A method and device for detecting welding quality of a vehicle body steel plate in Beidou synchronization

Abstract

The application relates to the technical field of nondestructive detection, in particular to a Beidou-synchronized vehicle body steel plate welding quality detection method and equipment. The method comprises the following steps: performing ultrasonic detection on a vehicle body steel plate through an ultrasonic probe to obtain multiple ultrasonic waveforms returned by multiple chips in the ultrasonic probe; calculating the thickness of an upper steel plate according to the peak value indexes of the front multiple wave bands in the multiple ultrasonic waveforms; screening effective ultrasonic waveforms according to the thickness; calculating the center point by averaging the peak value indexes of the second wave band in the effective ultrasonic waveforms; calculating the offset according to the distances between the center point and the adjacent peak values on the left and right sides; and moving the second wave band and the waveforms after the second wave band by the offset. The application can improve the definition and reliability of welding quality imaging.

Description

Technical Field

[0001] This application relates to the field of non-destructive testing technology, and more specifically, to a method and equipment for detecting the welding quality of vehicle body steel plates synchronized with BeiDou navigation system. Background Technology

[0002] In non-destructive testing of steel sheet welding quality in car bodies, ultrasonic testing technology is widely used due to its high efficiency and non-destructive nature. Existing solutions typically employ an ultrasonic probe to emit ultrasonic waves towards the weld area and receive reflected echoes from the internal structure of the weld. By analyzing parameters such as the time, amplitude, and phase of the echo signals, corresponding inspection images are generated, thereby determining whether the weld has defects such as incomplete welds, porosity, or insufficient penetration.

[0003] However, in the actual weld formation process, indentations are often unavoidably formed on the weld surface, leading to localized inconsistencies in the thickness of the steel plate in and around the weld. Because a coupling agent is applied to the indentation area, and sound travels at different speeds in the coupling agent and steel, the ultrasonic testing results are biased, reducing the clarity of the test image, affecting the accurate assessment of weld quality, and limiting the reliability of ultrasonic testing in the presence of indentations.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The purpose of this application is to provide a method and equipment for detecting the welding quality of vehicle body steel plates using Beidou synchronization. By identifying and compensating for the imaging deviation at the weld indentation caused by the different propagation speeds of sound waves in different materials, the welding inspection quality is improved.

[0006] To achieve the above objectives, this application adopts the following technical solution: Firstly, this application provides a method for detecting the welding quality of vehicle body steel plates using BeiDou synchronization, including: The vehicle body steel plate is ultrasonically probed by an ultrasonic probe to obtain multiple ultrasonic waveforms returned by multiple crystals in the ultrasonic probe; the multiple crystals are provided with a unified time reference by the Beidou timing module; the vehicle body steel plate has indentations and a coupling agent is applied to the contact surface of the ultrasonic probe; The thickness of the upper steel plate is calculated based on the peak index of the first few bands in multiple ultrasonic waveforms. Valid ultrasonic waveforms are selected based on the thickness; The center point is obtained by averaging the peak indices of the second band in the valid ultrasonic waveform. The offset is calculated based on the distance between the center point and the adjacent peaks on the left and right sides; The offset is used to shift the waveform of the second band and subsequent bands forward.

[0007] Secondly, this application provides an electronic device, comprising: At least one processor, and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are then executed to enable the at least one processor to perform a BeiDou-synchronized method for detecting the welding quality of vehicle body steel plates.

[0008] Compared with the prior art, the beneficial effects of this application are as follows: This application solves the problem of image deviation at weld indentation caused by the different propagation speeds of sound waves in different materials, and provides a corresponding compensation method, thereby improving the clarity and reliability of welding inspection quality imaging. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0010] Figure 1 This is a flowchart of a Beidou-synchronized method for detecting the welding quality of vehicle body steel plates provided in this embodiment; Figure 2 This is a schematic diagram of the ultrasonic waveform provided in an embodiment of this application; Figure 3 This is a schematic diagram of a first distance and a second distance provided in an embodiment of this application; Figure 4 This is a schematic diagram of another first distance and second distance provided in an embodiment of this application; Figure 5 This is a schematic diagram of yet another first distance and second distance provided in the embodiments of this application; Figure 6 This is a schematic diagram of the ultrasonic waveform before movement provided in an embodiment of this application; Figure 7 This is a schematic diagram of the forward-moving ultrasonic waveform provided in an embodiment of this application; Figure 8 This is a C-scan image converted from the ultrasonic waveform before movement, as provided in the embodiments of this application; Figure 9 This is a C-scan image converted from the forward-shifted ultrasonic waveform provided in the embodiments of this application; Figure 10This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0011] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0012] Figure 1 This is a flowchart illustrating a BeiDou-synchronized method for detecting the welding quality of vehicle body steel plates, applicable to the technical field of non-destructive testing of vehicle body steel plates using ultrasonic waves. The vehicle body steel plates have indentations located in the central region of the weld joint, specifically on the outer surfaces where the electrode heads directly press against each other during welding. During resistance spot welding, the upper and lower electrode heads apply pressure and current to the steel plates, leaving circular pits on the inner and outer sides of the plates; these are the indentations.

[0013] The contact surface of the ultrasonic probe (transducer) is coated with a couplant. For example, an appropriate amount of couplant is dropped onto the surface of a steel plate (the base material area around the weld point), ensuring the couplant completely fills the indentation. The probe is then placed firmly against this area for scanning. Its purpose is to displace the air between the probe and the steel plate surface, allowing the ultrasonic waves to effectively penetrate the metal. The horizontal axis of the acquired ultrasonic waveform represents the number of sample points, and the vertical axis represents the wave intensity (in dB).

[0014] Because the transmission speed of ultrasound differs between the coupling agent and the steel plate (it travels faster in the steel plate), the ultrasound waveform is drawn based on the speed of sound in the steel plate. However, the actual indentation depth needs to be calculated based on the speed of sound in the coupling agent. This causes the ultrasonic wave to shift the weld depth backward. Therefore, this embodiment requires shifting the ultrasound waveform forward to restore the true ultrasound waveform.

[0015] See Figure 1 The method provided in this embodiment includes: S110. Ultrasonic detection is performed on the steel plate of the vehicle body using an ultrasonic probe to obtain multiple ultrasonic waveforms returned by multiple crystals in the ultrasonic probe; wherein, multiple crystals are provided with a unified time reference by the Beidou timing module; the steel plate of the vehicle body has indentations and a coupling agent is applied to the contact surface of the ultrasonic probe.

[0016] The ultrasonic probe has a total of 52 crystals. When performing an ultrasonic welding quality test on a car body steel plate, each crystal will emit and return one ultrasonic timing data. The 52 crystals will return 52 ultrasonic timing data. Each ultrasonic timing data forms an ultrasonic waveform. The horizontal axis is the number of sample points, and the vertical axis is the wave intensity (unit dB).

[0017] All data acquisition from the chips is based on a unified time reference provided by the BeiDou timing module, ensuring precise synchronization of the start times of the 52 ultrasonic waveforms, which facilitates subsequent multidimensional array merging and processing.

[0018] The 52 ultrasonic time-series data were merged into a multidimensional array, denoted as a wave group.

[0019] S120. Calculate the thickness of the upper steel plate based on the peak index of the first few bands in multiple ultrasonic waveforms.

[0020] Figure 2 This is a schematic diagram of the ultrasonic waveform provided in the embodiments of this application. The horizontal axis represents the number of sample points, and the vertical axis represents the wave intensity (in dB). Each ultrasonic time-series data will form multiple periodic wave bands. Figure 2 There are 7 wavebands, each with multiple peaks and multiple sparse peaks. The vertical axis value of the peak is called the peak value, and the horizontal axis value is called the peak index. As the ultrasonic energy is consumed, the peak value of the waveband gradually decreases. Since the periodicity of the first few wavebands is relatively stable and the energy is relatively high, the peak index of the first few wavebands (e.g., the first 3 or the first 5) is used in the calculation of the thickness of the upper steel plate.

[0021] Optionally, S120 includes the following steps: Step 1: Obtain the peak indices of the first N bands using a periodic peak detection algorithm; N is an integer greater than or equal to 3. Each band has a highest peak and its corresponding peak index.

[0022] Using the Python `find_peaks` method, we can filter the peak value and peak index of each band from multiple ultrasonic waveforms.

[0023] The parameters that need to be set in the Python `find_peaks` method include: the absolute height limit of the peak, the relative height difference limit between adjacent peaks, the minimum horizontal distance between peaks, the peak prominence metric, the peak width limit, and the maximum peak multiple `rel_height`, as detailed below: ① Set the parameter height=230 to filter out smaller peaks and prevent them from being detected as peaks.

[0024] ② Set the parameter threshold=8 to filter and smooth peaks. If multiple consecutive peaks are the same, index the different peaks, select the first peak, and delete the rest.

[0025] ③ Set the parameter distance=25 to ensure that only one peak is selected for each cycle (i.e. each band).

[0026] ④ Set the core parameter `prominence` to `std.(data) × 1.5`, where `std.(data)` is the standard deviation of the ultrasonic waveform's ordinate. Based on the periodicity and temporal sequence of the waveform data, this core parameter value is set to 1.5 times the standard deviation of that waveform data. Simultaneously, set the parameter `wlen` to `23` (the window length for calculating the core parameter `prominence`). If either parameter is missing, neither parameter is set.

[0027] ⑤ Set the parameter width=2.8 to ensure continuity around the peak. Simultaneously set the parameter rel_height=0.6 to ensure that only values ​​higher than 0.6 times the maximum peak value in a waveform data set can be detected as peaks. If either parameter is missing, neither parameter should be set.

[0028] By using the Python `find_peaks` method and setting its parameters, the peak values ​​and peak indices of the first 5 bands in each waveform are calculated. Once the peak values ​​and peak indices of a set of waveforms are calculated, they are stored as a multidimensional array.

[0029] Step 2: Divide the distance between the peak indices of the first N bands by N-1 to obtain the thickness of the upper steel plate corresponding to each ultrasonic waveform.

[0030] Place the ultrasonic probe on a flat surface of the steel plate and collect ultrasonic waves. For each ultrasonic waveform, obtain the peak value and corresponding peak index of the first 5 cycles using a periodic peak detection algorithm. Take the first 3 peak indices, denoted as A, B, and C. Calculate the thickness (indexwidth) of the upper steel plate using the following formula: ; Step 3: Average the thickness of the upper steel plate corresponding to each ultrasonic waveform to obtain the final thickness of the upper steel plate.

[0031] Each ultrasonic waveform will have an indexwidth, so 52 waveforms will have a total of 52 indexwidths. The final thickness of the upper steel plate is obtained by averaging the 52 indexwidths.

[0032] By flattening the indexwidth, the impact of outliers on thickness calculation can be reduced.

[0033] S130. Select valid ultrasonic waveforms based on the thickness.

[0034] Considering that the first peak of each ultrasonic waveform represents the ultrasonic wave hitting the surface of the coupling agent and is not data from the weld joint, it is deleted. The second peak is often the largest peak among all subsequent bands; to improve detection accuracy and avoid the influence of the largest peak, the second peak is also deleted.

[0035] In summary, the average spacing between adjacent peaks in the third and subsequent bands of each ultrasonic waveform is calculated. The spacing between adjacent peaks in the third and subsequent bands (e.g., the 3rd to 6th bands) (i.e., the index of the next peak minus the index of the previous peak) represents the sample point interval in the direction of the weld depth. To reduce errors, the average spacing is calculated and is called the average spacing.

[0036] It should be noted that if only one peak is detected in an ultrasonic waveform, the waveform data is discarded without any processing; if two peaks are detected, the distance between the two peaks is taken as the average distance; if at least three peaks are detected, the average distance between adjacent peaks in the third and subsequent bands is calculated.

[0037] The average spacing is compared to a set ratio of the thickness of the upper steel plate. If the average spacing is less than or equal to the set ratio of the upper steel plate thickness (e.g., 1.1), a weak weld is detected, and the ultrasonic waveform is discarded. If the average spacing is greater than the set ratio of the upper steel plate thickness (e.g., 1.1), a weld area is detected, and the ultrasonic waveform is retained. This is because there are some plate waves (waves reflected from the first layer of steel plate) around the weld. To filter out these waves, a threshold of indexwidth × 1.1, which is thicker than the upper steel plate, is set to obtain a valid ultrasonic waveform.

[0038] S140. Calculate the average of the peak indices of the second band in the valid ultrasonic waveform to obtain the center point.

[0039] Take the peak index of the second band of the valid ultrasonic waveform, calculate the mean value, and denot it as centreIndex, which represents the center point centreIndex.

[0040] The first band represents the waveform of ultrasound waves transmitted to the surface of the coupling agent. Because the coupling agent is a liquid, its uneven surface causes the peak value of the first band to fluctuate, resulting in insufficient stability and low data value. Therefore, it is discarded, and the peak index of the second band is selected. The second band represents the data formed by ultrasound waves penetrating the solder joint and reflecting back to the probe. It has strong stability and represents the data of the solder joint, which is directly related to the innovation of this invention. The center point means that this point is used as the starting point, and all subsequent data operations are performed based on this point.

[0041] S150. Calculate the offset based on the distance between the center point and the adjacent peaks on the left and right sides.

[0042] For a valid ultrasonic waveform, determine the first distance between the center point and the adjacent left peak a (center point minus the peak index of the adjacent left peak), and the second distance between the center point and the adjacent right peak b (peak index of the adjacent right peak minus the center point).

[0043] Figure 3 This is a schematic diagram of a first distance and a second distance provided in an embodiment of this application. Figure 4 This is a schematic diagram of another first distance and second distance provided in an embodiment of this application. Figure 5 This is a schematic diagram of another first distance and second distance provided in the embodiments of this application.

[0044] See Figure 3 The red hollow circles represent the highest peak values ​​of each period. The first distance is less than the second distance (centreIndex-a <= b-centreIndex), indicating that the center point (in...) Figure 3 (Represented by green dots) Closer to the left peak, and also applicable when the first distance equals the second distance, then calculate the midpoint Y of the left adjacent peak index a and the right adjacent peak index b (in... Figure 3 (Represented by a solid red circle in the middle) Y = (a + b) / 2; See Figure 4 The red hollow circles represent the highest peak values ​​of each period. The first distance is greater than the second distance (b-centreIndex>centreIndex-a), indicating that the center point (in...) Figure 4 If the peak is closer to the right peak (represented by green dots), then the index c of the second peak to the right (if it exists) needs to be found. The midpoint Y between the index c of the second peak to the right and the index b of the adjacent peak to the right (in...) is calculated. Figure 4 (Represented by a solid red circle in the middle) Y = (b + c) / 2; See Figure 5The red hollow circles represent the highest peak values ​​of each period. The first distance is greater than the second distance (b-centreIndex>centreIndex-a), indicating that the center point (in...) Figure 5 (Represented by green dots) is closer to the peak on the right, but there is no second peak index c on the right, meaning the adjacent peak on the right is the last peak. Therefore, the midpoint Y is calculated based on the first and second distances. Figure 5 (Represented by a solid red circle in the middle) Y = b + (b - a) / 2; Finally, calculate the offset based on the difference between the midpoint and the center point: offset = Y - centreIndex; If the offset is greater than 0, it indicates that there is solder joint indentation at the position of the chip, and the ultrasonic waveform returned by the chip needs to be moved forward.

[0045] This embodiment requires shifting the waveform forward so that the centerIndex aligns with the middle of the two peaks, i.e., the point where the wave intensity is 0. A wave intensity of 0 in the middle of the two bands indicates that no ultrasonic waves are reflected at that location, which is the welding area. By comparing the first distance and the second distance and calculating the corresponding offset, the waveform can be shifted by a smaller distance to recreate the true ultrasonic waveform.

[0046] S160, shift the waveform of the second band and subsequent bands forward by an offset amount.

[0047] The first band represents the surface of the coupling agent being hit; no solder joints have been detected yet, so no movement is required.

[0048] Figure 6 This is a schematic diagram of the ultrasonic waveform before movement provided in an embodiment of this application. Figure 7 This is a schematic diagram of the forward-shifted ultrasonic waveform provided in an embodiment of this application. Shifting the waveform forward from the second band onward means reducing the "offset" of the horizontal coordinate of the waveforms from the second band onward. This will cause overlap with the first band. In this embodiment, the first band is covered while the second band and subsequent waveforms are retained.

[0049] For a valid ultrasound waveform, after forward shifting, the forward-shifted ultrasound waveform is converted into a C-scan image. Figure 8 This is a C-scan image converted from the ultrasonic waveform before movement, as provided in the embodiments of this application; Figure 9 This is a C-scan image converted from the forward-shifted ultrasonic waveform provided in the embodiments of this application. Figure 8 and Figure 9 Both the horizontal and vertical axes represent length, in mm. In the C-scan image, orange represents strong waves, and green represents weak waves. For Figure 8 and Figure 9 After being moved forward, the wave intensity changes at different locations, resulting in different colors in the C-scan image. In the forward-moved C-scan image, the green area is complete and continuous, which can be accurately identified as a solder joint, demonstrating the effectiveness of the proposed solution.

[0050] This embodiment provides an electronic device, see [link / reference] Figure 10 It includes at least one processor 301 and a memory 302 communicatively connected to at least one of the processors 301; The memory 302 stores instructions that can be executed by at least one of the processors 301, which enable at least one of the processors 301 to execute the above-described BeiDou-synchronized vehicle body steel plate welding quality detection method, thus having at least the same advantages as the above-described method.

[0051] Optionally, the electronic device also includes interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The components are interconnected using different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors can be used with multiple memories, and / or multiple buses can be used with multiple memories, if desired. Similarly, multiple electronic devices (e.g., as a server array, a group of blade servers, or a multiprocessor system) can be connected, each providing some of the necessary operations.

[0052] The memory 302, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the BeiDou-synchronized vehicle body steel plate welding quality detection method in this embodiment. The processor 301 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 302, thereby realizing the aforementioned BeiDou-synchronized vehicle body steel plate welding quality detection method.

[0053] The memory 302 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 302 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include memory remotely configured relative to the processor, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0054] The electronic device may also include an input device 303 and an output device 304. The processor 301, memory 302, input device 303, and output device 304 may be connected via a bus or other means.

[0055] Input device 303 can receive input digital or character information, and output device 304 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touchscreen.

[0056] This embodiment provides a medium storing computer instructions for instructing a computer to perform the methods described above. The computer instructions on this medium, used to instruct the computer to perform the methods described above, thus possess at least the same advantages as the methods described above.

[0057] The medium in this application may be any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example,, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of the medium (a non-exhaustive list) include: 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 document, the medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0058] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0059] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF (Radio Frequency), or any suitable combination thereof.

[0060] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar 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 it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0061] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0062] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for detecting the welding quality of vehicle body steel plates synchronized with BeiDou navigation satellite system, characterized in that, include: The vehicle body steel plate is ultrasonically probed by an ultrasonic probe to obtain multiple ultrasonic waveforms returned by multiple crystals in the ultrasonic probe; the multiple crystals are provided with a unified time reference by the Beidou timing module; the vehicle body steel plate has indentations and a coupling agent is applied to the contact surface of the ultrasonic probe; The thickness of the upper steel plate is calculated based on the peak index of the first few bands in multiple ultrasonic waveforms. Valid ultrasonic waveforms are selected based on the thickness; The center point is obtained by averaging the peak indices of the second band in the valid ultrasonic waveform. The offset is calculated based on the distance between the center point and the adjacent peaks on the left and right sides; The offset is used to shift the waveform of the second band and subsequent bands forward.

2. The method according to claim 1, characterized in that, The thickness of the upper steel plate is calculated based on the peak indices of the first few bands in multiple ultrasonic waveforms, including: The peak indices of the first N bands are obtained by using a periodic peak detection algorithm; N is an integer greater than or equal to 3. Divide the distance between the peak indices of the first N bands by N-1 to obtain the thickness of the upper steel plate corresponding to each ultrasonic waveform. The thickness of the upper steel plate corresponding to each ultrasonic waveform is averaged to obtain the final thickness of the upper steel plate.

3. The method according to claim 2, characterized in that, The peak indices of the first N bands are obtained using a periodic peak detection algorithm, including: Using the Python `find_peaks` method, we can filter the peak value and peak index of each of the first N bands from multiple ultrasonic waveforms. The parameters that need to be set in the Python find_peaks method include: the absolute height limit of the peak, the relative height difference limit between adjacent peaks, the minimum horizontal distance between peaks, the peak significance measure, the peak width limit, and the maximum peak multiple.

4. The method according to claim 1, characterized in that, Valid ultrasonic waveforms are selected based on the thickness, including: Calculate the average spacing between adjacent peaks in the third and subsequent bands of each ultrasonic waveform; Compare the average spacing with a set ratio to the thickness of the upper steel plate; If the average spacing is greater than a set proportion of the thickness of the upper steel plate, the ultrasonic waveform is retained.

5. The method according to claim 1, characterized in that, The offset is calculated based on the distance between the center point and the adjacent peaks on the left and right sides, including: For a valid ultrasonic waveform, determine the first distance between the center point and the adjacent peak on the left, and the second distance between the center point and the adjacent peak on the right. If the first distance is less than or equal to the second distance, then calculate the midpoint between the left adjacent peak index and the right adjacent peak index; The offset is calculated based on the difference between the midpoint and the center point.

6. The method according to claim 5, characterized in that, After determining the first distance between the center point and the adjacent peak on the left, and the second distance between the center point and the adjacent peak on the right, the method further includes: If the first distance is greater than the second distance, then calculate the midpoint between the second peak index on the right and the adjacent peak index on the right.

7. The method according to claim 5, characterized in that, After determining the first distance between the center point and the adjacent peak on the left, and the second distance between the center point and the adjacent peak on the right, the method further includes: If the first distance is greater than the second distance, and there is no second peak index on the right, then the midpoint is calculated based on the first distance and the second distance.

8. The method according to any one of claims 1-7, characterized in that, The thickness of the upper steel plate is calculated based on the peak indices of the first few bands in multiple ultrasonic waveforms, including: The thickness of the upper steel plate is calculated based on the peak index of the first three bands in multiple ultrasonic waveforms.

9. The method according to any one of claims 1-7, characterized in that, After shifting the waveforms of the second band and subsequent bands forward by the specified offset, it also includes: The forward-shifted ultrasound waveform is converted into a C-scan image.

10. An electronic device, characterized in that, include: At least one processor, and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are executed by at least one of the processors to enable the at least one of the processors to perform the BeiDou-synchronized vehicle body steel plate welding quality detection method according to any one of claims 1-9.

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