established with respect to the surface of the object (such as the foil); it can also be a three-dimensional spatial coordinate. Dimensional parameters are quantitative data used to describe the geometric characteristics of the weld slag to be cleaned, such as volume, height, and projected area.

[0053] In this embodiment, a depth camera can be used to scan and image the surface of the weld on the battery cell to obtain three-dimensional point cloud data of the weld surface. Using this three-dimensional point cloud data, all raised weld slag protruding from the weld seam surface can be identified, and the three-dimensional contour of each weld slag can be accurately calculated. This determines the target location of each weld slag on the object to be cleaned, as well as the dimensional parameters (such as volume, height, projected area, etc.) of each weld slag. A 3D structured light camera can be used as the depth camera.

[0054] Step S20: Determine the parameters for laser melting based on the size parameters of the weld slag to be cleaned.

[0055] After obtaining the dimensional parameters (such as volume, height, projected area, etc.) of the slag to be cleaned, the laser melting parameters that are compatible with the dimensional parameters can be calculated based on the preset algorithm model.

[0056] Step S30: Based on the parameters of laser melting, perform laser melting treatment on the slag to be cleaned located at the target position.

[0057] After determining the laser melting parameters, the laser head of the laser melting module can be driven to aim at the target location of the weld slag to be removed, and laser light is emitted according to the determined laser melting parameters to rapidly melt the weld slag. After cooling, the molten metal fuses with the original weld, achieving the removal of weld slag and surface smoothing.

[0058] It is possible for the laser beam to move along the central trajectory of the projection of the weld slag to be cleaned, ensuring coverage of the entire area where the weld slag to be cleaned is located.

[0059] It is feasible to place the anti-spatter cover above the welding position and activate the negative pressure dust extraction before the laser beam is emitted, thereby sucking away the spatter particles generated during the welding process.

[0060] By obtaining the dimensional parameters of the welding slag to be cleaned, the laser melting parameters are determined based on these parameters. Then, the welding slag located at the target position is laser melted based on these parameters, thus avoiding direct contact with the high-voltage part of the battery pack and preventing safety hazards. Furthermore, the laser melting parameters are accurately determined based on the dimensional parameters of the welding slag to be cleaned, which can effectively control the melting depth and prevent battery pack leakage.

[0061] In one feasible implementation, the dimensional parameters of the welding slag to be cleaned in step S10 above include the volume of the welding slag to be cleaned. In this embodiment, the volume of the welding slag to be cleaned refers to the size of the space occupied by this three-dimensional entity, typically in cubic millimeters (mm³). After reconstructing the irregularly shaped welding slag to be cleaned in three dimensions using a 3D structured light camera, the volume V of the welding slag to be cleaned is obtained by integration.

[0062] Please refer to Figure 2 The above step S20 includes step S201.

[0063] Step S201: Determine the output power of laser melting based on the volume of the slag to be cleaned, wherein the larger the volume of the slag to be cleaned, the greater the output power of laser melting.

[0064] The output power of laser melting refers to the total energy output by the laser per unit time, measured in watts (W).

[0065] A first correlation between the volume of the welding slag to be cleaned and the output power of laser melting can be pre-established and stored. In this first correlation, the smaller the volume of the welding slag to be cleaned, the lower the output power of laser melting, which can complete the cleaning while preventing excessive energy output that could damage the cell structure; in the first correlation, the larger the volume of the welding slag to be cleaned, the higher the output power of laser melting, ensuring sufficient energy to completely melt the welding slag and avoiding incomplete cleaning due to insufficient power, which would require multiple rework.

[0066] After determining the volume of the welding slag to be cleaned, the corresponding laser melting output power can be determined by querying the pre-set first correlation between the volume of the welding slag to be cleaned and the output power of laser melting. In this way, the output power of laser melting can be adaptively adjusted according to the volume of the welding slag to be cleaned, overcoming the contradiction of "small slag is easily damaged and large slag is difficult to remove" in fixed-power laser treatment, and improving the safety and success rate of welding slag cleaning.

[0067] In one feasible implementation, two boundary values ​​are pre-set for the volume of welding slag to be cleaned: a first preset volume V1 and a second preset volume V2, where the first preset volume V1 is the lower limit and the second preset volume V2 is the upper limit.

[0068] For slag to be cleaned that is less than or equal to the lower limit, i.e. less than or equal to the first preset volume V1, a fixed power is used, for example, the first preset output power P1, to ensure that even small slag can be effectively processed (to prevent the output power from being too low).

[0069] For slag to be cleaned that is greater than or equal to the upper limit, i.e., greater than or equal to the second preset volume V2, a fixed power is also used, for example, the second preset output power P2, to limit the maximum energy input to large volumes of slag to be cleaned, so as to prevent the use of excessively high output power beyond the safe range even if the volume is too large, thereby avoiding the risk of cell burn-out.

[0070] Wherein, the second preset volume > the first preset volume, i.e., V2 > V1. The second preset output power > the first preset output power, i.e., P2 > P1. The first preset volume V1 can be 4mm². 3 The first preset output power P1 can be 2000W; the second preset volume V2 can be 10mm. 3 The second preset output power P2 can be 5000W. The first preset volume V1, the second preset volume V2, the first preset output power P1, and the second preset output power P2 can be set according to actual needs, which will not be elaborated here.

[0071] For the welding slag to be cleaned, whose volume is between the upper limit value and the lower limit value, that is, between the first preset volume V1 and the second preset volume V2, the fine adjustment of the power can be achieved through the preset first linear formula. The preset first linear formula is determined based on the first coefficient K and the third preset output power P3. For example, the preset first linear formula can be P = P3 K V.

[0072] Among them, the first coefficient K is greater than 0 and less than 1. For example, it can be 0.5, 0.6, etc.; the third preset output power is less than the first preset output power, that is, P3 < P1. For example, P3 can be 1000W, or 1100W, etc. When the first coefficient K is 0.5 and the third preset output power P3 is 1000W, the specific preset first linear formula is P = 1000 (V / 2).

[0073] Below, taking the first preset volume V1 as 4mm 3 , the first preset output power P1 as 2000W; the second preset volume V2 as 10mm 3 , the second preset output power P2 as 5000W. The first coefficient K is 0.5, and the third preset output power P3 is 1000W as an example, the above step S201 will be specifically described.

[0074] Please refer to Figure 3 , the above step S201 includes the following steps S2011 to step S2015:

[0075] Step S2011, determine whether the volume of the welding slag to be cleaned is less than or equal to the first preset volume. If so, execute step S2012; if not, execute step S2013.

[0076] Step S2012, determine the first preset output power as the output power of the welding slag to be cleaned.

[0077] Determine whether the volume V of the welding slag to be cleaned is less than or equal to the first preset volume V1. When V ≤ V1 (4mm 3 ), determine that the welding slag to be cleaned is small-volume welding slag. Directly set the output power P of the welding slag to be cleaned = the first preset output power P1 = 2000W, providing basic melting energy to ensure that even small-volume welding slag can be effectively processed (preventing too low output power).

[0078] Step S2013, determine whether the volume of the welding slag to be cleaned is greater than or equal to the second preset volume. If so, execute step S2014; if not, execute step S2015.

[0079] Step S2014, determine the output power for cleaning the slag to be the second preset output power.

[0080] Among them, the first preset volume is less than the second preset volume, and the first preset output power is less than the second preset output power.

[0081] When V > V1 (4 mm 3 ), further determine whether the volume V of the slag to be cleaned is greater than or equal to the second preset volume V2. When V ≥ V2 (10 mm3), determine the slag to be cleaned as large-volume slag. Directly set the output power P of the slag to be cleaned = the second preset output power P2 = 5000 W, limit the maximum energy input to the large-volume slag to be cleaned, and prevent the use of an ultra-high output power beyond the safe range even if the volume is too large, thus avoiding the risk of the battery cell burning through.

[0082] Step S2015, determine the output power of the slag to be cleaned according to the volume of the slag to be cleaned, the first coefficient, and the third preset output power.

[0083] Among them, the first coefficient is greater than 0 and less than 1, and the third preset output power is less than the first preset output power.

[0084] When V1 (4 mm 3 ) < V < V2 (10 mm3), determine the output power of the slag to be cleaned based on the volume V of the slag to be cleaned, the first coefficient K (0.5), and the third preset output power P3 (1000 W). The specific formula is: P = 1000 (V / 2). Achieve fine adjustment of the output power through the preset first linear formula, and make the output power of the slag to be cleaned match the volume of the slag to be cleaned precisely.

[0085] This embodiment provides a scheme for adaptively adjusting the output power of the slag to be cleaned based on its volume. For slag to be cleaned with a volume less than or equal to a first preset volume, it is determined to be small-volume slag, and the output power P of the slag to be cleaned is directly set to the first preset output power P1 to provide basic melting energy and ensure that even small-volume slag can be effectively processed (preventing excessively low output power). For slag to be cleaned with a volume greater than or equal to a second preset volume, it is determined to be large-volume slag. The output power P of the slag to be cleaned is directly set to the second preset output power P2 to limit the maximum energy input to large-volume slag, preventing the use of excessively high output power beyond the safe range even if the volume is too large, thereby avoiding the risk of cell burn-out. For slag to be cleaned with a volume between the first and second preset volumes, the output power is finely adjusted through a preset first linear formula (determined based on the first coefficient K and the third preset output power P3), so that the output power of the slag to be cleaned is precisely matched with its volume.

[0086] It is worth noting that the above steps S2011 to S2015 are only illustrative examples. In practical applications, step S2013 can be executed first, and then step S2011 can be executed further. This embodiment will not repeat the details.

[0087] In one feasible implementation, the dimensional parameters of the welding slag to be cleaned in step S10 above further include: the height of the welding slag to be cleaned and the projected area of ​​the welding slag to be cleaned on the surface of the object to be cleaned. The height (H) of the welding slag to be cleaned refers to the maximum vertical distance from the upper surface of the welding plate (i.e., the surface where the weld is located) to the highest point of the welding slag to be cleaned, usually in millimeters (mm); the projected area (S) of the welding slag refers to the area covered by the projection of the welding slag to be cleaned onto the upper surface of the welding plate (i.e., the surface where the weld is located), usually in square millimeters (mm²), reflecting the "area occupied" of the welding slag to be cleaned on the upper surface of the welding plate.

[0088] Reference Figure 4 After step S201, the method further includes: step SA1: based on the height of the slag to be cleaned and the projected area of ​​the slag to be cleaned on the surface of the object to be cleaned, determine the ratio of the inner ring power and the outer ring power of the laser melting.

[0089] In this embodiment, the laser output is a ring-shaped spot, the pattern of which consists of an inner circular ring and an outer concentric ring. The total output power of the laser can be distributed to the inner and outer rings in a certain proportion, and the sum of the inner ring power and the outer ring power is the total output power. The inner ring power percentage (X) refers to the percentage of the inner ring energy in the total output power, and the outer ring power percentage (Y) refers to the percentage of the outer ring energy in the total output power.

[0090] By introducing the height of the welding slag to be cleaned and the projected area of ​​the welding slag on the surface of the object to be cleaned, and adjusting the ratio of the inner and outer ring power of the annular laser spot accordingly, adaptive control of the spatial distribution of laser energy is achieved. For the typical welding slag shape of "smaller at the top and larger at the bottom", adjusting the ratio of the inner and outer ring power can optimize the energy deposition in the height direction of the welding slag, making the energy distribution more compatible with the geometric characteristics of the welding slag, thereby improving the melting efficiency.

[0091] In one feasible implementation, please refer to Figure 5 The above step SA1 includes steps SA11 to SA13.

[0092] Step SA11: Determine the ratio of the projected area of ​​the slag to be cleaned on the surface of the object to be cleaned to the height of the slag to be cleaned.

[0093] After reconstructing the weld slag to be cleaned in three dimensions using a 3D structured light camera, the height H of the weld slag and the projected area S of its upper surface (i.e., the surface where the weld is located) can be obtained. A ratio M reflecting the "shape characteristics" of the weld slag to be cleaned is calculated based on the height H and the projected area S. For example, the ratio M can be the area-to-height ratio (S / H), or the reciprocal of the area-to-height ratio (H / S). The area-to-height ratio (S / H) characterizes the sharpness of the weld slag to be cleaned; a smaller S / H indicates that the weld slag to be cleaned is relatively tall, thin, and sharp; a larger S / H indicates that the weld slag to be cleaned is relatively short, thick, and flat.

[0094] Step SA12: Determine the proportion of the inner ring power in laser melting based on the ratio. The larger the ratio, the smaller the proportion of the inner ring power.

[0095] Step SA13: Determine the proportion of the outer ring power of the laser melting based on the proportion of the inner ring power.

[0096] A second correlation between the ratio M and the proportion of inner ring power can be pre-defined and stored. Taking the ratio M as the area-to-height ratio (S / H) as an example, in this second correlation, the smaller the area-to-height ratio (S / H), the taller and sharper the weld slag to be cleaned, requiring a higher proportion of inner ring power to concentrate energy for "sharpening." Therefore, the larger the proportion of inner ring power, the smaller the proportion of outer ring power. Conversely, the larger the area-to-height ratio (S / H), the shorter, wider, and flatter the weld slag to be cleaned, requiring more energy to be applied to a larger bottom area through the outer ring. Therefore, the smaller the proportion of inner ring power, the larger the proportion of outer ring power.

[0097] After determining the ratio M of the welding slag to be cleaned, the corresponding proportion of the inner ring power can be determined by querying the pre-built second correlation between the ratio M and the proportion of the inner ring power. Thus, since the sum of the proportion of the inner ring power (X) and the proportion of the outer ring power (Y) is 1, the proportion of the outer ring power (Y) can be further determined after determining the corresponding proportion of the inner ring power (X). For example, if the proportion of the inner ring power (X) is 2 / 3, then the proportion of the outer ring power (Y) is 1 - 2 / 3 = 1 / 3; similarly, if the proportion of the inner ring power is 1 / 2, then the proportion of the outer ring power is 1 - 1 / 2 = 1 / 2.

[0098] After determining the ratio M of the slag to be cleaned, the ratio of the inner ring power can be adaptively adjusted by querying the second correlation between the pre-set area-to-height ratio and the proportion of the inner ring power. This allows for adjusting the ratio of the inner and outer ring power of the laser for slag with different geometric shapes. For example, for sharp slag, the proportion of the inner ring power is increased to concentrate energy towards the center; for smooth slag, the ratio of the inner and outer ring power is balanced to distribute energy evenly. Thus, efficient and uniform melting effects can be achieved for slag with different geometric shapes.

[0099] In one feasible implementation, the ratio M of the pre-set height H and projected area S (such as the area-to-height ratio S / H) is set with two boundary values: a first preset threshold a and a second preset threshold b. The first preset threshold a is the lower limit value, and the second preset threshold b is the upper limit value.

[0100] For welding slag to be cleaned with a ratio M less than or equal to the lower limit, i.e., a ratio M less than or equal to the first preset threshold a, a fixed proportion is adopted. For example, the first preset proportion c is used as the proportion of the inner ring power to prevent the proportion of the inner ring power from being unreasonable or exceeding the normal operating range of the equipment.

[0101] For weld slag to be cleaned with a ratio M greater than or equal to the upper limit, i.e., a ratio M greater than or equal to the second preset threshold b, a fixed proportion is adopted. For example, the second preset proportion d is used as the proportion of the inner ring power to prevent the proportion of the inner ring power from being too low, which would lead to insufficient central energy or overload of the outer ring.

[0102] Wherein, the second preset threshold b > the first preset threshold a, and the second preset proportion d < the first preset proportion c. It is achievable that the first preset threshold a can be 0.5, the first preset proportion c can be 0.95, the second preset threshold b can be 5, and the second preset proportion d can be 0.5. The first preset threshold a, the second preset threshold b, the first preset proportion c, and the second preset proportion d can be set according to actual needs, which will not be elaborated here. Wherein, the first preset proportion c and the second preset proportion d are greater than 0 and less than 1.

[0103] For weld slag to be cleaned where the ratio M is between the lower and upper limits (i.e., between the first preset threshold a and the second preset threshold b), a preset second linear formula can be used to precisely adjust the power ratio of the inner and outer rings. This allows for efficient and uniform melting of weld slag with different geometries. The preset second linear formula is determined based on the ratio M and the third preset ratio e. For example, the preset second linear formula could be X = 1 - M e.

[0104] In this equation, the third preset proportion e is less than the second preset proportion d, and the third preset proportion e is greater than 0 and less than 1; for example, it could be 0.1, 0.2, etc. When the third preset proportion e is 0.1, the preset second linear formula can be X = 1 - 0.1. M. When M is the area-to-height ratio S / H, the pre-defined second linear formula can be expressed as X = 1 - 0.1 S / H.

[0105] The following example uses M as the area-to-height ratio S / H, with the first preset threshold a being 0.5, the first preset percentage c being 0.95, the second preset threshold b being 5, the second preset percentage d being 0.5, and the third preset percentage e being 0.1, to illustrate the above steps SA12.

[0106] Please refer to Figure 6 Step SA12 above includes the following steps SA121 to SA125:

[0107] Step SA121: Determine whether the ratio is less than or equal to the first preset threshold. If yes, proceed to step SA122; otherwise, proceed to step SA123.

[0108] Step SA122: The first preset ratio is determined as the ratio of the inner ring power of laser melting.

[0109] Determine whether the ratio M (area-to-height ratio S / H) is less than or equal to the first preset threshold a. If M ≤ a, determine the first preset proportion c as the proportion X of the inner ring power of laser melting to prevent the proportion of the inner ring power from being unreasonable or exceeding the normal operating range of the equipment.

[0110] Step SA123: Determine whether the ratio is greater than or equal to the second preset threshold. If yes, proceed to step SA124; otherwise, proceed to step SA125.

[0111] Step SA124: The second preset ratio is determined as the inner ring power ratio of laser melting.

[0112] Among them, the first preset threshold is less than the second preset threshold, and the first preset proportion is greater than the second preset proportion.

[0113] When M > a, further determine whether the ratio M is greater than or equal to the second preset threshold b. When M ≥ b, determine the second preset ratio d as the ratio X of the inner-ring power of laser melting, to prevent insufficient central energy or overload of the outer ring caused by too low ratio of the inner-ring power.

[0114] Step SA125, determine the ratio of the inner-ring power of laser melting according to the ratio and the third preset ratio.

[0115] Among them, the third preset ratio is less than the second preset ratio.

[0116] When b < M < a, determine the ratio X of the inner-ring power of laser melting based on the ratio and the third preset ratio e. The specific formula is: X = 1 - 0.1 S / H. Through the preset second linear formula, precise adjustment of the ratio of the inner and outer ring powers is achieved, so that for slag of different geometric shapes, an efficient and uniform melting effect can be achieved.

[0117] In this embodiment, a scheme for adaptively adjusting the ratio of the inner and outer ring powers based on the ratio M of the slag to be cleaned is provided. For the slag to be cleaned with a ratio M less than or equal to the first preset threshold, determine the first preset ratio as the ratio X of the inner-ring power of laser melting, to prevent unreasonable ratio of the inner-ring power or exceeding the normal working range of the equipment; for the slag to be cleaned with a ratio M greater than or equal to the second preset threshold, determine the second preset ratio as the ratio X of the inner-ring power of laser melting, to prevent insufficient central energy or overload of the outer ring caused by too low ratio of the inner-ring power; for the slag to be cleaned with a ratio M between the first preset threshold and the second preset threshold, precise adjustment of the ratio of the inner and outer ring powers is achieved through the preset second linear formula (determined according to the ratio and the third preset ratio), so that for slag of different geometric shapes, an efficient and uniform melting effect can be achieved.

[0118] It should be noted that the above steps SA121 to SA125 are only for illustrative purposes. In practical applications, step SA123 can also be executed first, and then step SA121 can be further executed. This is not elaborated in this embodiment.

[0119] In a feasible implementation manner, the above step S30 includes: based on the parameters of laser melting, preset the positive defocus amount and / or the preset spot size, and perform laser melting treatment on the slag to be cleaned at the target position.

[0120] In this embodiment, the forward defocusing amount refers to the situation where the surface being processed (in this case, the top of the weld slag) is above the laser focal plane during laser processing. At this time, the actual spot size acting on the surface is larger than the spot size at the focal point, resulting in a lower energy density. In this embodiment, since weld slag often exhibits a "smaller at the top and larger at the bottom" characteristic, setting the forward defocusing amount ensures that the point of highest energy concentration is located above the weld slag, facilitating melting from the top of the weld slag.

[0121] The laser spot size refers to the diameter of the laser spot formed when the laser beam irradiates the interface being processed (the upper surface of the electrode). In this embodiment, a large laser spot can be used to disperse the laser energy, reduce the laser energy density, and put the processing in a thermally conductive welding mode, that is, only the surface material is melted, without forming deep-melting pinholes, thereby protecting the electrode.

[0122] In this embodiment, when performing laser melting on the slag to be cleaned at the target location, the following key process conditions are fixed or dynamically set: (1) Setting positive defocus: When controlling the laser galvanometer and Z-axis robot positioning, the laser focal plane is intentionally adjusted to a position slightly lower than the top surface of the slag (e.g., defocus amount +2mm), so that the slag is in a positive defocus state. In this way, the area with the highest energy density is located in the upper part of the slag body, which conforms to the typical structure of slag "small at the top and large at the bottom", which is conducive to efficient melting. (2) Setting the spot size: A relatively large laser spot is set through the optical system (e.g., the overall diameter of the annular spot is large). The large spot size significantly reduces the energy density (power density) per unit area, ensuring that only thermal conduction welding occurs when the laser interacts with the material, and the melting depth is very shallow (1-2mm), which just meets the needs of melting the slag on the surface, without penetrating the electrode or damaging the cell electrode below.

[0123] Under the combined effect of forward defocusing and / or a large spot size, the slag to be cleaned at the target location is melted using determined laser melting parameters (including total output power and the ratio of internal to external power conversion).

[0124] In one feasible implementation, please refer to Figure 7 The above step S10 includes the following steps S101 to S102.

[0125] Step S101: Obtain the location of the welding slag on the object to be cleaned, as well as the height of the welding slag.

[0126] In this embodiment, a depth camera is used to scan and image the surface of the weld plate on the battery cell to obtain three-dimensional point cloud data of the weld plate surface. Using this three-dimensional point cloud data, the height and location of all protruding weld slag on the weld surface are identified.

[0127] Step S102: When the height of the welding slag is greater than the preset height, the location of the welding slag is determined as the target location of the welding slag to be cleaned, and the size parameters of the welding slag to be cleaned are obtained.

[0128] A preset height is set to determine whether welding slag needs to be cleaned. For example, the preset height can be 1mm, 2mm, etc. If the height of the welding slag is less than or equal to the preset height, the welding slag is determined to be harmless and the cleaning process can be skipped; if the height of the welding slag is greater than the preset height, the welding slag is defined as "welding slag to be cleaned" in this embodiment, and the location of the welding slag is determined as the target location of the welding slag to be cleaned. After determining the target location of the welding slag to be cleaned, the dimensional parameters of the welding slag to be cleaned are obtained.

[0129] This embodiment introduces a slag screening mechanism based on a preset height. Instead of treating all welds indiscriminately, it selectively treats slag above the preset height, avoiding unnecessary processing of harmless slag and saving equipment and time costs.

[0130] In one feasible implementation, please refer to Figure 8 After step S30, the following steps SB1 to SB5 are also included.

[0131] Step SB1: Count the number of times the welding slag to be cleaned at any target position on the object to be cleaned is melted by laser.

[0132] Step SB2: Determine whether the number of melting cycles corresponding to the weld slag to be cleaned at any target location on the object to be cleaned is less than or equal to the preset number of cycles. If yes, proceed to step SB3; otherwise, proceed to step SB5, and the process ends.

[0133] Step SB3: Obtain the location and height of the remaining welding slag on the object to be cleaned.

[0134] Step SB4: If the height of the remaining welding slag is greater than the preset height, determine the location of the remaining welding slag as the target location of the welding slag to be cleaned, and obtain the size parameters of the welding slag to be cleaned.

[0135] After step SB4, return to execute steps S20 to 30.

[0136] In this embodiment, residual slag refers to the raised slag that still exists on the weld after at least one round of laser melting treatment. It may be the part of the slag that was not completely removed, or it may be a protrusion that still exceeds the height limit after the molten metal resolidifies.

[0137] After completing the first round of adaptive laser melting treatment of the weld slag to be cleaned using steps S10 to S30 in the above embodiments, the number of times the weld slag to be cleaned at any target position on the object to be cleaned (battery pack) is laser melted is counted. If the number of times the weld slag to be cleaned at any target position is laser melted is less than or equal to a preset number (e.g., 5 times), the processed surface of the battery pack is scanned again using a 3D structured light camera to re-obtain the location and height of the remaining weld slag on the object to be cleaned. If the height of the remaining weld slag is greater than a preset height (e.g., 1 mm), the remaining weld slag is not thoroughly cleaned. The location of the remaining weld slag is determined as the target location of the weld slag to be cleaned, and the size parameters of the weld slag to be cleaned are obtained. Then, the laser melting parameters are determined based on the size parameters of the weld slag to be cleaned, and laser melting treatment is continued on the weld slag to be cleaned at the target position based on the updated laser melting parameters.

[0138] If the number of laser melting treatments performed on any target location of the object to be cleaned (battery pack) exceeds the preset number (e.g., 5 times), the process will be forcibly terminated, and the object to be cleaned (battery pack) will be discharged as an NG product. If the height of the weld slag at all target locations of the object to be cleaned (battery pack) is within the preset number (e.g., 5 times), then the weld slag on the object to be cleaned (battery pack) is considered to be completely cleaned.

[0139] In this embodiment, a single treatment may not completely eliminate the welding slag to be cleaned due to various reasons (such as parameter calculation deviations or material inhomogeneity). The re-inspection and iteration mechanism provides "second chances" or even "multiple chances". By dynamically tracking the changes in the morphology of the remaining welding slag and readjusting the parameters of laser melting, the welding slag on the battery cell can be more accurately processed to the qualified range, significantly reducing the risk of outflow caused by missed detection or incomplete processing.

[0140] This application also provides a welding slag cleaning device, please refer to... Figure 9 The device includes an acquisition module 10, a processing module 20, and a laser melting module 30.

[0141] The acquisition module 10 is used to acquire the target location of the welding slag to be cleaned on the object to be cleaned, as well as the size parameters of the welding slag to be cleaned.

[0142] The processing module 20 is used to determine the parameters of laser melting based on the size parameters of the weld slag to be cleaned.

[0143] The laser melting module 30 is used to perform laser melting treatment on the welding slag to be cleaned located at the target position based on the parameters of the laser melting.

[0144] The beneficial effects of the welding slag cleaning device provided in this application are the same as those of the welding slag cleaning method provided in the above embodiments, and other technical features of the welding slag cleaning device are the same as those disclosed in the above embodiments, and will not be repeated here.

[0145] This application provides a welding slag cleaning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the welding slag cleaning method in the above embodiment 1.

[0146] The following is for reference. Figure 10 It shows a structural schematic diagram of a welding slag cleaning device suitable for implementing the embodiments of this application. Figure 10 The welding slag cleaning equipment shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0147] like Figure 10 As shown, the slag cleaning equipment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the slag cleaning equipment. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the slag cleaning equipment to communicate wirelessly or wiredly with other equipment to exchange data. Although the figures show slag cleaning equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0148] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0149] The beneficial effects of the welding slag cleaning equipment provided in this application are the same as those of the welding slag cleaning method provided in the above embodiments, and other technical features of the welding slag cleaning equipment are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0150] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0151] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0152] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to perform the slag cleaning method in the above embodiments.

[0153] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0154] The aforementioned computer-readable storage medium may be included in the slag removal equipment; or it may exist independently and not assembled into the slag removal equipment.

[0155] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the welding slag cleaning device, enable the welding slag cleaning device to implement the welding slag cleaning method in the above embodiments.

[0156] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0158] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0159] The beneficial effects of the computer-readable storage medium provided in this application are the same as those of the welding slag cleaning method provided in the above embodiments, and will not be repeated here.

[0160] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the welding slag cleaning method described above. The beneficial effects of the computer program product provided in this application are the same as those of the welding slag cleaning method provided in the above embodiments, and will not be repeated here.

[0161] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for cleaning welding slag, characterized in that, The method includes: The target location of the welding slag to be cleaned on the object to be cleaned, and the size parameters of the welding slag to be cleaned, including: the volume of the welding slag to be cleaned, the height of the welding slag to be cleaned, and the projected area of ​​the welding slag to be cleaned on the surface of the object to be cleaned; Based on the dimensional parameters of the weld slag to be cleaned, the parameters for laser melting are determined; The process of determining the laser melting parameters based on the size parameters of the weld slag to be cleaned includes: The output power of the laser melting is determined based on the volume of the welding slag to be cleaned, wherein the larger the volume of the welding slag to be cleaned, the greater the output power of the laser melting. Based on the height of the welding slag to be cleaned and the projected area of ​​the welding slag to be cleaned on the surface of the object to be cleaned, the ratio of the inner ring power and the outer ring power of the laser melting is determined, wherein the sum of the inner ring power and the outer ring power is the output power, and the parameters of the laser melting include the output power of the laser melting and the ratio of the inner ring power and the outer ring power of the laser melting; Based on the parameters of the laser melting, the welding slag to be cleaned located at the target position is subjected to laser melting treatment.

2. The method as described in claim 1, characterized in that, The determination of the ratio of the inner ring power and the outer ring power of the laser melting based on the height of the weld slag to be cleaned and the projected area of ​​the weld slag to be cleaned on the surface of the object to be cleaned includes: Determine the ratio of the projected area of ​​the welding slag to be cleaned on the surface of the object to be cleaned to the height of the welding slag to be cleaned; The proportion of the inner ring power in the laser melting is determined based on the ratio, wherein the larger the ratio, the smaller the proportion of the inner ring power; The proportion of the outer ring power of the laser melting is determined based on the proportion of the inner ring power.

3. The method as described in claim 2, characterized in that, Determining the proportion of the inner ring power of the laser melting based on the ratio includes: If the ratio is less than or equal to a first preset threshold, the first preset percentage is determined as the percentage of the inner ring power of the laser melting. When the ratio is greater than or equal to the second preset threshold, the second preset percentage is determined as the inner ring power percentage of the laser melting, wherein the first preset threshold is less than the second preset threshold, and the first preset percentage is greater than the second preset percentage; If the ratio is greater than the first preset threshold and less than the second preset threshold, the inner ring power ratio of the laser melting is determined according to the ratio and the third preset ratio, wherein the third preset ratio is less than the second preset ratio.

4. The method as described in claim 1, characterized in that, Determining the output power of the laser melting based on the volume of the weld slag to be cleaned includes: When the volume of the welding slag to be cleaned is less than or equal to the first preset volume, the first preset output power is determined as the output power of the welding slag to be cleaned. When the volume of the welding slag to be cleaned is greater than or equal to the second preset volume, the second preset output power is determined as the output power of the welding slag to be cleaned, wherein the first preset volume is less than the second preset volume, and the first preset output power is less than the second preset output power; When the volume of the welding slag to be cleaned is greater than the first preset volume and less than the second preset volume, the output power of the welding slag to be cleaned is determined according to the volume of the welding slag to be cleaned, the first coefficient and the third preset output power, wherein the first coefficient is greater than 0 and less than 1, and the third preset output power is less than the first preset output power.

5. The method according to any one of claims 1-4, characterized in that, The laser melting treatment of the weld slag to be cleaned at the target location, based on the parameters of the laser melting, includes: Based on the parameters of the laser melting, a preset positive defocusing amount and / or a preset spot size are used to perform laser melting treatment on the welding slag to be cleaned located at the target position.

6. The method according to any one of claims 1-4, characterized in that, The step of obtaining the target location of the welding slag to be cleaned on the object to be cleaned, and the size parameters of the welding slag to be cleaned, includes: Obtain the location and height of the welding slag on the object to be cleaned; If the height of the welding slag is greater than the preset height, the location of the welding slag is determined as the target location of the welding slag to be cleaned, and the size parameters of the welding slag to be cleaned are obtained.

7. The method according to any one of claims 1-4, characterized in that, After performing laser melting treatment on the weld slag to be cleaned at the target location based on the parameters of the laser melting, the process further includes: The number of times the welding slag to be cleaned at any target location on the object to be cleaned is laser-melted is counted. If the number of melting times corresponding to the slag to be cleaned at any target position on the object to be cleaned is less than or equal to a preset number, the location of the remaining slag on the object to be cleaned and the height of the remaining slag are obtained. If the height of the remaining welding slag is greater than the preset height, the location of the remaining welding slag is determined as the target location of the welding slag to be cleaned, and the size parameters of the welding slag to be cleaned are obtained. Return to the steps of determining the laser melting parameters based on the size parameters of the slag to be cleaned, and performing laser melting treatment on the slag to be cleaned located at the target position based on the laser melting parameters.

8. A welding slag cleaning device, characterized in that, The device includes an acquisition module, a processing module, and a laser melting module; The acquisition module is used to acquire the target location of the welding slag to be cleaned on the object to be cleaned, and the size parameters of the welding slag to be cleaned. The size parameters of the welding slag to be cleaned include: the volume of the welding slag to be cleaned, the height of the welding slag to be cleaned, and the projected area of ​​the welding slag to be cleaned on the surface of the object to be cleaned. The processing module is used to determine the parameters of laser melting based on the size parameters of the welding slag to be cleaned; the determination of the laser melting parameters based on the size parameters of the welding slag to be cleaned includes: determining the output power of laser melting based on the volume of the welding slag to be cleaned, wherein the larger the volume of the welding slag to be cleaned, the greater the output power of laser melting; Based on the height of the welding slag to be cleaned and the projected area of ​​the welding slag to be cleaned on the surface of the object to be cleaned, the ratio of the inner ring power and the outer ring power of the laser melting is determined, wherein the sum of the inner ring power and the outer ring power is the output power, and the parameters of the laser melting include the output power of the laser melting and the ratio of the inner ring power and the outer ring power of the laser melting; The laser melting module is used to perform laser melting treatment on the welding slag to be cleaned located at the target position based on the parameters of the laser melting.

9. A welding slag cleaning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the slag cleaning method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the slag cleaning method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the slag cleaning method as described in any one of claims 1 to 7.

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