Weld centerline real-time tracking method and device, computer equipment and storage medium

Abstract

The present application relates to the field of weld detection, and discloses a kind of weld center line real-time tracking method, device, computer equipment and storage medium, its method includes: the laser tracking evaluation speed of the welding piece to be measured, ultrasonic tracking evaluation speed and tracking speed threshold are obtained;If laser tracking evaluation speed and ultrasonic tracking evaluation speed are all greater than tracking speed threshold, then according to laser ultrasonic same detection strategy, the weld center line of the welding piece to be measured is tracked;If there is laser tracking evaluation speed or ultrasonic tracking evaluation speed is less than or equal to tracking speed threshold, then according to main laser+sub ultrasonic strategy, the weld center line of the welding piece to be measured is tracked.The present application overcomes the significant limitations of single laser tracking technology in complex surface and strong light conditions, and realizes high-precision, high-robustness real-time tracking through acousto-optic fusion.

Description

Technical Field

[0001] This invention relates to the field of weld inspection, and in particular to a method, apparatus, computer equipment, and storage medium for real-time tracking of weld centerlines. Background Technology

[0002] In modern industrial manufacturing, welding quality directly affects the safety and service life of critical equipment in aerospace, rail transportation, and energy pipelines. Therefore, high-precision real-time tracking of weld seams has become a core requirement for automated non-destructive testing. Traditional weld seam tracking often employs laser vision technology, which is based on laser triangulation and image recognition principles. While it performs well under ideal surface conditions, it faces significant limitations in real-world complex conditions: when the weld seam has an oxide layer, spatter, irregular weld reinforcement, or high surface roughness (Ra > 3.2 μm), insufficient edge reflectivity differences or blurred morphology can easily lead to positioning errors or even recognition failures. Simultaneously, strong ambient light (> 10000 lux) can severely interfere with imaging quality. In contrast, ultrasonic sensing has advantages such as strong penetration and insensitivity to surface optical properties, effectively addressing challenges such as high / low reflectivity and thin oxide layers (≤ 1 mm), and supporting high-speed dynamic tracking (≤ 2 m / s).

[0003] However, single laser tracking technology has significant limitations under complex surfaces and strong illumination conditions. Therefore, it is urgent to integrate the advantages of acoustic-optical complementarity to construct a robust real-time weld centerline tracking method that can adapt to complex surface conditions, in order to achieve high-precision and high-reliability dynamic tracking of the weld centerline. Summary of the Invention

[0004] This invention provides a method, apparatus, computer equipment, and storage medium for real-time tracking of weld centerlines to solve the problems of insufficient resolution and difficulty in adapting to complex surfaces when using a single ultrasonic method for weld boundary positioning.

[0005] A method for real-time tracking of weld centerline, comprising:

[0006] Obtain the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test;

[0007] If both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold, then the weld centerline of the workpiece under test is tracked according to the laser-ultrasonic simultaneous inspection strategy.

[0008] If the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold, the weld centerline of the workpiece under test is tracked according to the main laser + secondary ultrasonic strategy.

[0009] Optionally, tracing the weld centerline of the weldment under test according to the laser-ultrasonic inspection strategy includes:

[0010] The centerline of the weld is tracked using a laser to obtain the laser tracking result;

[0011] The centerline of the weld was traced using ultrasound to obtain the ultrasound tracking results;

[0012] Calculate the first confidence level of the laser tracking result;

[0013] Calculate the second confidence level of the ultrasonic tracking results;

[0014] The laser tracking results and the ultrasonic tracking results are processed based on the first confidence level and the second confidence level to obtain the target tracking results.

[0015] Optionally, the step of tracing the weld centerline of the workpiece under test according to the main laser + secondary ultrasonic strategy includes:

[0016] The centerline of the weld is tracked using a laser to obtain the laser tracking result;

[0017] Calculate the first confidence level of the laser tracking result;

[0018] If the first confidence level is less than the first preset confidence threshold, the center line of the weld is tracked by ultrasound to obtain the ultrasound tracking result;

[0019] Calculate the second confidence level of the ultrasonic tracking results;

[0020] If the second confidence level is greater than or equal to the second preset confidence threshold, then the ultrasonic tracking result is determined as the target tracking result.

[0021] Optionally, the step of tracing the centerline of the weld using ultrasound to obtain the ultrasonic tracking result includes:

[0022] At least one pair of ultrasonic probes are initialized; the initialization settings include angle settings, system calibration, and sensitivity settings; the ultrasonic probes are phased array probes or general-purpose ultrasonic probes.

[0023] During the scanning process, the weld edge location data is identified by the echo data collected by the at least one pair of ultrasonic probes;

[0024] The weld center coordinates at the current angle are determined based on the weld edge position data, and the deviation of the detection position from the expected path and local attitude information are obtained.

[0025] The deviation and local attitude information under all detection angles are summarized and solved using the least squares method to obtain the ultrasonic tracking result; the ultrasonic tracking result includes the globally optimal weld centerline position and tracking direction.

[0026] Optionally, the detection parameters or threshold ranges associated with the ultrasound probe include:

[0027] Movement speed: 0.1 m / s ~ 2 m / s;

[0028] Angle range: 10°~ 90°;

[0029] Angle increment: 1°~10°;

[0030] Time threshold: 0~1 μs;

[0031] Amplitude threshold: 0.5 ~1 ;

[0032] Number of probe chips: 16-64.

[0033] Optionally, the step of tracing the centerline of the weld using ultrasound to obtain the ultrasonic tracking result includes:

[0034] The system adopts a one-transmitter-one-receiver mode, with the transmitting probe excited by a plane wave; the two probes are symmetrically arranged on both sides of the weld, with the leading edges at the same distance; the imaging area of ​​the receiving probe is set with a height of one-third of the workpiece thickness and a width that covers the weld while leaving a margin.

[0035] Perform probe zero-point calibration and workpiece sound velocity calibration to ensure accurate acoustic time-position mapping; at the same time, perform AF calibration on the imaging area to determine the imaging resolution and the number of array elements, and control the AF sensitivity fluctuation gain to be less than or equal to the preset sensitivity threshold.

[0036] The probe is placed in a defect-free area of ​​the parent material, and the bottom wave signal is located within the imaging area. The gain is adjusted to stabilize its amplitude at a specified level, which serves as a reference for subsequent identification. ;

[0037] Within the imaging area, the echo signal is analyzed for each scanning position to generate weld edge position data: if the time deviation is satisfied... And amplitude If it is, it is considered the base material; otherwise, it is considered a weld.

[0038] The current weld center coordinates and detection position deviation are calculated based on the weld edge position data, and the weld direction is deduced by combining the historical trajectory to form the ultrasonic tracking result.

[0039] Optionally, the initialization settings for at least one pair of ultrasound probes include:

[0040] Obtain the parameters of the transmitting probe;

[0041] Adjust the distance from the leading edge of the transmitting probe to the center of the weld seam according to coverage requirements;

[0042] Calculate the geometric path of the receiving probe;

[0043] The receiving probe angle is obtained by processing the transmitting probe parameters and the distance according to the receiving probe angle calculation formula; the receiving probe angle calculation formula includes:

[0044]

[0045] in, The angle of the receiving probe;

[0046] The distance from the leading edge of the probe to the center of the weld;

[0047] This refers to the distance from the probe's leading edge.

[0048] This is the horizontal offset of the sound ray reaching the bottom surface of the workpiece.

[0049] The thickness is the workpiece thickness.

[0050] A real-time weld centerline tracking device, comprising:

[0051] The tracking evaluation parameter acquisition module is used to acquire the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test;

[0052] The acoustic-optical simultaneous inspection module is used to track the weld centerline of the workpiece under test according to the laser-ultrasonic simultaneous inspection strategy if both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold.

[0053] The main laser and secondary ultrasonic module is used to track the weld centerline of the workpiece under test according to the main laser + secondary ultrasonic strategy if the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold.

[0054] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described real-time weld centerline tracking method.

[0055] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described real-time weld centerline tracking method.

[0056] The aforementioned real-time weld centerline tracking method, device, computer equipment, and storage medium, through dynamic evaluation of the real-time detection capabilities of the laser and ultrasonic modules, intelligently switch between collaborative detection or main-auxiliary complementary strategies, effectively balancing tracking accuracy and response speed. It achieves dual-mode fusion positioning under high-speed and high-reliability requirements, and ensures stable tracking of the weld centerline even when single-mode is limited. This significantly improves the system's adaptability to complex weld morphologies and surface conditions, meeting the real-time and robustness requirements of different welding process scenarios. This invention overcomes the significant limitations of single laser tracking technology under complex surfaces and strong illumination conditions, achieving high-precision and highly robust real-time tracking through acousto-optic fusion. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart of a real-time tracking method for weld centerline in one embodiment of the present invention;

[0059] Figure 2 This is a schematic diagram of the sound rays excited by the ultrasonic probe A in one embodiment of the present invention;

[0060] Figure 3 This is a schematic diagram of ultrasonic probe A exciting sound rays and ultrasonic probe B receiving sound rays in one embodiment of the present invention;

[0061] Figure 4 This is a schematic diagram of a plane wave excited by ultrasonic probe A in one embodiment of the present invention;

[0062] Figure 5 This is a schematic diagram of a plane wave forming an imaging area around the weld in one embodiment of the present invention;

[0063] Figure 6 This is a schematic diagram of a real-time tracking device for weld centerline in one embodiment of the present invention;

[0064] Figure 7 This is a schematic diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] In one embodiment, such as Figure 1 As shown, a method for real-time tracking of weld centerline is provided, including the following steps S10~S30.

[0067] S10. Obtain the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test.

[0068] Understandably, this embodiment is implemented through the collaborative use of a laser tracking module and an ultrasonic tracking module. The laser tracking module includes a laser tracker; the ultrasonic tracking module can be configured as follows: a pair of phased array probes with an electrically controlled chassis, a pair of universal ultrasonic probes with an electrically controlled chassis, or multiple pairs of universal ultrasonic probes with an electrically controlled chassis. The electrically controlled chassis is used to control the synchronous left-right movement of multiple probes, or to individually control the left-right movement of a single probe.

[0069] The laser tracking module can acquire the laser tracking evaluation speed of the weldment under test in real time. This speed is determined based on the combined detection frequency of the laser scanning frequency and the data interface response rate. Simultaneously, the ultrasonic tracking module acquires the ultrasonic tracking evaluation speed in real time. This speed is limited by the workpiece thickness and the sound velocity of the material, and is typically expressed as the reciprocal of a single ultrasonic detection cycle. Furthermore, the system also acquires a preset tracking speed threshold. This threshold is set according to the real-time requirements of the post-weld inspection task, serving as the minimum detection frequency threshold required to meet the tracking inspection needs of the weld area.

[0070] S20. If both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold, then the weld centerline of the workpiece under test is tracked according to the laser-ultrasonic simultaneous inspection strategy.

[0071] Understandably, when both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed exceed a preset tracking speed threshold, the system activates a laser-ultrasonic collaborative detection strategy. At this time, the laser tracking module and the ultrasonic tracking module (such as a phased array probe group) work synchronously, generating preliminary trajectories of the weld centerline respectively. Subsequently, the data fusion unit evaluates the confidence levels of the outputs from the two modules: laser confidence is determined based on the surface reflectivity gradient and weld reinforcement continuity; ultrasonic confidence is quantified based on the hit rate of multi-angle bottom wave detection (e.g., the proportion of effective bottom wave echoes). Finally, the system uses a confidence-weighted averaging method to fuse the two preliminary trajectories, outputting a high-precision, highly robust final trajectory of the weld centerline. The tracking speed threshold can be set according to actual needs, such as 1.5 m / min.

[0072] S30. If the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold, then the weld centerline of the workpiece under test is tracked according to the main laser + secondary ultrasonic strategy.

[0073] Understandably, when the evaluation speed of any module is lower than or equal to a preset tracking speed threshold, the system switches to a "main laser + secondary ultrasonic" strategy. In this mode, the laser tracking module is prioritized for continuous scanning to obtain the weld centerline trajectory; the ultrasonic tracking module is only triggered for reinforcement detection when the laser confidence level is below 70% (e.g., encountering strong reflection interference, surface contamination, or abrupt changes in weld geometry). At this time, the ultrasonic module dynamically adjusts the probe position through an electronically controlled chassis, performs targeted verification of local areas with low laser confidence level, and corrects the laser data based on the ultrasonic detection results, thereby improving the overall tracking reliability and robustness.

[0074] This embodiment dynamically evaluates the real-time detection capabilities of the laser and ultrasonic modules, intelligently switches between collaborative detection and main-auxiliary complementary strategies, effectively balancing tracking accuracy and response speed. It achieves dual-mode fusion positioning under high-speed and high-reliability requirements, and can still ensure stable tracking of the weld centerline when single-mode is limited. This significantly improves the system's adaptability to complex weld morphology and surface conditions, meeting the real-time and robustness requirements of different welding process scenarios.

[0075] Optionally, step S20, namely, tracing the weld centerline of the workpiece under test according to the laser-ultrasonic inspection strategy, includes:

[0076] S201. The center line of the weld is tracked by laser to obtain the laser tracking result;

[0077] S202. The centerline of the weld is tracked by ultrasound to obtain the ultrasound tracking result;

[0078] S203. Calculate the first confidence level of the laser tracking result;

[0079] S204. Calculate the second confidence level of the ultrasonic tracking result;

[0080] S205. Process the laser tracking result and the ultrasonic tracking result according to the first confidence level and the second confidence level to obtain the target tracking result.

[0081] Understandably, the centerline of the weld can be tracked using a laser to obtain laser tracking results. Specifically, a laser tracker emits a linear laser to scan the weld surface, and a CCD camera acquires images of the laser stripes. Image processing algorithms extract the stripe centerline, identify the weld bevel edge, and calculate the weld center position. After coordinate system transformation, the laser tracking result is obtained. Simultaneously, historical position sequences are recorded, and the tracking direction and orientation of the weld are calculated through differential or sliding window fitting. In one example, the laser scanning frequency ranges from 1 kHz to 10 kHz, preferably 5 kHz.

[0082] The centerline of a weld can be tracked using ultrasound to obtain ultrasonic tracking results. Specifically, an ultrasonic probe array is excited, and the emitting probes emit ultrasonic waves in preset angle steps. The receiver probes detect the backwave signals, and the echo time (T) and amplitude (A) at each angle are recorded. The signal validity is determined based on thresholds (e.g., |T-T0|≤0.3µs and A≥0.7A0), the weld edge is identified, and the ultrasonic tracking result of the weld center is calculated.

[0083] Laser confidence can be calculated based on surface reflectivity gradient and weld height continuity. Surface reflectivity gradient is used to assess the steepness of the grayscale change of the laser stripe in the weld region; the clearer the gradient, the higher the confidence. Weld height continuity is used to analyze the smoothness of the weld height profile in historical tracking results; abrupt changes or breaks will reduce the confidence. Laser confidence can be a weighted value of the scores for both surface reflectivity gradient and weld height continuity.

[0084] The core indicator of ultrasonic confidence is the bottom wave hit rate. This is the proportion of angles from which bottom wave signals consistent with the characteristics of the parent material can be effectively received across all transmission angles. A higher hit rate indicates less interference from the internal structure, resulting in higher confidence. The bottom wave hit rate is positively correlated with the number of effective bottom wave angles.

[0085] The data fusion unit performs adaptive weighted fusion based on the real-time calculated laser and ultrasound confidence scores, and a preset strategy (such as laser as the primary factor and ultrasound as the secondary factor).

[0086] If the laser confidence level is ≥0.7 and the ultrasound confidence level is <0.7: the system adopts laser tracking as the main strategy, and the target tracking result is approximately equal to the laser tracking result.

[0087] If the laser confidence level is <0.7 and the ultrasound confidence level is ≥0.7: the system switches to ultrasound tracking as the primary strategy, and the target tracking result is approximately equal to the ultrasound tracking result.

[0088] If the laser confidence score is ≥0.7 and the ultrasound confidence score is ≥0.7: the system enters the laser and ultrasound simultaneous inspection strategy and performs weighted fusion: target tracking result = (laser confidence score * ultrasound tracking result + ultrasound confidence score * ultrasound tracking result) / (laser confidence score + ultrasound confidence score).

[0089] If the laser confidence level is <0.7 and the ultrasound confidence level is <0.7: trigger an alarm, indicating that manual intervention or system recalibration is required.

[0090] This embodiment achieves data-driven adaptive fusion by simultaneously acquiring the tracking results of the weld centerline by laser and ultrasound, and quantifying their confidence levels respectively. It leverages the complementary advantages of high laser resolution and strong ultrasonic penetration to maintain high-precision positioning even under interference from complex surfaces or internal defects. The confidence-weighted fusion mechanism effectively suppresses false detections or missed detections of a single mode, significantly improving the robustness and reliability of weld tracking.

[0091] Optionally, step S30, namely, tracing the weld centerline of the workpiece under test according to the main laser + secondary ultrasonic strategy, includes:

[0092] S301. The center line of the weld is tracked by laser to obtain the laser tracking result;

[0093] S302. Calculate the first confidence level of the laser tracking result;

[0094] S303. If the first confidence level is less than the first preset confidence threshold, the center line of the weld is tracked by ultrasound to obtain the ultrasound tracking result.

[0095] S304. Calculate the second confidence level of the ultrasonic tracking result;

[0096] S305. If the second confidence level is greater than or equal to the second preset confidence threshold, then the ultrasonic tracking result is determined as the target tracking result.

[0097] Understandably, the center line of the weld can be tracked using a laser to obtain the laser tracking result. The specific implementation method can be found in step S201, and will not be repeated here.

[0098] The first confidence level of the laser tracking result is calculated. The specific implementation method can be found in step S203, and will not be repeated here.

[0099] If the first confidence level is less than the first preset confidence threshold, the centerline of the weld is tracked ultrasonically to obtain an ultrasonic tracking result. The specific implementation of obtaining the ultrasonic tracking result can be found in step S202, and will not be repeated here. The first preset confidence threshold can be set according to the implementation situation, such as 0.7. If the first confidence level is greater than or equal to the first preset confidence threshold, the laser tracking result is determined as the target tracking result.

[0100] The second confidence level of the ultrasonic tracking results is calculated. The specific implementation method can be found in step S204, and will not be repeated here.

[0101] If the second confidence level is greater than or equal to the second preset confidence threshold, the ultrasound tracking result is determined as the target tracking result. The second preset confidence threshold can be set according to the implementation situation, such as 0.7. If the second confidence level is less than the second preset confidence threshold, an alarm is triggered, prompting that manual intervention or system recalibration is required.

[0102] This embodiment prioritizes high-efficiency laser tracking and only activates the ultrasonic module for local reinforcement when laser confidence is insufficient, balancing real-time performance and accuracy. By setting a dual confidence threshold mechanism, the misuse of low-quality data is effectively avoided, ensuring the reliability of the output results. Ultrasonic intervention only in necessary areas reduces system computation and energy consumption, improving overall operational efficiency. This embodiment significantly enhances the adaptability of the weld seam tracking system under conditions of strong interference, surface anomalies, or complex geometry.

[0103] Optionally, step S202, namely, tracking the centerline of the weld seam using ultrasound to obtain the ultrasonic tracking result, includes:

[0104] S2021. Initialize at least one pair of ultrasonic probes; the initialization settings include angle settings, system calibration, and sensitivity settings; the ultrasonic probes are phased array probes or general-purpose ultrasonic probes.

[0105] S2022. During the scanning process, the weld edge location data is identified by the echo data collected by the at least one pair of ultrasonic probes.

[0106] S2023. Determine the weld center coordinates at the current angle based on the weld edge position data, and obtain the deviation of the detection position relative to the expected path and local posture information;

[0107] S2024. Summarize the deviation and local attitude information under all detection angles, and solve them using the least squares method to obtain the ultrasonic tracking result; the ultrasonic tracking result includes the globally optimal weld centerline position and tracking direction.

[0108] Understandably, at least one pair of ultrasonic probes (transmitting probe A and receiving probe B) can be initialized. Initialization settings include, but are not limited to, angle settings, system calibration, and sensitivity settings.

[0109] Specifically, the detection angle can be set according to the probe type. For phased array probes, electronic scanning is typically performed in fixed steps (e.g., 5°) within the range of 30°-70°. For general-purpose probes, typical angles such as 30°, 45°, and 60° are usually selected, and the probe's posture is adjusted via a motorized base. Here, general-purpose ultrasonic probes refer to conventional ultrasonic testing probes that are not phased array types, such as single-crystal longitudinal wave straight probes (for vertical incidence detection), single-crystal transverse wave angle probes (with wedges, for oblique incidence weld detection), and dual-crystal focusing probes (for near-surface defect detection).

[0110] System calibration includes, but is not limited to, probe zero-point calibration and workpiece sound velocity calibration. Probe zero-point calibration (determining the propagation time of ultrasonic waves within the probe wedge) and workpiece sound velocity calibration (measuring the actual propagation speed of ultrasonic waves in the material of the workpiece under inspection) are performed to ensure the accuracy of subsequent acoustic time measurements and position calculations.

[0111] When setting the sensitivity, place the probe in a defect-free area of ​​the workpiece base material. For each detection angle... According to the formula The distance D between the leading edges of the two probes is preset (where T is the workpiece thickness). (This refers to the length of the probe's leading edge). Subsequently, the probe position was fine-tuned via the electronically controlled chassis to maximize the amplitude of the base wave received by probe B. This maximum amplitude was then adjusted to 80% of the full screen height, and the final probe distance at this angle was recorded. With instrument gain value This serves as the reference sensitivity for that angle.

[0112] like Figure 2 and 3 As shown, during the probe scanning along the weld seam, for each preset angle, the calibrated probe at that angle is used. and The test is performed. As the probe moves horizontally, the sound rays sequentially pass through the base material → weld → base material. Region determination can be achieved by setting time and amplitude thresholds. The base material region determination criterion is the absolute value of the difference between the echo arrival time T and the theoretical plate thickness echo time T0. Furthermore, the echo amplitude A ≥ 0.7A0 (A0 is the amplitude under the initial reference sensitivity). The weld area criterion is: the area that does not meet the above conditions.

[0113] In the base material area, the sound wave propagation path is stable, and probe B can receive the echo at the expected time and amplitude. In the weld area, due to changes in internal structure and geometry, the sound wave is scattered, attenuated, or its path changes, resulting in a significant decrease in echo time and amplitude. The system records the two critical positions when the signal jumps from meeting the "base material criterion" to the "weld criterion" and then jumps back to the "weld criterion" as the electronically controlled chassis moves. These are the two weld edge positions identified at the current angle.

[0114] Based on the left and right weld edge positions identified by S2022, the weld center coordinates at the current detection angle are calculated. Then, these measured center coordinates are compared with the system's expected weld path to determine the horizontal deviation of the current scanning position. Simultaneously, by combining the historical center coordinates of multiple consecutive scanning points at this angle, the tracking direction attitude (such as trend angle) of the weld in this local area is calculated through methods such as linear fitting.

[0115] Repeat steps S2022-S2023 to obtain the deviation at all preset detection angles. And attitude information. Since the response characteristics and anti-interference capabilities of the sound beam to the weld seam differ at different angles, results from a single angle may contain random errors. Numerical optimization algorithms such as the least squares method are used to optimize the results for all angles. The ultrasonic tracking results are obtained by fitting and optimizing the attitude information to obtain a globally optimal solution that best represents the consensus of all angle measurements, and then generating ultrasonic tracking results. The ultrasonic tracking results include, but are not limited to: the globally optimal weld centerline position at the current moment; and the globally optimal tracking direction at the current moment. The ultrasonic tracking results can be sent to the tracking controller to drive the actuator for high-precision path correction.

[0116] This embodiment effectively improves the accuracy and adaptability of weld edge recognition through multi-angle ultrasonic scanning and systematic initialization, especially suitable for working conditions with complex geometry or poor surface conditions. Least-squares global optimization is performed using deviation and attitude information acquired from multiple angles, significantly enhancing the stability and noise resistance of the ultrasonic tracking results. The obtained weld centerline not only contains high-precision position information but also integrates local orientation and direction features, providing a reliable basis for subsequent path control. The overall process of this embodiment balances detection accuracy and computational efficiency, supporting highly robust real-time weld tracking.

[0117] Optionally, the detection parameters or threshold ranges associated with the ultrasound probe include:

[0118] Movement speed: 0.1m / s~2m / s;

[0119] Angle range: 10°~90°;

[0120] Angle increment: 1°~10°;

[0121] Time threshold: 0~1μs;

[0122] Amplitude threshold: 0.5 ~1 ;

[0123] Number of probe chips: 16-64.

[0124] Understandably, the detection parameters or threshold range associated with the ultrasound probe, that is, the detection parameters or threshold range of the ultrasound tracking module, include, but are not limited to, movement speed, angle range, angle step, time threshold, amplitude threshold, number of probe chips, and AF sensitivity variation.

[0125] Specifically, the moving speed of the ultrasonic probe is 0.1 m / s to 2 m / s, preferably 0.5 m / s. The angle range of the ultrasonic probe is 10° to 90°, preferably 30° to 70°. The angle step of the ultrasonic probe is 1° to 10°, preferably 1° or 5°. The time threshold range is 0 to 1 μs, preferably 0.3 μs. The amplitude threshold is 0.5 μs. ~1 The preferred value is 0.7. The phased array probe has 16-64 wafers, preferably 16. In some examples, the AF (amplitude fidelity) sensitivity variation is 0.1dB to 2dB, preferably 0.5dB.

[0126] Optionally, step S202, namely, tracking the centerline of the weld seam using ultrasound to obtain the ultrasonic tracking result, includes:

[0127] S2025. A one-transmitter-one-receiver mode is adopted. The transmitting probe is excited by a plane wave. The two probes are symmetrically arranged on both sides of the weld, with the leading edges at the same distance. The imaging area of ​​the receiving probe is set with a height of one-third of the workpiece thickness and a width that covers the weld and leaves a margin.

[0128] S2026. Perform probe zero-point calibration and workpiece sound velocity calibration to ensure accurate sound time-position mapping; at the same time, perform AF calibration on the imaging area to determine the imaging resolution and the number of array elements, and control the AF sensitivity fluctuation gain to be less than or equal to the preset sensitivity threshold.

[0129] S2027. Place the probe in the defect-free base material area, locate the bottom wave signal within the imaging area, and adjust the gain to stabilize its amplitude at a specified level, which will serve as a reference for subsequent identification. ;

[0130] S2028. Within the imaging area, analyze the echo signal for each scanning position to generate weld edge position data: if the time deviation is satisfied... And amplitude If it is, it is considered the base material; otherwise, it is considered a weld.

[0131] S2029. Calculate the current weld center coordinates and detection position deviation based on the weld edge position data, and infer the weld direction by combining the historical trajectory to form the ultrasonic tracking result.

[0132] Understandably, such as Figure 4 and Figure 5 As shown, the ultrasonic tracking module can operate in a one-transmit, one-receiver mode. The transmitting probe (e.g., Figure 4 The middle probe A emits ultrasonic waves into the workpiece using a plane wave excitation method. This method can excite the entire probe aperture at once, forming a fan-shaped sound beam covering a certain angle, thus improving detection efficiency. Two probes (A and B) are symmetrically arranged on both sides of the weld, and their leading edge distance (the vertical distance from the probe tip to the scanning surface) is set consistently to ensure acoustic path symmetry. To balance imaging quality and processing speed, a specific imaging area (ROI) for receiving probe B is defined: its height is limited to one-third (T / 3) of the workpiece thickness T, typically covering critical areas such as the weld fusion zone and heat-affected zone; its width is set sufficient to cover the estimated weld width with appropriate margin, ensuring clear differentiation between the base material and the weld area.

[0133] To ensure the accuracy of the measurement benchmark, the system performs a comprehensive calibration process: First, probe zero-point calibration is performed to determine the propagation time delay of ultrasound within the probe wedge; second, workpiece sound velocity calibration is conducted to accurately obtain the actual propagation speed of ultrasound in the current material; simultaneously, AF (Amplitude Fidelity) calibration is performed on the preset imaging area (ROI) to determine the required imaging resolution, the number of active array elements, and optimize the focusing algorithm. A key quality control indicator is that the AF sensitivity fluctuation gain after calibration does not exceed 0.5 dB, thus ensuring the uniformity and stability of the signal response throughout the ROI, providing a reliable foundation for subsequent high-precision, quantitative defect identification and weld location. AF is one of the key parameters for evaluating the imaging quality of the Total Focusing Method (TFM), used to ensure the closeness between the actual measured maximum amplitude and the maximum amplitude at the ideal resolution.

[0134] Place the calibrated probe pair in the workpiece base material area (away from the weld and free of defects). Within the preset ROI, locate the bottom wave signal generated by reflection from the bottom surface of the workpiece. By fine-tuning the probe position (using the electronically controlled chassis) and instrument gain, maximize the amplitude of this bottom wave signal, and finally stabilize the maximum amplitude at 80% of the full screen height. At this point, the system records the gain value in this state and defines this amplitude value as the reference benchmark A0 used for comparison in subsequent edge recognition.

[0135] During the weld seam scanning process, the system analyzes the echo signal at each scanning position and distinguishes between the base material and weld seam areas within the imaging region based on a preset dual-threshold criterion: when the deviation between the echo arrival time T and the theoretical bottom echo time T0 does not exceed 0.3μs and the amplitude A is not lower than the reference standard. 70% of (i.e. A≥0.7 If the signal is within a certain range (e.g., when the signal is within a certain range), it is considered the base material area; otherwise, it is considered the weld area. This criterion is based on the fact that the sound wave propagation path in the base material area is stable, the signal is strong and timely, while the weld area is affected by uneven structure, excess height or defects, which cause sound wave scattering, attenuation or path distortion, resulting in amplitude reduction or abnormal time delay. By continuously scanning and identifying the two jump points where the signal characteristics change from the base material criterion to the weld criterion and then back to the base material criterion, the positions of the left and right weld edges can be accurately determined.

[0136] Based on the left and right edge positions identified by S2028, the weld center coordinates at the current scanning position are calculated. These measured center coordinates are compared with the system's preset tracking path to calculate the real-time detection position deviation є. Simultaneously, the system combines the center coordinates of multiple consecutive historical scanning points and uses algorithms such as linear fitting to infer the local orientation trend (attitude) of the weld. Repeating the above process for each preset detection angle (e.g., 30°, 35°, ..., 70°) yields a set of deviation and attitude data for different angles. Finally, numerical optimization algorithms such as least squares are used to fuse this data, determining the globally optimal weld centerline position and tracking direction that best represents the consensus across all angles. This is then output as the final ultrasonic tracking result to the tracking controller.

[0137] This embodiment effectively improves the ultrasonic resolution and positioning accuracy of weld edges through a symmetrical arrangement of one transmitter and one receiver and a refined imaging area setting. Combined with strict zero-point calibration, sound velocity calibration and AF imaging parameter control, it ensures high-fidelity mapping between acoustic signals and spatial positions, significantly reducing system errors. Reliable differentiation between the base material and the weld is achieved using a bottom wave reference and time-amplitude dual criteria (time deviation ≤ 0.3 μs, amplitude ≥ 0.7A0), enhancing the anti-interference capability of edge recognition. Finally, by fusing the current center coordinates, deviation amount and historical trajectory, it outputs stable, continuous and directional ultrasonic tracking results, providing high-quality input for multimodal fusion.

[0138] Optionally, step S2021, namely the initialization settings for at least one pair of ultrasound probes, includes:

[0139] S20211. Obtain the transmitter probe parameters;

[0140] S20212. Adjust the distance from the leading edge of the transmitting probe to the center of the weld according to coverage requirements;

[0141] S20213. Calculate the geometric path of the receiving probe;

[0142] S20214. Process the transmitting probe parameters and the distance according to the receiving probe angle calculation formula to obtain the receiving probe angle; the receiving probe angle calculation formula includes:

[0143]

[0144] in, The angle of the receiving probe;

[0145] The distance from the leading edge of the probe to the center of the weld;

[0146] This refers to the distance from the probe's leading edge.

[0147] This is the horizontal offset of the sound ray reaching the bottom surface of the workpiece.

[0148] The thickness is the workpiece thickness.

[0149] Understandably, such as Figure 2 and Figure 3 As shown, the transmitter probe can be obtained from system configuration or manual input (e.g. Figure 2 Key geometric and acoustic parameters of the probe A. These parameters include: workpiece thickness (T): the known or measured thickness of the workpiece to be inspected; probe angle (T). ): The incident angle (refraction angle) of the sound beam from the transmitting probe; the distance from the leading edge of the probe ( : The horizontal distance from the probe tip to its sound beam incident point (the point of contact with the workpiece); the distance from the probe tip to the center of the weld ( ).

[0150] Then, adjust the distance from the leading edge of the transmitting probe to the center of the weld according to coverage requirements. To ensure that the ultrasonic beam fully covers the weld area, the system needs to perform a coverage analysis: first, according to the formula... The horizontal offset of the sound beam from the incident point to the bottom surface of the workpiece is calculated; then the horizontal position of the sound beam at different depths is evaluated to determine whether its scanning range can completely cover the weld width; if the coverage is insufficient, the position of the transmitting probe is dynamically adjusted by laterally adjusting the position of its leading edge to the center of the weld through the electronically controlled chassis. Until full coverage is achieved, the optimized version will be... This parameter is used for the precise calculation of the subsequent receiving probe's geometric path and angle.

[0151] At the position of the transmitting probe (the leading edge is at the center of the weld seam) Once determined, the receiving probes need to be symmetrically arranged on the other side of the weld, so that the distance from their leading edge to the center of the weld is also the same. At this point, the sound wave originates from the transmitting probe, is reflected by the bottom surface of the workpiece, and reaches the receiving probe. The total horizontal span of its complete path is... (in (This refers to the distance from the probe's leading edge); considering the horizontal offset of the sound wave reflection point on the bottom surface. The remaining horizontal propagation distance from the reflection point to the leading edge of the receiving probe is then... This geometric relationship provides the basis for the precise calculation of the subsequent receiving angle and focusing rule.

[0152] To enable the receiving probe (probe B) to efficiently capture the ultrasonic signal reflected from the bottom surface of the workpiece, its sound beam axis must be precisely aligned with the reflection point. Therefore, the ideal incident angle of the receiving probe is crucial. It should be determined based on the geometric relationship of the reflection path; according to the principle of right triangles, The tangent value is equal to the ratio of the horizontal distance from the reflection point to the leading edge of the receiving probe to the workpiece thickness T. Substituting this into the previously calculated effective horizontal distance... , can be obtained This achieves optimal alignment between the received sound beam and the reflection path.

[0153] This embodiment employs a systematic initialization process, combining the transmitting probe parameters with the weld geometry to precisely calculate the optimal placement angle of the receiving probe, ensuring effective ultrasonic beam coverage of the weld area. The angle calculation formula comprehensively considers probe position, workpiece thickness, and the sound wave propagation path on the bottom surface, significantly improving the focusing of the sound field on the weld center and detection sensitivity. By quantifying key geometric parameters (such as leading edge distance and bottom surface offset), the repeatability and process adaptability of the probe layout are achieved, laying the foundation for subsequent high-precision edge recognition. This embodiment enhances the adaptive configuration capability of the ultrasonic module under different plate thicknesses and weld widths.

[0154] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0155] In one embodiment, a real-time weld centerline tracking device is provided, which corresponds one-to-one with the real-time weld centerline tracking method described in the above embodiments. For example... Figure 6 As shown, the real-time weld centerline tracking device includes:

[0156] The tracking evaluation parameter acquisition module 10 is used to acquire the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test;

[0157] The acoustic-optical simultaneous inspection module 20 is used to track the weld centerline of the weldment under test according to the laser-ultrasonic simultaneous inspection strategy if both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold.

[0158] The main laser and secondary ultrasonic module 30 is used to track the weld centerline of the workpiece under test according to the main laser + secondary ultrasonic strategy if the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold.

[0159] Optionally, the audio-visual detection module 20 includes:

[0160] The laser tracking result acquisition unit is used to track the center line of the weld seam using a laser and obtain the laser tracking result;

[0161] The ultrasonic tracking result acquisition unit is used to track the center line of the weld seam using ultrasound and obtain ultrasonic tracking results.

[0162] Calculate the first confidence unit, used to calculate the first confidence level of the laser tracking result;

[0163] A second confidence unit is calculated to determine the second confidence level of the ultrasonic tracking result.

[0164] The first target tracking result determination unit is used to process the laser tracking result and the ultrasonic tracking result according to the first confidence level and the second confidence level to obtain the target tracking result.

[0165] Optionally, the main light and secondary sound module 30 includes:

[0166] The laser tracking result acquisition unit is used to track the center line of the weld seam using a laser and obtain the laser tracking result;

[0167] Calculate the first confidence unit, used to calculate the first confidence level of the laser tracking result;

[0168] The ultrasonic tracking result acquisition unit is used to track the center line of the weld seam using ultrasound if the first confidence level is less than the first preset confidence level threshold, and obtain the ultrasonic tracking result.

[0169] A second confidence unit is calculated to determine the second confidence level of the ultrasonic tracking result.

[0170] The second target tracking result determination unit is used to determine the ultrasonic tracking result as the target tracking result if the second confidence level is greater than or equal to the second preset confidence threshold.

[0171] Optionally, the unit for acquiring laser tracking results includes:

[0172] An initialization setting unit is used to initialize at least one pair of ultrasonic probes; the initialization settings include angle setting, system calibration, and sensitivity setting; the ultrasonic probes are phased array probes or general-purpose ultrasonic probes.

[0173] A weld edge location identification data unit is used to identify weld edge location data through echo data collected by at least one pair of ultrasonic probes during the scanning process.

[0174] The weld center coordinate unit is used to determine the weld center coordinates at the current angle based on the weld edge position data, and to obtain the deviation of the detection position relative to the expected path and local attitude information.

[0175] The first unit for obtaining ultrasonic tracking results is used to summarize the deviation and local attitude information under all detection angles, and solve them by least squares method to obtain the ultrasonic tracking results; the ultrasonic tracking results include the globally optimal weld centerline position and tracking direction.

[0176] Optionally, the detection parameters or threshold ranges associated with the ultrasound probe include:

[0177] Movement speed: 0.1 m / s ~ 2 m / s;

[0178] Angle range: 10°~ 90°;

[0179] Angle increment: 1°~10°;

[0180] Time threshold: 0~1 μs;

[0181] Amplitude threshold: 0.5 ~1 ;

[0182] Number of probe chips: 16-64.

[0183] Optionally, the unit for acquiring laser tracking results includes:

[0184] The plane wave excitation unit is used in a one-transmitter-one-receiver mode, where the transmitting probe is excited by a plane wave; the two probes are symmetrically arranged on both sides of the weld, with the leading edges at the same distance; the imaging area of ​​the receiving probe is set, with a height of one-third of the workpiece thickness and a width that covers the weld and leaves a margin.

[0185] The calibration unit is used to perform probe zero-point calibration and workpiece sound velocity calibration to ensure accurate acoustic time-position mapping; at the same time, it performs AF calibration on the imaging area to determine the imaging resolution and the number of array elements, and controls the AF sensitivity fluctuation gain to be less than or equal to a preset sensitivity threshold.

[0186] A reference reference unit is established to place the probe in a defect-free base material area, locate the bottom wave signal within the imaging area, and adjust the gain to stabilize its amplitude at a specified level, serving as a reference reference for subsequent identification. ;

[0187] A weld edge position data generation unit is used to analyze the echo signal at each scanning position within the imaging area to generate weld edge position data: if the time deviation is satisfied... And amplitude If it is, it is considered the base material; otherwise, it is considered a weld.

[0188] The second ultrasonic tracking result acquisition unit is used to calculate the current weld center coordinates and detection position deviation based on the weld edge position data, and to infer the weld direction by combining the historical trajectory to form the ultrasonic tracking result.

[0189] Optionally, the initialization setting unit includes:

[0190] The transmitter probe parameter acquisition unit is used to acquire transmitter probe parameters;

[0191] Determine the leading edge distance unit, which is used to adjust the distance from the leading edge of the transmitting probe to the center of the weld according to coverage requirements;

[0192] The geometric path calculation unit is used to calculate the geometric path of the receiving probe;

[0193] A receiving probe angle determination unit is used to process the transmitting probe parameters and the distance according to the receiving probe angle calculation formula to obtain the receiving probe angle; the receiving probe angle calculation formula includes:

[0194]

[0195] in, The angle of the receiving probe;

[0196] The distance from the leading edge of the probe to the center of the weld;

[0197] This refers to the distance from the probe's leading edge.

[0198] This is the horizontal offset of the sound ray reaching the bottom surface of the workpiece.

[0199] The thickness is the workpiece thickness.

[0200] Specific limitations regarding the real-time weld centerline tracking device can be found in the limitations of the real-time weld centerline tracking method described above, and will not be repeated here. Each module in the aforementioned real-time weld centerline tracking device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0201] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data related to the real-time weld centerline tracking method. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements a real-time weld centerline tracking method.

[0202] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the real-time weld centerline tracking method described in the above embodiment; to avoid repetition, this will not be repeated here. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the embodiment of the real-time weld centerline tracking device; to avoid repetition, this will not be repeated here.

[0203] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the real-time weld centerline tracking method described in the above embodiment. To avoid repetition, this will not be described again here. Alternatively, when executed by a processor, the computer program implements the functions of each module / unit in this embodiment of the real-time weld centerline tracking device. To avoid repetition, this will not be described again here.

[0204] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0205] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0206] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for real-time tracking of weld centerline, characterized in that, include: The laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test are obtained. The laser tracking evaluation speed is determined based on the comprehensive detection frequency of the laser scanning frequency and the data interface response rate. The ultrasonic tracking evaluation speed is limited by the workpiece thickness and the sound velocity of the material. The tracking speed threshold is set according to the real-time requirements of the post-weld inspection task. If both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold, then the weld centerline of the workpiece under test is tracked according to the laser-ultrasonic simultaneous inspection strategy. If the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold, then the weld centerline of the workpiece under test is tracked according to the main laser + secondary ultrasonic strategy. The step of tracing the weld centerline of the workpiece under test according to the laser-ultrasonic inspection strategy includes: The centerline of the weld is tracked using a laser to obtain the laser tracking result; The centerline of the weld was traced using ultrasound to obtain the ultrasound tracking results; Calculate the first confidence level of the laser tracking result; Calculate the second confidence level of the ultrasonic tracking results; The laser tracking results and the ultrasonic tracking results are processed based on the first confidence level and the second confidence level to obtain the target tracking results; The step of tracing the weld centerline of the workpiece under test using a main laser + secondary ultrasonic strategy includes: The centerline of the weld is tracked using a laser to obtain the laser tracking result; Calculate the first confidence level of the laser tracking result; If the first confidence level is less than the first preset confidence threshold, the center line of the weld is tracked by ultrasound to obtain the ultrasound tracking result; Calculate the second confidence level of the ultrasonic tracking results; If the second confidence level is greater than or equal to the second preset confidence threshold, then the ultrasonic tracking result is determined as the target tracking result.

2. The real-time tracking method for weld centerline according to claim 1, characterized in that, The step of tracing the centerline of the weld using ultrasound to obtain the ultrasound tracking result includes: At least one pair of ultrasonic probes are initialized; the initialization settings include angle settings, system calibration, and sensitivity settings; the ultrasonic probes are phased array probes or general-purpose ultrasonic probes. During the scanning process, the weld edge location data is identified by the echo data collected by the at least one pair of ultrasonic probes; The weld center coordinates at the current angle are determined based on the weld edge position data, and the deviation of the detection position from the expected path and local attitude information are obtained. The deviation and local attitude information under all detection angles are summarized and solved using the least squares method to obtain the ultrasonic tracking result; the ultrasonic tracking result includes the globally optimal weld centerline position and tracking direction.

3. The real-time tracking method for weld centerline according to claim 2, characterized in that, The detection parameters or threshold ranges associated with the ultrasound probe include: Movement speed: 0.1 m / s ~ 2 m / s; Angle range: 10°~ 90°; Angle increment: 1°~10°; Time threshold: 0~1 μs; Amplitude threshold: 0.5 ~1 ;in, For reference benchmark amplitude; Number of probe chips: 16-64.

4. The real-time tracking method for weld centerline according to claim 1, characterized in that, The step of tracing the centerline of the weld using ultrasound to obtain the ultrasound tracking result includes: The system adopts a one-transmitter-one-receiver mode, with the transmitting probe excited by a plane wave; the two probes are symmetrically arranged on both sides of the weld, with the leading edges at the same distance; the imaging area of ​​the receiving probe is set with a height of one-third of the workpiece thickness and a width that covers the weld while leaving a margin. Perform probe zero-point calibration and workpiece sound velocity calibration to ensure accurate acoustic time-position mapping; at the same time, perform AF calibration on the imaging area to determine the imaging resolution and the number of array elements, and control the AF sensitivity fluctuation gain to be less than or equal to the preset sensitivity threshold. The probe is placed in a defect-free area of ​​the parent material, and the bottom wave signal is located within the imaging area. The gain is adjusted to stabilize its amplitude at a specified level, which serves as a reference for subsequent identification. ; Within the imaging area, the echo signal is analyzed for each scanning position to generate weld edge position data: if the time deviation is satisfied... And amplitude If it is, it is considered the base material; otherwise, it is considered a weld. The current weld center coordinates and detection position deviation are calculated based on the weld edge position data, and the weld direction is deduced by combining the historical trajectory to form the ultrasonic tracking result.

5. The real-time tracking method for weld centerline according to claim 2, characterized in that, The initialization settings for at least one pair of ultrasound probes include: Obtain the parameters of the transmitting probe; Adjust the distance from the leading edge of the transmitting probe to the center of the weld seam according to coverage requirements; Calculate the geometric path of the receiving probe; The receiving probe angle is obtained by processing the transmitting probe parameters and the distance according to the receiving probe angle calculation formula; the receiving probe angle calculation formula includes: in, The angle of the receiving probe; The distance from the leading edge of the probe to the center of the weld; This refers to the distance from the probe's leading edge. This is the horizontal offset of the sound ray reaching the bottom surface of the workpiece. The thickness is the workpiece thickness.

6. A real-time tracking device for weld centerline, characterized in that, include: The tracking evaluation parameter acquisition module is used to acquire the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test. The laser tracking evaluation speed is determined based on the comprehensive detection frequency of the laser scanning frequency and the data interface response rate. The ultrasonic tracking evaluation speed is limited by the workpiece thickness and the sound velocity of the material. The tracking speed threshold is set according to the real-time requirements of the post-weld inspection task. The acoustic-optical simultaneous inspection module is used to track the weld centerline of the workpiece under test according to the laser-ultrasonic simultaneous inspection strategy if both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold. The main laser and secondary ultrasonic module is used to track the weld centerline of the workpiece under test according to the main laser + secondary ultrasonic strategy if the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold. The acoustic-optical detection module includes: The laser tracking result acquisition unit is used to track the center line of the weld seam using a laser and obtain the laser tracking result; The ultrasonic tracking result acquisition unit is used to track the center line of the weld seam using ultrasound and obtain ultrasonic tracking results. Calculate the first confidence unit, used to calculate the first confidence level of the laser tracking result; A second confidence unit is calculated to determine the second confidence level of the ultrasonic tracking result. The first target tracking result determination unit is used to process the laser tracking result and the ultrasonic tracking result according to the first confidence level and the second confidence level to obtain the target tracking result; The main optical and secondary acoustic module includes: The laser tracking result acquisition unit is used to track the center line of the weld seam using a laser and obtain the laser tracking result; Calculate the first confidence unit, used to calculate the first confidence level of the laser tracking result; The ultrasonic tracking result acquisition unit is used to track the center line of the weld seam using ultrasound if the first confidence level is less than the first preset confidence level threshold, and obtain the ultrasonic tracking result. A second confidence unit is calculated to determine the second confidence level of the ultrasonic tracking result. The second target tracking result determination unit is used to determine the ultrasonic tracking result as the target tracking result if the second confidence level is greater than or equal to the second preset confidence threshold.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the real-time tracking method for weld centerline according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the real-time tracking method for the weld centerline according to any one of claims 1 to 5.

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