Ultrasonic and laser measurement collaborative control method for finishing of rotary arm positioning seat

Abstract

The application relates to the technical field of multi-sensor cooperative measurement and control, and discloses an ultrasonic and laser measurement cooperative control method for finishing of a rotary arm positioning seat, which comprises the following steps: extracting time domain features through ultrasonic global detection and marking an initial attention area; collecting surface point cloud data through laser fine measurement and evaluating laser comprehensive confidence; marking a low-confidence area as a to-be-corrected area, and inversely adjusting ultrasonic detection parameters based on the confidence; performing secondary ultrasonic detection on the to-be-corrected area through the adjusted parameters to obtain an updated attention area; performing secondary laser fine measurement and surface topography analysis to obtain a deviation amount; generating a compensation control instruction based on the deviation amount to perform compensation finishing; and iteratively closing a loop until a quality qualified condition is met. Through construction of a bidirectional closed-loop cooperative framework of ultrasonic and laser, adaptive adjustment of ultrasonic detection parameters is realized, and the accuracy of attention area marking and the robustness of the cooperative control link are improved.

Description

Technical Field

[0001] This invention relates to the field of multi-sensor collaborative measurement and control technology, and in particular to a method for collaborative control of ultrasonic and laser measurement for precision machining of rotary arm positioning seats. Background Technology

[0002] The boom positioning seat is a key load-bearing component of the bogie in rail transit vehicles, and its machining accuracy directly affects the stability and safety of vehicle operation. During the precision machining of the boom positioning seat, a combination of ultrasonic and laser measurement is often used to inspect the machined area. Ultrasonic measurement has strong resistance to environmental interference and can penetrate cutting fluid and chips for detection, but its measurement accuracy is relatively low. Laser measurement has high-precision surface topography acquisition capabilities, but it is easily affected by environmental factors such as cutting fluid splashes and chip obstruction, leading to missing or distorted measurement data. In existing technologies, ultrasonic and laser measurements typically adopt a unidirectional serial collaborative mode, where ultrasonic initial screening is followed by laser precision measurement. However, the ultrasonic detection parameters remain fixed during the detection process and cannot be adaptively adjusted according to actual changes in the machining environment.

[0003] In actual machining processes, environmental factors such as cutting fluid concentration, local hardness of the workpiece material, and surface reflection characteristics are constantly changing. Fixed ultrasonic detection parameters are difficult to consistently match the current working conditions, leading to missed or incorrect marking of the area of ​​interest in ultrasonic detection. This, in turn, causes laser measurement to perform high-density scanning in the wrong area, compromising the reliability of the entire collaborative control chain. Therefore, improving the adaptive capability and reliability of the collaborative control of ultrasonic and laser measurements has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a method for coordinated control of ultrasonic and laser measurement for precision machining of rotary arm positioning seats, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a method for coordinated control of ultrasonic and laser measurement for precision machining of a rotary arm positioning seat, comprising: S1, control the ultrasonic measuring device to perform full-area detection of the machining area of ​​the rotating arm positioning seat with initial ultrasonic detection parameters, extract the time-domain characteristics of the ultrasonic echo signal at each position point, and mark the initial area of ​​interest based on the time-domain characteristics; S2, control the laser measurement device to accurately scan the initial area of ​​interest, collect surface point cloud data, and evaluate the confidence level of the laser measurement data of the initial area of ​​interest to obtain the overall laser confidence level; S3, mark the initial area of ​​interest where the laser comprehensive confidence level is lower than the preset confidence level threshold as the area to be corrected, and adjust the ultrasonic detection parameters corresponding to the area to be corrected in reverse based on the laser comprehensive confidence level to obtain the adjusted ultrasonic detection parameters; S4, perform secondary ultrasonic detection on the region to be corrected based on the adjusted ultrasonic detection parameters to obtain the updated region of interest; S5, control the laser measurement device to perform a second precise scan on the updated area of ​​interest, collect secondary surface point cloud data and perform surface morphology analysis to obtain the deviation amount; S6, Generate a compensation control command based on the deviation amount, and control the machining tool to perform compensation finishing; S7, return to step S1, and re-execute steps S1 to S6 with the state of the processed area after compensation as input until the deviation meets the preset quality qualification condition, and stop the iteration.

[0006] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention proposes a two-way closed-loop collaborative architecture of "ultrasonic initial screening - laser precision measurement - confidence assessment - reverse correction of ultrasonic parameters", which breaks through the limitation of the one-way serial collaboration between ultrasound and laser in the prior art. By introducing a laser measurement confidence assessment mechanism, the laser measurement results are applied in reverse to the adjustment of ultrasonic detection parameters, realizing deep collaboration and two-way interaction between ultrasound and laser. This architecture makes the setting of ultrasonic parameters no longer a fixed initial value, but can be dynamically optimized based on the actual feedback of laser measurement, which significantly improves the overall robustness of the collaborative control link and its adaptability to changes in the processing environment.

[0007] 2. This invention proposes an adaptive adjustment method for ultrasonic parameters based on laser comprehensive confidence and ultrasonic signal quality indicators. By constructing a mapping relationship between laser comprehensive confidence and ultrasonic detection parameter adjustment amounts, adaptive tuning of the ultrasonic gain coefficient and center frequency bandwidth is achieved. When the laser measurement confidence is low, the system can automatically identify the corresponding insufficient ultrasonic detection parameter matching and optimize the ultrasonic parameters through a reverse adjustment mechanism, enabling secondary ultrasonic detection to obtain higher quality ultrasonic echo signals. This mechanism effectively solves the technical problem of inaccurate marking of the region of interest due to mismatch of initial ultrasonic parameters, improves the accuracy of region of interest marking, avoids missed detections and false detections, and reduces invalid laser scanning in irrelevant areas, thereby improving the utilization efficiency of measurement resources. Attached Figure Description

[0008] Figure 1 This is a flowchart illustrating a method for coordinated control of ultrasonic and laser measurement for precision machining of a rotary arm positioning seat, provided in an embodiment of the present invention. The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0009] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0010] This application provides a method for coordinated control of ultrasonic and laser measurements for precision machining of rotary arm positioning seats. The executing entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the method for coordinated control of ultrasonic and laser measurements for precision machining of rotary arm positioning seats can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0011] Reference Figure 1 The diagram shown is a flowchart illustrating a method for coordinated ultrasonic and laser measurement control for precision machining of a rotary arm positioning seat according to an embodiment of the present invention. In this embodiment, the method includes: S1, control the ultrasonic measuring device to perform full-area detection of the machining area of ​​the rotating arm positioning seat with initial ultrasonic detection parameters, extract the time-domain characteristics of the ultrasonic echo signal at each position point, and mark the initial area of ​​interest based on the time-domain characteristics; In this embodiment of the invention, the controlled ultrasonic measuring device performs full-area detection of the machining area of ​​the rotating arm positioning seat using initial ultrasonic detection parameters, and extracts the time-domain characteristics of the ultrasonic echo signals at each position point, including: Set initial ultrasonic detection parameters, which include initial gain coefficient, initial center frequency bandwidth, and initial time gate width; The ultrasonic measuring device is controlled to perform a full-area scan of the processing area with a first scanning density and the initial ultrasonic detection parameters, and ultrasonic echo signals at each location point are collected. Time-domain feature analysis was performed on the ultrasonic echo signal at each location point to extract echo amplitude attenuation features and echo time delay offset features.

[0012] It should be noted that the initial ultrasonic detection parameters are the baseline configuration parameters when the ultrasonic measuring device starts working. Among them, the initial gain coefficient is used to control the amplification factor of the ultrasonic transmission signal, and the default value range of the initial gain coefficient is 20dB to 40dB; the initial center frequency bandwidth is used to determine the transmission frequency range of the ultrasonic probe, and the default value range of the initial center frequency bandwidth is 2MHz to 5MHz; the initial time gate width is used to limit the reception time window of the ultrasonic echo signal, and the default value range of the initial time gate width is 10μs to 50μs. The initial values ​​of these parameters are all the median of the range.

[0013] It should be noted that the first scanning density refers to the number of detection points deployed by the ultrasonic measuring device per unit area of ​​the processing area. The default value of the first scanning density is 15 detection points per square centimeter, and the range is 10 to 20 detection points per square centimeter, which is used to achieve rapid full coverage of the processing area.

[0014] It should be noted that the time-domain feature analysis process is as follows: envelope detection is performed on the ultrasonic echo signal at each location point, the maximum amplitude of the echo signal is extracted as the current echo amplitude, and the difference between the time corresponding to this amplitude and the ultrasonic transmission time is recorded as the current echo delay; the echo amplitude attenuation feature is calculated based on the current echo amplitude and the initial amplitude of ultrasonic transmission, and the echo delay offset feature is calculated based on the current echo delay and the reference delay.

[0015] Furthermore, the echo amplitude attenuation characteristic is calculated as follows: the initial amplitude of the ultrasonic pulse emitted by the ultrasonic measuring device is obtained and recorded as the initial amplitude of ultrasonic emission; the maximum amplitude of the echo signal at that location point after envelope detection is obtained and recorded as the current echo amplitude; the difference between the initial amplitude of ultrasonic emission and the current echo amplitude is calculated, and the ratio of the difference to the initial amplitude of ultrasonic emission is used as the echo amplitude attenuation characteristic.

[0016] Furthermore, the echo delay offset feature is calculated as follows: obtain the theoretical propagation time of the ultrasonic signal from transmission to reception in a standard medium, and record it as the reference delay; obtain the actual propagation time corresponding to the maximum amplitude of the echo signal at that location point, and record it as the current echo delay; calculate the difference between the current echo delay and the reference delay, and use the ratio of the difference to the reference delay as the echo delay offset feature.

[0017] In this embodiment of the invention, the step of marking the initial region of interest based on the temporal features includes: Based on the echo amplitude attenuation characteristics and echo delay offset characteristics of each location point, the comprehensive anomaly index of each location point is calculated. Spatial locations where the comprehensive anomaly index exceeds the preset anomaly threshold are marked as the initial area of ​​interest.

[0018] It should be noted that the comprehensive anomaly index is an indicator that comprehensively and quantitatively evaluates the amplitude attenuation and time delay offset of the ultrasonic echo signal. It is used to characterize the degree of difference between the internal or surface state of the material at that location and the standard state. The higher the comprehensive anomaly index, the greater the possibility of processing anomalies at that location.

[0019] It should be noted that the calculation of the comprehensive anomaly index is as follows: first, the echo amplitude attenuation characteristic is multiplied by the echo weighting coefficient to obtain the amplitude contribution value; then, the echo delay offset characteristic is multiplied by the delay weighting coefficient to obtain the delay contribution value; finally, the amplitude contribution value and the delay contribution value are added together to obtain the comprehensive anomaly index.

[0020] Furthermore, the mathematical expression used to calculate the comprehensive anomaly index is as follows: ; In the formula, This is a comprehensive anomaly index; Echo weighting coefficient, This is the time delay weighting coefficient. This describes the echo amplitude attenuation characteristic; This is the echo delay offset characteristic.

[0021] Furthermore, the echo weighting coefficient and the time delay weighting coefficient are used to control the contribution ratio of amplitude attenuation characteristics and time delay offset characteristics in the comprehensive anomaly index. By default, amplitude attenuation and time delay offset are considered to be of equal importance to anomaly determination, so both the echo weighting coefficient and the time delay weighting coefficient are set to 0.5. When the processed material has special acoustic characteristics, the two weighting coefficients can be adjusted according to the material characteristics. For example, for materials with significant sound attenuation, the value of the echo weighting coefficient can be appropriately increased.

[0022] It should be noted that the preset anomaly threshold is a judgment critical value set in advance according to the processing accuracy requirements, with a default value of 0.3 and a range of 0.2 to 0.5. When the comprehensive anomaly index of a certain location exceeds the preset anomaly threshold, it indicates that the deviation between the surface or internal state of that location and the standard state has exceeded the acceptable range, and that the location needs to be included in the range of laser precision scanning for further detection.

[0023] S2, control the laser measurement device to accurately scan the initial area of ​​interest, collect surface point cloud data, and evaluate the confidence level of the laser measurement data of the initial area of ​​interest to obtain the overall laser confidence level; In this embodiment of the invention, the controlled laser measurement device performs precise scanning of the initial region of interest, collects surface point cloud data, and evaluates the confidence level of the laser measurement data of the initial region of interest to obtain a comprehensive laser confidence level, including: Based on the set of spatial coordinates of the initial area of ​​interest in the processing area coordinate system, the laser measuring device is controlled to perform a precise scan of the initial area of ​​interest at a second scanning density, high-precision surface point cloud data of each location point is collected, and the laser echo intensity of each measurement point is recorded. The echo intensity confidence factor for each initial region of interest is calculated based on the laser echo intensity; the point cloud density confidence factor is calculated based on the distribution density of the surface point cloud data; and the point cloud dispersion confidence factor is calculated based on the dispersion of the surface point cloud data to the fitted surface. Based on the echo intensity confidence factor, the point cloud density confidence factor, and the point cloud dispersion confidence factor, the laser comprehensive confidence level of each initial region of interest is calculated.

[0024] It should be noted that the second scanning density refers to the number of measurement points deployed by the laser measuring device per unit area. The second scanning density is higher than the first scanning density. Its default value is 100 measurement points per square centimeter, and the value range is 80 to 150 measurement points per square centimeter. It is used to achieve high-precision scanning of the area of ​​interest. The value of the second scanning density can be adjusted by the operator within the range based on the actual working conditions and experience.

[0025] It should be noted that the laser echo intensity is the intensity value of the reflected laser signal received by the laser measuring device. It is used to characterize the quality of the laser reflection conditions at the measuring point. The higher the laser echo intensity, the less interference from environmental factors such as cutting fluid splashing and chip obstruction at that location, and the higher the reliability of the measurement data.

[0026] It should be noted that the echo intensity confidence factor is calculated as follows: the arithmetic mean of the laser echo intensity of all measurement points in the initial area of ​​interest is calculated, and this arithmetic mean is used as the echo intensity confidence factor.

[0027] It should be noted that the point cloud density confidence factor is calculated as follows: the actual number of point clouds collected in the initial area of ​​interest is counted, the theoretical number of point clouds that should be collected in the area is obtained (i.e., the second scan density multiplied by the area of ​​the area), the ratio of the actual number of point clouds to the theoretical number of point clouds is calculated, and this ratio is used as the point cloud density confidence factor. The closer the ratio is to 1, the less data is lost during the laser scanning process and the better the measurement integrity.

[0028] It should be noted that the confidence factor for point cloud dispersion is calculated as follows: A surface is fitted to the surface point cloud data within the initial region of interest to obtain a fitted surface; the distance from each measurement point to the fitted surface is calculated to obtain a distance set; the standard deviation of the distance set is calculated to obtain a distance standard deviation; the distance standard deviation is normalized to obtain a normalized distance standard deviation; the difference between 1 and the normalized distance standard deviation is calculated, and this difference is used as the confidence factor for point cloud dispersion. The closer this factor is to 1, the higher the fit between the point cloud data and the fitted surface, and the better the measurement accuracy.

[0029] It should be noted that the laser overall confidence level is calculated as follows: the echo intensity confidence factor is multiplied by the intensity weighting coefficient to obtain the intensity confidence contribution value; the point cloud density confidence factor is multiplied by the density weighting coefficient to obtain the density confidence contribution value; the point cloud dispersion confidence factor is multiplied by the dispersion weighting coefficient to obtain the dispersion confidence contribution value; the intensity confidence contribution value, the density confidence contribution value, and the dispersion confidence contribution value are added together to obtain the laser overall confidence level.

[0030] Furthermore, the mathematical expression used to calculate the overall confidence level of the laser is as follows: ; In the formula, For the overall confidence level of the laser, This is the intensity weighting coefficient. Density weighting coefficient, These are the dispersion weighting coefficients. The echo intensity confidence factor. The point cloud density confidence factor. The confidence factor for the discreteness of the point cloud; The default values ​​for the intensity weight coefficient, density weight coefficient, and dispersion weight coefficient are 0.4, 0.3, and 0.3, respectively.

[0031] Furthermore, three confidence factors were used to evaluate the reliability of laser measurement data from three dimensions: laser echo intensity, point cloud acquisition integrity, and point cloud spatial distribution consistency. The intensity weight coefficient was set to the highest value because laser echo intensity directly reflects the degree of environmental interference and is the most critical factor affecting the quality of laser measurement. The density weight coefficient and dispersion weight coefficient each accounted for 0.3, reflecting the data acquisition integrity and measurement accuracy, respectively. When the overall laser confidence level was low, it indicated that the laser measurement results in this area might be unreliable due to environmental interference or inaccurate ultrasonic marking, requiring the triggering of subsequent ultrasonic parameter reverse adjustment procedures.

[0032] S3, mark the initial area of ​​interest where the laser comprehensive confidence level is lower than the preset confidence level threshold as the area to be corrected, and adjust the ultrasonic detection parameters corresponding to the area to be corrected in reverse based on the laser comprehensive confidence level to obtain the adjusted ultrasonic detection parameters; In this embodiment of the invention, marking the initial region of interest where the overall laser confidence level is lower than a preset confidence threshold as a region to be corrected includes: The overall laser confidence score for each initial region of interest is compared with a preset confidence threshold. The initial areas of interest with a laser overall confidence level lower than the preset confidence threshold are marked as areas to be corrected.

[0033] It should be noted that the preset confidence threshold is a pre-set critical value used to determine whether the laser measurement data is reliable. The default value is 0.6, and the value range is 0.5 to 0.8. When the overall confidence of the laser in a certain initial area of ​​interest is lower than the preset confidence threshold, it indicates that the laser measurement results in that area are greatly affected by environmental interference such as cutting fluid splashing, chip obstruction, and uneven surface reflection. The reliability of the measurement data is insufficient and cannot be directly used as the basis for subsequent surface morphology analysis and deviation calculation. It is necessary to mark the area as a region to be corrected, trigger the reverse adjustment process of the ultrasonic detection parameters, and perform a second detection on the area after optimizing the ultrasonic parameters.

[0034] It should be noted that the preset confidence threshold of 0.6 is based on the following considerations: the laser comprehensive confidence level ranges from 0 to 1. 0.6 as the dividing point means that when the confidence level is below 60%, the reliability of the measurement data can no longer meet the quality control requirements of the finishing process and needs to be corrected. This threshold can be adjusted according to the actual processing accuracy requirements. The higher the accuracy requirement, the closer the threshold setting should be to 0.8; conversely, if the processing environment is relatively stable, the threshold can be appropriately relaxed to 0.5.

[0035] Furthermore, the specific process for marking areas to be corrected is as follows: traverse all initial areas of interest and extract the overall laser confidence score for each initial area of ​​interest in turn; compare the extracted overall laser confidence score with a preset confidence threshold; when the overall laser confidence score is less than the preset confidence threshold, write the identifier of the initial area of ​​interest into the list of areas to be corrected; when the overall laser confidence score is greater than or equal to the preset confidence threshold, determine that the laser measurement data of the area is reliable, does not need to enter the correction process, retains its initial area of ​​interest identity, and is directly used as the input data source for surface morphology analysis.

[0036] In this embodiment of the invention, the step of reversely adjusting the ultrasonic detection parameters corresponding to the region to be corrected based on the laser comprehensive confidence level to obtain the adjusted ultrasonic detection parameters includes: Calculate the average signal-to-noise ratio of the ultrasonic echo signals at all locations within the region to be corrected, normalize the average signal-to-noise ratio, and obtain the ultrasonic signal quality index. Based on the laser comprehensive confidence level and the ultrasonic signal quality index, calculate the gain adjustment amount and the frequency bandwidth adjustment amount; Increase the gain coefficient in the current ultrasonic detection parameters by the gain adjustment amount, and increase the center frequency bandwidth in the current ultrasonic detection parameters by the frequency bandwidth adjustment amount to obtain the adjusted ultrasonic detection parameters.

[0037] It should be noted that the original ultrasonic echo signal corresponding to the area to be corrected in the initial ultrasonic detection refers to the original ultrasonic echo signal data collected and stored when the ultrasonic measuring device performs a full-domain scan of the area with the initial ultrasonic detection parameters. This data is temporarily stored in the data cache area for subsequent reverse adjustment process.

[0038] It should be noted that the average signal-to-noise ratio is calculated as follows: obtain the signal power and noise power of the ultrasonic echo signal at each location point in the region to be corrected, calculate the ratio of signal power to noise power at each location point to obtain the signal-to-noise ratio at each location point; calculate the arithmetic mean of the signal-to-noise ratios of all locations in the region to obtain the average signal-to-noise ratio of the region to be corrected.

[0039] It should be noted that the ultrasound signal quality index is a dimensionless index in the range of 0 to 1 obtained by minimizing and maximizing the average signal-to-noise ratio. It is used to characterize the overall quality level of the original ultrasound echo signal in the region to be corrected. The closer the ultrasound signal quality index is to 1, the higher the original quality of the ultrasound echo signal; the closer it is to 0, the worse the original quality of the ultrasound echo signal.

[0040] Furthermore, the normalized calculation method for the ultrasonic signal quality index is as follows: Based on the nominal maximum signal-to-noise ratio and nominal minimum signal-to-noise ratio of the ultrasonic measuring device, calculate the difference between the average signal-to-noise ratio and the nominal minimum signal-to-noise ratio, and then divide it by the difference between the nominal maximum signal-to-noise ratio and the nominal minimum signal-to-noise ratio to obtain the ultrasonic signal quality index.

[0041] It should be noted that the calculation method for the gain adjustment amount and the frequency bandwidth adjustment amount is as follows: based on the degree of unreliability of laser measurement reflected by the laser comprehensive confidence level and the quality level of the original ultrasound signal reflected by the ultrasound signal quality index, the adjustment range of the two parameters is calculated by combination operation.

[0042] Furthermore, the mathematical expression used to calculate the gain adjustment is as follows: ; In the formula, This is the gain adjustment amount. This is the gain adjustment coefficient. The laser comprehensive confidence level of the region to be corrected. The ultrasonic signal quality index of the region to be corrected; The gain adjustment factor has a default value of 3dB and a range of 2dB to 5dB.

[0043] Furthermore, the mathematical expression used to calculate the frequency bandwidth adjustment is as follows: ; In the formula, This is the frequency bandwidth adjustment amount. This is the bandwidth adjustment factor. The laser comprehensive confidence level of the region to be corrected. The ultrasonic signal quality index of the region to be corrected; The bandwidth adjustment factor has a default value of 1.0MHz and a range of 0.5MHz to 1.5MHz.

[0044] Furthermore, the design logic for calculating the gain adjustment and frequency bandwidth adjustment is as follows: When the laser comprehensive confidence is low, it indicates that the laser measurement in this area is affected by environmental interference, and it is necessary to retrospectively adjust the ultrasonic detection parameters to obtain higher quality ultrasonic data. Therefore, (1-laser comprehensive confidence) serves as the driving factor for reverse adjustment. The lower the laser comprehensive confidence, the greater the adjustment amplitude. The gain adjustment is also modulated by (1 - ultrasound signal quality index). When the ultrasound signal quality is also low, it indicates that the original ultrasound signal is weak and the gain needs to be increased significantly to enhance the signal amplitude. The frequency bandwidth adjustment is positively modulated by the ultrasound signal quality index. When the ultrasound signal quality is high, it indicates that the original ultrasound signal is of good quality. In this case, more frequency domain information can be obtained by expanding the bandwidth to compensate for the lack of laser measurement. However, when the ultrasound signal quality is poor, the signal is enhanced by increasing the gain first, and the bandwidth adjustment amplitude is reduced accordingly.

[0045] It should be noted that the adjusted ultrasonic detection parameters include the adjusted gain coefficient and the adjusted center frequency bandwidth, wherein the adjusted gain coefficient is equal to the sum of the initial gain coefficient and the gain adjustment amount, the adjusted center frequency bandwidth is equal to the sum of the initial center frequency bandwidth and the frequency bandwidth adjustment amount, and the initial time gate width remains unchanged.

[0046] Furthermore, reasons why the overall laser confidence score may fall below the preset confidence threshold include, but are not limited to, interference in the laser measurement environment (such as fluid splashing or chip obstruction), and mismatch between the initial ultrasonic detection parameters and the current machining environment, leading to positional deviations in the initial area of ​​interest for ultrasonic marking. When ultrasonic parameters are mismatched, insufficient sensitivity or resolution of ultrasonic detection may result in missed or incorrect marking of abnormal locations, causing the laser measurement device to scan at a location deviating from the actual abnormal area. This results in decreased laser echo quality, insufficient point cloud density, or increased dispersion, ultimately reflecting a decrease in the overall laser confidence score. Therefore, when the overall laser confidence score is below the threshold, adjusting the ultrasonic detection parameters in reverse to optimize ultrasonic detection capabilities can improve the accuracy of ultrasonic marking of the area of ​​interest, thereby ensuring that subsequent laser scanning focuses on the correct abnormal area and improving the reliability of laser measurement data.

[0047] S4, perform secondary ultrasonic detection on the region to be corrected based on the adjusted ultrasonic detection parameters to obtain the updated region of interest; In this embodiment of the invention, the step of performing secondary ultrasonic detection on the region to be corrected based on the adjusted ultrasonic detection parameters to obtain an updated region of interest includes: The ultrasonic measuring device is controlled to perform secondary ultrasonic detection on the area to be corrected with adjusted ultrasonic detection parameters and a first scanning density, and secondary ultrasonic echo signals at each location point in the area to be corrected are collected. Time-domain feature analysis was performed on the secondary ultrasonic echo signal at each location point to extract the secondary echo amplitude attenuation feature and the secondary echo time delay offset feature. Based on the secondary echo amplitude attenuation characteristics and the secondary echo time delay offset characteristics, the secondary comprehensive anomaly index of each location point is calculated. Spatial locations where the secondary comprehensive anomaly index exceeds the preset anomaly threshold are marked as updated areas of interest.

[0048] It should be noted that the adjusted ultrasonic detection parameters are a combination of parameters obtained by inversely adjusting the laser comprehensive confidence level and the ultrasonic signal quality index. These parameters include the adjusted gain coefficient and the adjusted center frequency bandwidth. Compared with the initial ultrasonic detection, the adjusted gain coefficient is higher, which can enhance the amplitude of the ultrasonic echo signal and make weak echo signals easier to detect. The adjusted center frequency bandwidth is wider, which can acquire richer frequency domain information and improve the ability to identify abnormal features.

[0049] It should be noted that the secondary ultrasonic detection is only performed on the area to be corrected, rather than scanning the entire processing area. Since the area to be corrected is a subset of the initial area of ​​interest, its spatial range is much smaller than the processing area. Therefore, even if the same first scan density as the first detection is used, the scanning time of the secondary detection is significantly shortened. In the initial area of ​​interest marked in the first ultrasonic detection, the area where the laser comprehensive confidence is higher than or equal to the preset confidence threshold, that is, the area where the laser measurement data is reliable, does not need to be subjected to secondary ultrasonic detection, and its area of ​​interest remains unchanged.

[0050] It should be noted that the extraction methods for the secondary echo amplitude attenuation characteristics and secondary echo time delay offset characteristics are the same as those for the echo amplitude attenuation characteristics and echo time delay offset characteristics. They are all calculated by performing envelope detection processing on the ultrasonic echo signal. The difference is that the input ultrasonic echo signal is a signal that has been re-acquired after parameter adjustment, and its signal quality is improved compared to the initial detection.

[0051] It should be noted that the calculation method of the secondary comprehensive anomaly index is the same as that of the comprehensive anomaly index, that is, it is obtained by adding the product of the echo amplitude attenuation characteristics and the echo weighting coefficient, plus the product of the echo time delay offset characteristics and the time delay weighting coefficient. Since the secondary ultrasonic detection uses adjusted parameters, the echo signal quality is improved, and the calculated secondary comprehensive anomaly index can more accurately reflect the degree of anomaly at this location.

[0052] It should be noted that the updated region of interest refers to the set of location points exceeding the preset abnormal threshold that are re-marked within the region to be corrected after a second ultrasound detection. This updated region of interest may include the following three situations: first, abnormal location points that were marked as the initial region of interest during the first detection but were newly discovered after the second detection due to parameter optimization; second, abnormal location points that were marked during the first detection and were still confirmed after the second detection; and third, location points that were mistakenly marked during the first detection but no longer exceed the preset abnormal threshold after the second detection due to improved signal quality, and are thus excluded from the region of interest.

[0053] Furthermore, the updated region of interest serves as the input range for the laser measurement device to perform a second precise scan. Since the ultrasonic parameters have been adjusted and optimized in reverse, the updated region of interest has higher accuracy than the initial region of interest, thereby guiding the laser measurement device to perform precise scanning in a more accurate area and improving the reliability of the overall collaborative control link.

[0054] S5, control the laser measurement device to perform a second precise scan on the updated area of ​​interest, collect secondary surface point cloud data and perform surface morphology analysis to obtain the deviation amount; In this embodiment of the invention, the controlled laser measurement device performs a second precise scan of the updated region of interest, collects secondary surface point cloud data, and performs surface morphology analysis to obtain the deviation, including: The laser measurement device is controlled to perform a second precise scan of the updated region of interest at a second scanning density, and secondary surface point cloud data of each location point is collected. The secondary surface point cloud data is subjected to surface fitting processing to obtain surface morphology feature parameters, which include contour deviation value and surface roughness value. The profile deviation value is compared with a preset profile tolerance threshold, and the surface roughness value is compared with a preset roughness tolerance threshold. If the profile deviation value exceeds the profile tolerance threshold or the surface roughness value exceeds the roughness tolerance threshold, then the deviation amount is calculated. The deviation amount includes the deviation amount in the profile direction and the deviation amount in the feed direction.

[0055] It should be noted that the updated region of interest is a set of spatial location points remarked after the second ultrasound detection. It has higher accuracy than the initial region of interest marked by the first detection, eliminates mismarked location points caused by mismatch of initial ultrasound parameters, and supplements abnormal location points newly discovered due to parameter optimization.

[0056] It should be noted that the secondary surface point cloud data is a set of high-precision three-dimensional coordinate points collected by the laser measurement device through precise scanning of the updated area of ​​interest at a second scanning density. Since the ultrasonic detection parameters have been adjusted and optimized in reverse, the spatial range of the updated area of ​​interest is more accurate, and the target area of ​​the secondary laser scan is more focused, avoiding invalid high-density scanning in non-abnormal areas.

[0057] It should be noted that the surface fitting process involves using the least squares method to fit the secondary surface point cloud data to obtain a fitted surface that characterizes the actual processed surface of the region. The fitted surface is then compared with the theoretical surface to extract surface morphology feature parameters.

[0058] Furthermore, the contour deviation value is obtained as follows: calculate the normal distance between each measurement point on the fitted surface and the corresponding point on the design theoretical surface, and take the sum of the absolute values ​​of the maximum positive value and the maximum negative value among all normal distances as the contour deviation value. This value is used to characterize the degree of deviation between the contour shape of the machined surface and the design requirements. The smaller the contour deviation value, the closer the machined contour is to the design requirements.

[0059] Furthermore, the surface roughness value is obtained as follows: extract the profile curve along the feed direction on the fitted surface, calculate the arithmetic mean deviation of each point on the profile curve relative to the profile center line, and use it as the surface roughness value. This value is used to characterize the degree of micro-unevenness of the processed surface. The smaller the surface roughness value, the smoother the processed surface.

[0060] It should be noted that the preset profile tolerance threshold is the maximum allowable deviation value of profile preset according to the machining accuracy requirements of the rotary arm positioning seat. The default value is 0.05mm, and the value range is 0.02mm to 0.10mm. The preset roughness tolerance threshold is the maximum allowable surface roughness value set in advance according to the machining accuracy requirements of the swivel arm positioning seat. The default value is 1.6μm, and the value range is 0.8μm to 3.2μm.

[0061] It should be noted that the deviation is calculated as follows: when the profile deviation value exceeds the profile tolerance threshold, the deviation in the profile direction is calculated, and this deviation is the difference between the profile deviation value and the profile tolerance threshold; when the surface roughness value exceeds the roughness tolerance threshold, the deviation in the feed direction is calculated, and this deviation is the difference between the surface roughness value and the roughness tolerance threshold.

[0062] Furthermore, the deviation in the contour direction is used to characterize the degree to which the geometric shape error of the machined contour exceeds the allowable range. The larger the deviation, the more serious the deviation of the contour from the design requirements. Subsequently, the radial position of the tool feed path needs to be adjusted for compensation. The deviation in the feed direction is used to characterize the degree to which the micro-quality of the machined surface exceeds the allowable range. The larger the deviation, the worse the surface finish. Subsequently, the tool feed speed needs to be adjusted to improve the surface quality.

[0063] S6, Generate a compensation control command based on the deviation amount, and control the machining tool to perform compensation finishing; In this embodiment of the invention, the step of generating a compensation control command based on the deviation amount and controlling the machining tool to perform compensation finishing includes: The radial correction amount of the tool feed path is generated based on the deviation amount in the profile direction, and the axial correction amount of the tool feed speed is generated based on the deviation amount in the tool feed direction. The radial correction amount and the axial correction amount are encoded into compensation control commands and sent to the processing equipment; The machining equipment controls the machining tool to adjust the feed path according to the radial correction amount and the feed speed according to the axial correction amount, and performs local compensation finishing on the updated area of ​​interest.

[0064] It should be noted that the deviation in the profile direction refers to the difference between the profile deviation value and the profile tolerance threshold. This deviation is positive, indicating the degree to which the shape error of the processed profile exceeds the allowable range. The larger the deviation in the profile direction, the more serious the deviation of the processed profile from the design requirements.

[0065] It should be noted that the deviation in the feed direction refers to the difference between the surface roughness value and the roughness tolerance threshold. This deviation is positive, indicating the degree to which the microscopic quality of the machined surface exceeds the allowable range. The larger the deviation in the feed direction, the worse the surface finish.

[0066] It should be noted that the radial correction amount is generated as follows: the deviation in the contour direction is multiplied by a preset radial correction ratio coefficient to obtain the correction displacement of the tool feed path in the radial direction. The direction of the radial correction amount is opposite to the direction of the contour deviation. That is, when the contour deviates towards the machining allowance direction, the tool is adjusted towards the inside of the workpiece; when the contour deviates towards the overcut direction, the tool is adjusted towards the outside. The default value of the preset radial correction ratio coefficient is 1.0, and the value range is from 0.8 to 1.2.

[0067] It should be noted that the axial correction amount is generated as follows: the deviation in the feed direction is multiplied by a preset feed rate adjustment coefficient to obtain the correction amount of the tool feed rate. When the surface roughness value exceeds the tolerance threshold, the surface quality is improved by reducing the feed rate. Therefore, the axial correction amount is negative, that is, the feed rate is reduced. The default value of the preset feed rate adjustment coefficient is 0.2 mm / min·μm, and the value range is 0.1 to 0.3 mm / min·μm.

[0068] It should be noted that the compensation control command is a CNC command generated by encoding the radial correction amount and the axial correction amount according to the command format of the machining equipment control system. This command includes tool path offset parameters and feed rate adjustment parameters, and can be directly parsed and executed by the CNC system of the machining equipment.

[0069] Furthermore, the local compensation finishing is a local machining operation performed on the updated area of ​​interest, rather than re-machining the entire machining area. Since the updated area of ​​interest is an abnormal area that has been precisely located by ultrasonic secondary detection and laser secondary scanning, its spatial range is much smaller than the overall machining area. Therefore, local compensation finishing can minimize additional machining time and tool wear while ensuring machining quality.

[0070] Furthermore, the execution process of compensation finishing is as follows: After receiving the compensation control command, the control system of the machining equipment first adjusts the feed path offset of the tool in the next pass according to the radial correction amount, so that the tool is offset in the radial direction in the opposite direction of the deviation by the corresponding correction amount; at the same time, it adjusts the feed speed of the tool according to the axial correction amount, so that the feed speed is reduced by the corresponding correction amount on the original basis. After the adjustment is completed, the control system drives the tool to perform local finishing cutting on the updated area of ​​interest along the corrected path and speed to eliminate the contour deviation and surface roughness deviation in the area.

[0071] S7, return to step S1, and re-execute steps S1 to S6 with the state of the processed area after compensation as input until the deviation meets the preset quality qualification condition, and stop the iteration.

[0072] In this embodiment of the invention, the preset quality qualification conditions include: When the profile deviation values ​​of all updated regions of interest do not exceed the profile tolerance threshold, and the surface roughness values ​​of all updated regions of interest do not exceed the roughness tolerance threshold, the preset quality qualification conditions are deemed to be met.

[0073] It should be noted that the preset quality qualification condition is a comprehensive judgment standard used to determine whether the precision machining quality of the rotating arm positioning seat meets the design requirements. This condition uses the contour tolerance threshold and roughness tolerance threshold as the judgment basis. Only when the machining quality indicators of these two dimensions meet the requirements can the machining quality be deemed qualified.

[0074] It should be noted that the current iteration round refers to a complete loop from step S1 to step S6 that is currently being executed in the closed-loop iterative control process. After each iteration, the state of the processed area after compensation processing will be re-detected and judged to determine whether it is necessary to continue iterating.

[0075] It should be noted that all updated areas of interest refer to all updated areas of interest marked after going through processes S1 to S4 in the current iteration. These areas are a set of locations where processing abnormalities may exist, which are precisely located by ultrasonic secondary detection and laser secondary scanning. The determination of quality compliance requires traversing all updated areas of interest to ensure that the processing quality of each area meets the standard, rather than only judging some of the areas.

[0076] Furthermore, the process for determining the quality compliance condition is as follows: First, obtain the contour deviation value and surface roughness value of all updated regions of interest in the current iteration; then, compare the contour deviation value of each region with the contour tolerance threshold one by one, and compare the surface roughness value of each region with the roughness tolerance threshold one by one; when the contour deviation value of all regions is less than or equal to the contour tolerance threshold, and the surface roughness value of all regions is less than or equal to the roughness tolerance threshold, the quality compliance condition is determined to be met, and the iteration stops; if the contour deviation value of any region exceeds the contour tolerance threshold, or the surface roughness value of any region exceeds the roughness tolerance threshold, the quality compliance condition is determined to be unmet, and the next iteration continues.

[0077] Furthermore, the control logic of the closed-loop iteration is as follows: In each iteration, the compensation and fine-tuning work is used for the abnormal areas detected in the previous iteration round, and the processing quality of the area is improved through compensation processing; then, the whole domain is re-probeed with the new state after compensation processing, the areas of interest are re-marked, and the subsequent process is executed again. Through this repeated iteration, the scope of the areas of interest is gradually narrowed, and the deviation is gradually reduced until the processing quality indicators of all areas meet the qualified conditions. This closed-loop iterative control mechanism ensures that the final processing quality can be stably converged to the design requirements range. Even if there is a large deviation in the initial processing state, it can be gradually corrected through multiple rounds of iteration.

[0078] It should be noted that the preset profile tolerance threshold is the maximum allowable deviation value of the profile, pre-set according to the machining accuracy requirements of the swing arm positioning seat. The swing arm positioning seat is a key load-bearing component of the bogie of rail transit vehicles, and its machining accuracy directly affects the safety and stability of vehicle operation. According to the design drawings and industry standards of this component, the profile accuracy requirement of the swing arm positioning seat is generally IT7 to IT8. For this accuracy level, the default value of the profile tolerance threshold is 0.05mm, and the value range is 0.02mm to 0.10mm. The default value of 0.05mm corresponds to medium machining conditions for IT7 accuracy requirements. When the machining accuracy requirement is higher, the threshold can be tightened to 0.02mm; when the machining conditions are rougher, the threshold can be relaxed to 0.10mm.

[0079] It should be noted that the preset roughness tolerance threshold is the maximum allowable surface roughness value pre-set based on the machining accuracy requirements of the rotary arm positioning seat. According to the surface functional requirements of the rotary arm positioning seat, the roughness requirement for its machined surface is generally between 1.6 μm and 3.2 μm. The default value of the roughness tolerance threshold is 1.6 μm, with a range of 0.8 μm to 3.2 μm. The default value of 1.6 μm corresponds to the general requirements for finished surfaces. When the surface is a critical mating surface requiring higher surface quality, the threshold can be tightened to 0.8 μm; when the surface is a non-mating surface with lower roughness requirements, the threshold can be relaxed to 3.2 μm.

[0080] Furthermore, the specific values ​​of the two thresholds are determined by the engineer based on the technical requirements of the swing arm positioning seat drawings, the type of processing procedure, and the functional role of the surface in the swing arm positioning seat before designing the compensation control process.

[0081] It should be noted that when step S7 returns to step S1 for re-execution, the ultrasonic detection parameters used are not the initial ultrasonic detection parameters, but the adjusted ultrasonic detection parameters obtained after reverse adjustment of the region to be corrected in step S3 of the previous iteration. When step S1 is executed for the first time, the ultrasonic detection parameters are the initial ultrasonic detection parameters. From the second iteration onwards, the ultrasonic detection parameters obtained in step S1 are the ultrasonic detection parameters adjusted at the end of the previous iteration. If there are multiple regions to be corrected in the previous iteration and each has generated different adjusted ultrasonic detection parameters, the set of parameters with the largest sum of gain adjustment and frequency bandwidth adjustment is used as the ultrasonic detection parameters for the next iteration to ensure sufficient detection capability in the next round of full-domain detection. Through this parameter inheritance mechanism, the reverse adjustment results of step S3 in each iteration are retained and accumulated, so that the ultrasonic detection parameters gradually approach the optimal matching state with the current processing environment.

[0082] In the several embodiments provided by this invention, it should be understood that the disclosed method can be implemented in other ways.

[0083] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0084] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, and technology that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0085] Finally, it should be noted that the above 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 preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for coordinated control of ultrasonic and laser measurement for precision machining of a rotary arm positioning seat, characterized in that, The method includes: S1, control the ultrasonic measuring device to perform full-area detection of the machining area of ​​the rotating arm positioning seat with initial ultrasonic detection parameters, extract the time-domain characteristics of the ultrasonic echo signal at each position point, and mark the initial area of ​​interest based on the time-domain characteristics; S2, control the laser measurement device to accurately scan the initial area of ​​interest, collect surface point cloud data, and evaluate the confidence level of the laser measurement data of the initial area of ​​interest to obtain the overall laser confidence level; S3, mark the initial area of ​​interest where the laser comprehensive confidence level is lower than the preset confidence level threshold as the area to be corrected, and adjust the ultrasonic detection parameters corresponding to the area to be corrected in reverse based on the laser comprehensive confidence level to obtain the adjusted ultrasonic detection parameters; S4, perform secondary ultrasonic detection on the region to be corrected based on the adjusted ultrasonic detection parameters to obtain the updated region of interest; S5, control the laser measurement device to perform a second precise scan on the updated area of ​​interest, collect secondary surface point cloud data and perform surface morphology analysis to obtain the deviation amount; S6, Generate a compensation control command based on the deviation amount, and control the machining tool to perform compensation finishing; S7, return to step S1, and re-execute steps S1 to S6 with the state of the processed area after compensation as input until the deviation meets the preset quality qualification condition, and stop the iteration.

2. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The controlled ultrasonic measuring device performs full-area detection of the machining area of ​​the rotating arm positioning seat using initial ultrasonic detection parameters, and extracts the time-domain characteristics of the ultrasonic echo signals at each position point, including: Set initial ultrasonic detection parameters, which include initial gain coefficient, initial center frequency bandwidth, and initial time gate width; The ultrasonic measuring device is controlled to perform a full-area scan of the processing area with a first scanning density and the initial ultrasonic detection parameters, and ultrasonic echo signals at each location point are collected. Time-domain feature analysis was performed on the ultrasonic echo signal at each location point to extract echo amplitude attenuation features and echo time delay offset features.

3. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The initial region of interest is marked based on the temporal features, including: Based on the echo amplitude attenuation characteristics and echo delay offset characteristics of each location point, the comprehensive anomaly index of each location point is calculated. Spatial locations where the comprehensive anomaly index exceeds the preset anomaly threshold are marked as the initial area of ​​interest.

4. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The controlled laser measurement device precisely scans the initial region of interest, collects surface point cloud data, and evaluates the confidence level of the laser measurement data in the initial region of interest to obtain a comprehensive laser confidence level, including: Based on the set of spatial coordinates of the initial area of ​​interest in the processing area coordinate system, the laser measuring device is controlled to perform a precise scan of the initial area of ​​interest at a second scanning density, high-precision surface point cloud data of each location point is collected, and the laser echo intensity of each measurement point is recorded. The echo intensity confidence factor for each initial region of interest is calculated based on the laser echo intensity; the point cloud density confidence factor is calculated based on the distribution density of the surface point cloud data; and the point cloud dispersion confidence factor is calculated based on the dispersion of the surface point cloud data to the fitted surface. Based on the echo intensity confidence factor, the point cloud density confidence factor, and the point cloud dispersion confidence factor, the laser comprehensive confidence level of each initial region of interest is calculated.

5. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The step of marking the initial region of interest where the overall laser confidence level is lower than a preset confidence threshold as a region to be corrected includes: The overall laser confidence score for each initial region of interest is compared with a preset confidence threshold. The initial areas of interest with a laser overall confidence level lower than the preset confidence threshold are marked as areas to be corrected.

6. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The step of reversely adjusting the ultrasonic detection parameters corresponding to the region to be corrected based on the laser comprehensive confidence level to obtain the adjusted ultrasonic detection parameters includes: Calculate the average signal-to-noise ratio of the ultrasonic echo signals at all locations within the region to be corrected, normalize the average signal-to-noise ratio, and obtain the ultrasonic signal quality index. Based on the laser comprehensive confidence level and the ultrasonic signal quality index, calculate the gain adjustment amount and the frequency bandwidth adjustment amount; Increase the gain coefficient in the current ultrasonic detection parameters by the gain adjustment amount, and increase the center frequency bandwidth in the current ultrasonic detection parameters by the frequency bandwidth adjustment amount to obtain the adjusted ultrasonic detection parameters.

7. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The step of performing secondary ultrasonic detection on the region to be corrected based on the adjusted ultrasonic detection parameters to obtain the updated region of interest includes: The ultrasonic measuring device is controlled to perform secondary ultrasonic detection on the area to be corrected with adjusted ultrasonic detection parameters and a first scanning density, and secondary ultrasonic echo signals at each location point in the area to be corrected are collected. Time-domain feature analysis was performed on the secondary ultrasonic echo signal at each location point to extract the secondary echo amplitude attenuation feature and the secondary echo time delay offset feature. Based on the secondary echo amplitude attenuation characteristics and the secondary echo time delay offset characteristics, the secondary comprehensive anomaly index of each location point is calculated. Spatial locations where the secondary comprehensive anomaly index exceeds the preset anomaly threshold are marked as updated areas of interest.

8. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The controlled laser measurement device performs a second precise scan of the updated region of interest, acquires secondary surface point cloud data, and performs surface morphology analysis to obtain the deviation, including: The laser measurement device is controlled to perform a second precise scan of the updated region of interest at a second scanning density, and secondary surface point cloud data of each location point is collected. The secondary surface point cloud data is subjected to surface fitting processing to obtain surface morphology feature parameters, which include contour deviation value and surface roughness value. The profile deviation value is compared with a preset profile tolerance threshold, and the surface roughness value is compared with a preset roughness tolerance threshold. If the profile deviation value exceeds the profile tolerance threshold or the surface roughness value exceeds the roughness tolerance threshold, then the deviation amount is calculated. The deviation amount includes the deviation amount in the profile direction and the deviation amount in the feed direction.

9. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The step of generating compensation control commands based on the deviation amount and controlling the machining tool to perform compensation finishing includes: The radial correction amount of the tool feed path is generated based on the deviation amount in the profile direction, and the axial correction amount of the tool feed speed is generated based on the deviation amount in the tool feed direction. The radial correction amount and the axial correction amount are encoded into compensation control commands and sent to the processing equipment; The machining equipment controls the machining tool to adjust the feed path according to the radial correction amount and the feed speed according to the axial correction amount, and performs local compensation finishing on the updated area of ​​interest.

10. The ultrasonic and laser measurement coordinated control method for precision machining of the rotating arm positioning seat as described in claim 1, characterized in that, The preset quality qualification conditions include: When the profile deviation values ​​of all updated regions of interest do not exceed the profile tolerance threshold, and the surface roughness values ​​of all updated regions of interest do not exceed the roughness tolerance threshold, the preset quality qualification conditions are deemed to be met.

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